CN113850917A - Three-dimensional model voxelization method and device, electronic equipment and storage medium - Google Patents
Three-dimensional model voxelization method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application provides a three-dimensional model voxelization method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a three-dimensional model to be processed; determining an investigation region of the three-dimensional model projected on a two-dimensional plane according to each patch in the three-dimensional model, wherein the projection direction is vertical to the two-dimensional plane; gridding the investigation region according to the size of the target voxel; based on each grid in the observation area, performing line scanning on the three-dimensional model along the direction vertical to the two-dimensional plane to determine a physical interval of the three-dimensional model; and discretizing the real object interval according to the size of the target voxel to obtain a voxel set of the three-dimensional model. The method can not only reduce the complexity of the voxelization implementation process, but also ensure the accuracy of voxelization.
Description
Technical Field
The present application relates to the field of computer graphics processing, and in particular, to the field of three-dimensional model data processing, and more particularly, to a method and an apparatus for voxelization of a three-dimensional model, an electronic device, and a storage medium.
Background
The three-dimensional model voxelization is to convert a three-dimensional model with smooth appearance, which is formed by a large number of surface patches, into a corresponding geometric body which is formed by stacking small cubes and has a saw-toothed appearance. The surface-patch relationships of the voxelized three-dimensional model are simplified to vertical and parallel relationships, while the geometry of the model is still high fidelity when the voxels are sufficiently small. Because the surface patch relation is relatively simple, the operation of the voxelized model is simple and efficient. Therefore, voxel formation of three-dimensional models has been the subject of intense research in computer graphics.
In the related art, a layer-cutting strategy, a point lighting method and an image Processing method based on a GPU (graphics Processing Unit) are generally adopted to realize the voxelization of the three-dimensional model, but the realization process is complex and time-consuming, and the accuracy of model reduction after voxelization needs to be improved.
Disclosure of Invention
The application aims to provide a three-dimensional model voxelization method and device, electronic equipment and a storage medium.
According to a first aspect of the present application, there is provided a three-dimensional model voxelization method, comprising:
acquiring a three-dimensional model to be processed;
determining an investigation region of the three-dimensional model projected on a two-dimensional plane according to each patch in the three-dimensional model, wherein the projection direction is vertical to the two-dimensional plane;
gridding the investigation region according to the size of the target voxel;
performing line scanning on the three-dimensional model along the direction perpendicular to the two-dimensional plane based on each grid in the examination area to determine a real object interval of the three-dimensional model;
and discretizing the real object interval according to the size of the target voxel to obtain a voxel set of the three-dimensional model.
In some embodiments of the present application, the determining a physical region of the three-dimensional model by line-scanning the three-dimensional model in a direction perpendicular to the two-dimensional plane based on each grid in the observation area includes:
determining the incidence relation between each grid and each patch in the investigation region according to the projection direction and the investigation region;
determining a respective scan line for each of said grids, said scan lines being along a direction perpendicular to said two-dimensional plane;
performing line scanning on the three-dimensional model according to the incidence relation to obtain a plurality of respective intersection points of the scanning lines; the intersection point is the intersection point of the scanning line and the patch associated with the corresponding grid;
and determining a real object interval of the three-dimensional model according to the plurality of intersection points of the scanning lines.
Wherein, the determining the association relationship between each grid and each patch in the examination area according to the projection direction and the examination area includes:
for each of the patches, determining vertex coordinates of the patch;
projecting the patch to the investigation region along the projection direction according to the vertex coordinates to obtain a projection geometric figure of the patch;
associating a target mesh located in the projection geometry with the patch.
In some embodiments of the present application, the determining a physical interval of the three-dimensional model according to the respective multiple intersections of the scan lines includes:
aiming at a plurality of intersection points of the same scanning line, determining the coordinate value of each intersection point;
sorting the coordinate values according to the size, and combining the coordinate values in pairs according to a sorting result to obtain coordinate intervals of the intersection points;
and taking the coordinate intervals of the intersection points as the real object intervals of the three-dimensional model.
Further, in the implementation of the present application, the scan line passes through a center point of the corresponding grid; the associating the target mesh located in the projection geometry with the patch comprises:
determining a first grid from the grids according to the vertex coordinates of the projection geometric figure and the coordinates of each grid in the observation area, wherein the first grid is a grid at least partially covered by the projection geometric figure;
determining a central point of the first grid, and comparing the position of the central point with the projection geometric figure;
and taking the first grid with the central point positioned in the projection geometric graph as a target grid, and associating the target grid with the patch.
In some embodiments of the present application, the determining, according to each patch in the three-dimensional model, a region of interest of the three-dimensional model projected on a two-dimensional plane includes:
projecting each patch in the three-dimensional model to the two-dimensional plane along the direction vertical to the two-dimensional plane to obtain a projection drawing of the three-dimensional model on the two-dimensional plane;
and determining the investigation region according to the projection drawing.
According to a second aspect of the present application, there is provided a three-dimensional model voxelization apparatus comprising:
an acquisition module for acquiring a three-dimensional model to be processed
The first determining module is used for determining an investigation region of the three-dimensional model projected on a two-dimensional plane according to each patch in the three-dimensional model, and the direction of the projection is perpendicular to the two-dimensional plane;
the grid processing module is used for carrying out grid processing on the investigation region according to the size of the target voxel;
a second determining module, configured to perform line scanning on the three-dimensional model along a direction perpendicular to the two-dimensional plane based on each grid in the examination area, and determine a real object interval of the three-dimensional model;
and the discretization module is used for discretizing the real object interval according to the size of the target voxel to obtain a voxel set of the three-dimensional model.
In some embodiments of the present application, the second determining module comprises:
a first determining unit, configured to determine, according to the projection direction and the investigation region, an association relationship between each grid and each patch in the investigation region;
a second determining unit, configured to determine a respective scan line of each grid, the scan line being along a direction perpendicular to the two-dimensional plane;
the scanning unit is used for carrying out line scanning on the three-dimensional model according to the incidence relation to obtain a plurality of respective intersection points of the scanning lines; the intersection point is the intersection point of the scanning line and the patch associated with the corresponding grid;
and the third determining unit is used for determining a real object interval of the three-dimensional model according to the plurality of intersection points of the scanning lines.
As an implementation manner, the first determining unit is specifically configured to:
for each of the patches, determining vertex coordinates of the patch;
projecting the patch to the investigation region along the projection direction according to the vertex coordinates to obtain a projection geometric figure of the patch;
associating a target mesh located in the projection geometry with the patch.
In some embodiments of the present application, the third determining unit is specifically configured to:
aiming at a plurality of intersection points of the same scanning line, determining the coordinate value of each intersection point;
sorting the coordinate values according to the size, and combining the coordinate values in pairs according to a sorting result to obtain coordinate intervals of the intersection points;
and taking the coordinate intervals of the intersection points as the real object intervals of the three-dimensional model.
In some embodiments of the present application, the scan line passes through a center point of the corresponding grid; the first determining unit is specifically configured to:
determining a first grid from the grids according to the vertex coordinates of the projection geometric figure and the coordinates of each grid in the observation area, wherein the first grid is a grid at least partially covered by the projection geometric figure;
determining a central point of the first grid, and comparing the position of the central point with the projection geometric figure;
and taking the first grid with the central point positioned in the projection geometric graph as a target grid, and associating the target grid with the patch.
In some embodiments of the present application, the first determining module is specifically configured to:
projecting each patch in the three-dimensional model to the two-dimensional plane along the direction vertical to the two-dimensional plane to obtain a projection drawing of the three-dimensional model on the two-dimensional plane;
and determining the investigation region according to the projection drawing.
According to a third aspect of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and allowed on the processor, wherein the processor, when executing the computer program, implements the method of the first aspect
According to a fourth aspect of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect described above.
According to the technical scheme, the three-dimensional model is projected to the two-dimensional plane, the projected investigation region is subjected to gridding processing according to the size of the target voxel, the three-dimensional model is subjected to line scanning based on each grid in the investigation region, and the real object region of the three-dimensional model is determined, so that the obtained real object region is discretized, and the voxel set of the three-dimensional model is obtained. That is to say, the data range can be reduced by converting the three-dimensional model data into the two-dimensional space, and the real object space of the three-dimensional model can be determined by scanning the lines of the three-dimensional model, so that the problem of erroneous judgment or missing judgment during the geometric voxelization of the nested cavity can be avoided, the complexity of the voxelization implementation process can be reduced, and the voxelization accuracy can be ensured.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a three-dimensional model voxelization method provided in an embodiment of the present application;
FIG. 2 is an exemplary diagram of determining an investigation region and gridding of a three-dimensional model in a two-dimensional plane according to an embodiment of the present application;
FIG. 3 is a diagram illustrating exemplary scan lines during a line scan process according to an embodiment of the present disclosure;
FIG. 4 is an exemplary diagram illustrating a determination of a physical object interval in an embodiment of the present application;
fig. 5 is an exemplary diagram illustrating discretization of an object interval in an embodiment of the present application;
fig. 6 is an exemplary diagram of a voxel structure generated when a real object interval is discretized in an embodiment of the present application;
FIG. 7 is a flow chart of another three-dimensional model voxelization method provided by an embodiment of the present application;
FIG. 8 is an exemplary diagram of a correlation matrix generated in an embodiment of the present application;
fig. 9 is a flowchart of determining an association relationship between a mesh and a patch in an embodiment of the present application;
fig. 10 is a three-dimensional model voxelization apparatus according to an embodiment of the present application;
fig. 11 is an electronic device for implementing voxelization of a three-dimensional model according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The three-dimensional model voxelization is to convert a three-dimensional model with smooth appearance, which is composed of a large number of patches, into a corresponding geometry with a jagged appearance, which is formed by stacking small cubes. The surface-patch relationships of the voxelized three-dimensional model are simplified to vertical and parallel relationships, while the geometry of the model is still high fidelity when the voxels are sufficiently small. Because the surface patch relationship is relatively simple, the operation (such as overlapping judgment) of the voxelized model is simple and efficient. Therefore, voxel formation of three-dimensional models has been the subject of intense research in computer graphics.
The related technologies at present include a slice strategy, a point lamp method and a GPU-based image processing method, which can realize the voxelization of a three-dimensional model, but the problems respectively have the following problems:
(1) based on the layer-cutting strategy: a large number of slices need to be made on the model, each section needs to be voxelized, and the processing process is complex and time-consuming;
(2) based on a lighting method: an original model needs to be converted into a geometry stacked in tetrahedrons by triangulation, and the pretreatment process is complicated; in order to avoid omission, the model boundary needs to be traversed and checked again by combining the truss construction method provided by the method, which is complex and time-consuming;
(3) based on the GPU: in order to realize the internal materialization of the three-dimensional voxel boundary model, a water flooding filling algorithm is needed to obtain the whole voxel model, and when a plurality of nested cavities are formed in the model, the water flooding filling algorithm can omit the voxelization of the part of the model.
Based on the above problems, the present application provides a three-dimensional model voxelization method, apparatus, electronic device, and storage medium.
Fig. 1 is a flowchart of a three-dimensional model voxelization method according to an embodiment of the present disclosure. It should be noted that the three-dimensional model voxelization method in the embodiment of the present application may be applied to the three-dimensional model voxelization apparatus in the embodiment of the present application, and the apparatus may be configured in an electronic device. As shown in fig. 1, the method may include the steps of:
In some embodiments of the present application, a to-be-processed three-dimensional model submitted by a user may be obtained in a terminal interactive interface manner, the to-be-processed three-dimensional model may also be obtained by accessing a file selected by a local user, and the to-be-processed three-dimensional model may also be obtained in other manners according to an actual application scenario, which is not limited in this application. In addition, the three-dimensional model voxelization method of the embodiment of the application can be applied to files in three-dimensional model formats such as obj.
And 102, determining a region of investigation of the three-dimensional model projected on a two-dimensional plane according to each patch in the three-dimensional model, wherein the projection direction is vertical to the two-dimensional plane.
It should be noted that the two-dimensional plane in the embodiment of the present application may be a plane corresponding to an x-y two-dimensional coordinate system, a plane corresponding to an x-z two-dimensional coordinate system, a plane corresponding to a y-z two-dimensional coordinate system, or a plane inclined to any two-dimensional coordinate system, which is not limited in the present application. Furthermore, in some embodiments of the present application, the region of interest of the three-dimensional model projected on the two-dimensional plane may be a triangle, a rectangle, or other shapes, so that the projection view of the three-dimensional model on the two-dimensional plane is within the region of interest, and in order to reduce the amount of computation in general, the region of interest may be a rectangle determined according to the coordinate range of the projection view on the two-dimensional plane.
It is understood that the three-dimensional model is composed of a large number of patches, and information about the patches, such as the number of patches in the three-dimensional model file, the vertex coordinates of each patch, and the like, is included in the three-dimensional model file.
As an example, according to each patch in the three-dimensional model, the implementation manner of determining the observation region of the three-dimensional model projected on the two-dimensional plane may be: projecting each patch in the three-dimensional model to the two-dimensional plane along the direction vertical to the two-dimensional plane to obtain a projection drawing of the three-dimensional model on the two-dimensional plane; and determining the investigation region of the three-dimensional model projected on the two-dimensional plane according to the projection drawing. As shown in fig. 2, the two-dimensional plane is a plane corresponding to an x-y two-dimensional coordinate system, and the projection of the three-dimensional model of the teapot in the two-dimensional plane is on the x-y plane; therefore, the maximum value and the minimum value of the x coordinate and the maximum value and the minimum value of the y coordinate in the projection graph can be determined according to the vertex coordinates of all patches in the three-dimensional model; and determining four-corner coordinates according to the maximum value and the minimum value of the x coordinate and the maximum value and the minimum value of the y coordinate, wherein a rectangle corresponding to the four-corner coordinates on the two-dimensional plane is an investigation area of the three-dimensional model projected on the two-dimensional plane.
That is, the region of interest is gridded using a square having the same side length as the voxel in accordance with the size of the target voxel.
In some embodiments of the present application, the size of the target voxel may be preset by a user according to an accuracy requirement of the user, or may be determined according to a complexity of the three-dimensional model, or may be a preset fixed value that does not change with the user requirement and the complexity of the three-dimensional model, where the size may be determined according to an actual application scenario, and the present application does not limit this.
As an example, as shown in fig. 2, if the region under investigation is a rectangle determined according to the coordinate range of the projection diagram on the two-dimensional plane, the gridding of the region under investigation may be implemented by: determining the side length of a voxel according to the size of a target voxel; dividing the length and the width of the investigation region by the side length of the voxel respectively to determine the number of divided grids; and dividing the investigation region into a plurality of grids according to the sequence from left to right and from top to bottom by using the grids with the side length equal to the side length of the voxel. If the length or width of the region under investigation cannot be evenly divided by the voxel side length, the calculation result may be rounded up, for example, if the region under investigation is a rectangle with a length of 50mm and a width of 30mm, and the voxel side length is 1.5mm, the number of meshes divided in the length direction is 500/1.5= 34.
As another example, the gridding of the investigation region may be implemented by: performing gridding processing on a two-dimensional plane projected by the three-dimensional model according to the side length of a target voxel; and determining a grid which can be covered by the investigation region based on the boundary coordinates of the investigation region, and taking the grid covered by the investigation region as the grid obtained after gridding treatment of the investigation region.
And step 104, based on each grid in the observation area, performing line scanning on the three-dimensional model along the direction vertical to the two-dimensional plane, and determining a real object interval of the three-dimensional model.
It can be understood that, since the projection view of the three-dimensional model on the two-dimensional plane is in the observation area, the three-dimensional model is line-scanned in the direction perpendicular to the two-dimensional plane based on each grid in the observation area, and a plurality of intersection points of the scanning lines and the three-dimensional model can be obtained, so that the real object region of the three-dimensional model can be determined according to the intersection points.
In some embodiments of the application, the scan lines are in a direction perpendicular to the two-dimensional plane, wherein one scan line is for each grid in the area of interest and each scan line passes through a corresponding grid. In order to improve the accuracy of determining the physical region and the accuracy of the voxelization result, the scan line may pass through the center point of the corresponding grid. As shown in fig. 3, if the two-dimensional plane of the region under investigation is an x-y plane, the generated scan line passes through the center point of the corresponding grid and is perpendicular to the x-y plane.
Based on the above example, if the scan line passing through the grid a in fig. 3 has four intersections with the patch in the three-dimensional model, as shown in fig. 4, and the intersection with the patch 1 is intersection a, the intersection with the patch 2 is intersection B, the intersection with the patch 3 is intersection C, and the intersection with the patch 4 is intersection D, and the coordinates of the above 4 intersections are intersection a, intersection B, intersection C, and intersection D in this order arranged in the direction of the scan line, the interval range corresponding to the coordinates of intersection a and the coordinates of intersection B is the real interval of the three-dimensional model, the interval range corresponding to the coordinates of intersection C and the coordinates of intersection D is the real interval of the three-dimensional model, and the interval range corresponding to the coordinates of intersection B and the coordinates of intersection C is the hollow interval of the three-dimensional model.
As an example, determining the real-world interval of the three-dimensional model may be implemented by: determining a series of scanning lines along a direction perpendicular to the two-dimensional plane based on each grid in the examination area, wherein the scanning lines are in one-to-one correspondence with the grids in the examination area; for each scanning line, traversing the vertex coordinates of each patch in the three-dimensional model according to the equation expression of the scanning line to determine whether the scanning line has an intersection point with the patch in the three-dimensional model and the intersection point coordinates; and determining a real object interval of the three-dimensional model according to the coordinate size of the intersection points of the same scanning line.
As another example, the association relationship between each patch and each grid in the examination area may be determined according to the projection direction and the investigation area, for example, if there is an association relationship between grid 1 and patch a and patch B, it indicates that there is an intersection between the scan line based on grid 1 and patch a and patch B; and aiming at each scanning line, determining the intersection point of the scanning line and the associated patch according to the incidence relation of the grid corresponding to the scanning line, and determining the real object interval of the three-dimensional model according to the coordinate size of a plurality of intersection points of the same scanning line.
And 105, discretizing the real object interval according to the size of the target voxel to obtain a voxel set of the three-dimensional model.
In some embodiments of the present application, as shown in fig. 5, discretizing the physical interval is equivalent to converting the obtained physical interval into a voxel set according to the size of the target voxel, so as to obtain a three-dimensional model voxelization result.
As an embodiment, the discretizing the physical interval according to the size of the target voxel to obtain the voxel set of the three-dimensional model may include: generating a voxel structure composed of voxels along a scan line based on a grid of the region of interest, the voxel structure being shown in fig. 6, wherein each scan line passing through a center point of the corresponding grid also passes through center points of all voxels in a column of the grid; and comparing the coordinate of the central point of each voxel in the voxel structure with the real-object interval, and deleting the voxels of which the coordinate of the central point is not in the real-object interval, so that the rest voxels are the voxel set of the three-dimensional model.
It should be noted that, if the obtained physical interval is less than one voxel side length, it may be considered as a physical object or a cavity, because the interval is geometrically negligible, and the physical interval is a substantially geometrically very small sharp corner or a substantially small gap.
According to the three-dimensional model voxelization method in the embodiment of the application, the three-dimensional model is projected to the two-dimensional plane, the projected investigation region is subjected to gridding processing according to the size of the target voxel, the three-dimensional model is subjected to line scanning based on each grid in the investigation region, and the real object region of the three-dimensional model is determined, so that the obtained real object region is discretized, and the voxel set of the three-dimensional model is obtained. That is to say, the data range can be reduced by converting the three-dimensional model data into the two-dimensional space, and the real object space of the three-dimensional model can be determined by scanning the lines of the three-dimensional model, so that the problem of erroneous judgment or missing judgment during the geometric voxelization of the nested cavity can be avoided, the complexity of the voxelization implementation process can be reduced, and the voxelization accuracy can be ensured.
In order to further reduce the calculation amount and the calculation time of the three-dimensional model voxelization process, the application provides another embodiment.
Fig. 7 is a flowchart of another three-dimensional model voxelization method proposed in the embodiment of the present application. As shown in fig. 7, based on the above embodiment, the implementation manner of step 104 may include the following steps:
That is to say, before line scanning, the incidence relation between each grid and each patch in the examination area may be determined according to the projection direction and the examination area, so as to determine which patches the scanning line corresponding to each grid has an intersection point when line scanning is performed, thereby reducing the calculation amount in the line scanning process.
In some embodiments of the present application, each patch may have an association with at least one target grid, where the association is based on the intersection of a scan line of the target grid with the associated patch. For example, if the grid 1 is associated with the patch a and the patch B, it indicates that the scan line based on the grid 1 has an intersection with both the patch a and the patch B. The association relationship may be expressed in a matrix form, or may be expressed in other forms, which is not limited in the present application.
As an example, the implementation manner of determining the association relationship between each mesh and each patch in the observation area may be: according to the projection direction, calculating a projection geometric figure corresponding to each patch after projection to the investigation region along the projection direction; calculating the number of grids in each projection geometry; and generating a correlation matrix as shown in fig. 8, wherein the correlation matrix records the patch number corresponding to each grid number and the projection geometry in which the grid is located.
At step 702, a respective scan line of each grid is determined, the scan lines being along a direction perpendicular to the two-dimensional plane.
In the embodiment of the present application, the scan line determined in step 702 is the same as the scan line in the above embodiment, and is not described herein again.
703, performing line scanning on the three-dimensional model according to the association relation to obtain a plurality of respective intersection points of each scanning line; wherein, the intersection point is the intersection point of the scanning line and the patch associated with the corresponding grid;
it can be understood that the association relationship between each grid and which patches is determined according to the association relationship, so that the intersection points of the scanning lines and the patches are calculated without traversing all the patches in the line scanning process, and the intersection points can be directly calculated according to the patches associated with the corresponding grids, thereby greatly reducing the calculation amount in the line scanning process and improving the efficiency of the three-dimensional model voxelization.
As an example, an implementation of determining a plurality of intersections of respective scan lines may include: determining a grid number corresponding to each scanning line; determining the number of the patch related to the grid number according to the association relation; and acquiring the vertex coordinates of the surface patches corresponding to the surface patch numbers, and calculating to obtain a plurality of intersection points of the scanning lines and the associated surface patches according to the equation expression of the scanning lines.
As another example, since not all scan lines intersect a patch, only scan lines that intersect a patch may be traversed in determining the respective multiple intersections of the scan lines, which may be implemented as: aiming at each grid number which has an association relation with the surface patch, determining a scanning line corresponding to the grid number; determining the number of the patch related to the grid number according to the association relation; and acquiring the vertex coordinates of the corresponding surface patch, and calculating a plurality of intersection points of the scanning line and the associated surface patch according to the equation expression of the scanning line.
And step 704, determining a real object interval of the three-dimensional model according to the plurality of intersection points of the scanning lines.
In some embodiments of the present application, the step of determining a physical extent of the three-dimensional model may comprise: determining a coordinate value of each intersection point aiming at a plurality of intersection points of the same scanning line; sorting the coordinate values according to the size, and combining the coordinate values in pairs according to sorting results to obtain coordinate intervals of a plurality of intersection points; and taking the coordinate sections of the plurality of intersection points as the real section of the three-dimensional model. For example, if the direction of the two-dimensional plane is the x-y plane direction, the direction of the scan line is along the direction of the coordinate axis z; if the intersection point and the coordinate of a certain scanning line and the three-dimensional model are respectively an intersection point A (a, B, 1.2), an intersection point B (a, B, 3.2), an intersection point C (a, B, 0.8) and an intersection point D (a, B, 2.8), the intersection points C (a, B, 0.8), A (a, B, 1.2), D (a, B, 2.8) and B (a, B, 3.2) are arranged in the order of the coordinate values from small to large; combining the intersection point C with the intersection point a yields (a, B, 0.8) to (a, B, 1.2) of the coordinate section 1 in the z-axis direction, and combining the intersection point D with the intersection point B yields (a, B, 2.8) to (a, B, 3.2) of the coordinate section 2 in the z-axis direction, and the coordinate section 1 and the coordinate section 2 represent the real section of the three-dimensional model.
According to the three-dimensional model voxelization method in the embodiment of the application, the calculation of the intersection point of the scanning line and the surface patch in the line scanning process is simplified to be determined according to the incidence relation between the grid and the surface patch determined in the two-dimensional space, so that the calculated amount in the line scanning process can be greatly reduced, the calculated amount and the realization complexity of voxelization of the three-dimensional model can be further reduced, and the voxelization efficiency is improved.
The following will describe in detail the determination of the association relationship between each mesh and each patch in the examination area.
Fig. 9 is a flowchart of determining an association relationship between a mesh and a patch in this embodiment of the present application. As shown in fig. 9, based on the above embodiment, the implementation may include the following steps:
at step 910, for each patch, vertex coordinates of the patch are determined.
Since the three-dimensional model file contains the vertex coordinates of each patch, the vertex coordinates of the corresponding patch can be directly obtained from the three-dimensional model file.
And 920, projecting the patch to the investigation region along the projection direction according to the vertex coordinates to obtain a projection geometric figure of the patch.
At step 930, the target mesh located in the projection geometry is associated with the patch.
It can be understood that, since the scan line is perpendicular to the two-dimensional plane direction, that is, the direction of the scan line is consistent with the projection mode, it can be determined which scan lines of the grids have intersections with the patch in the subsequent line scanning process according to the relationship between the projection geometry obtained by projecting the patch to the investigation region along the projection direction and the grids in the investigation region.
In some embodiments of the present application, an implementation of associating a target mesh located in a projection geometry with a patch may include the steps of:
step 931, determining a first mesh from the meshes according to the vertex coordinates of the projection geometry and the coordinates of each mesh in the investigation region, where the first mesh is a mesh at least partially covered by the projection geometry.
That is, from the coordinates of the vertices of the projection geometry and the coordinates of the meshes in the investigation region, it can be determined which meshes are at least partially covered by the projection geometry and these meshes are taken as the first meshes. It will be appreciated that if a portion of the first mesh is completely covered by the projected geometry, then scan lines based on that portion of the first mesh must intersect the patch, while if another portion of the first mesh is partially covered by the projected geometry, then scan lines based on that portion of the first mesh may intersect the patch.
In other embodiments of the present application, a mesh at least partially covered by a circumscribed rectangle of the projection geometry may also be used as the first mesh.
It is to be understood that, since the scan lines generated during the line scan pass through the center points of the meshes, which meshes of the first mesh are the target meshes can be determined according to the center points of each mesh of the first mesh.
As an example, the comparing the position of the center point with the projection geometry may be implemented by calculating whether the center point of each first mesh falls within the projection geometry according to the center point coordinates of each first mesh and the vertex coordinates of the projection geometry.
And step 933, taking the first grid with the central point positioned in the projection geometric figure as a target grid, and associating the target grid with the patch.
It can be understood that, since each scan line passes through the center point of the corresponding mesh, if the center point of the first mesh is located in the projection geometry, it indicates that the scan line must have an intersection with the patch through the mesh, and therefore the first mesh whose center point is located in the projection geometry is taken as the target mesh, and the target mesh is associated with the patch.
According to the three-dimensional model voxelization method provided by the embodiment of the application, the projection geometric map of the surface patch is obtained by projecting the surface patch to the investigation region along the projection direction, and the target mesh in the projection geometric map is associated with the surface patch, so that the association relationship between the mesh and the surface patch can be determined. In addition, the first mesh is determined from the vertex coordinates of the projection geometry map and the coordinates of each mesh in the investigation region, and the target mesh is further determined from the first mesh, which means that the range of the target mesh can be narrowed down by determining the first mesh, and the amount of calculation for determining the target mesh can be reduced. In addition, the target grid in the first grid is determined according to the position relation between the central point of the first grid and the projection geometric figure, so that the accuracy of the association relation between the grid and the surface patch can be improved, and the accuracy of the voxelization of the three-dimensional model can be improved while the calculation amount for determining the association relation between the grid and the surface patch is reduced.
In order to implement the above embodiments, the present application provides a three-dimensional model voxelization apparatus.
Fig. 10 is a block diagram of a three-dimensional model voxelization apparatus according to an embodiment of the present application. As shown in fig. 10, the apparatus includes:
an obtaining module 1010, configured to obtain a three-dimensional model to be processed.
A first determining module 1020, configured to determine, according to each patch in the three-dimensional model, an investigation region of the three-dimensional model projected on a two-dimensional plane, where a direction of the projection is perpendicular to the two-dimensional plane;
a grid processing module 1030, configured to perform grid processing on the investigation region according to the size of the target voxel;
a second determining module 1040, configured to perform line scanning on the three-dimensional model along a direction perpendicular to the two-dimensional plane based on each grid in the observation area, and determine a physical region of the three-dimensional model;
and the discretization module 1050 is configured to discretize the real-object interval according to the size of the target voxel to obtain a voxel set of the three-dimensional model.
In some embodiments of the present application, the second determination module 1040 includes:
a first determining unit 1041, configured to determine, according to the projection direction and the investigation region, an association relationship between each mesh and each patch in the investigation region;
a second determining unit 1042 for determining a respective scan line of each grid, the scan lines being along a direction perpendicular to the two-dimensional plane;
a scanning unit 1043, configured to perform line scanning on the three-dimensional model according to the association relationship, so as to obtain a plurality of respective intersection points of the scanning lines; wherein, the intersection point is the intersection point of the scanning line and the patch associated with the corresponding grid;
and a third determining unit 1044 configured to determine a real object interval of the three-dimensional model according to the plurality of intersection points of the scan lines.
As an implementation manner, the first determining unit 1041 is specifically configured to:
determining vertex coordinates of the patch for each patch;
projecting the surface patch to the investigation region along the projection direction according to the vertex coordinates to obtain a projection geometric figure of the surface patch;
a target mesh located in the projection geometry is associated with the patch.
In some embodiments of the present application, the third determining unit 1044 is specifically configured to:
determining a coordinate value of each intersection point aiming at a plurality of intersection points of the same scanning line;
sorting the coordinate values according to the size, and combining the coordinate values in pairs according to sorting results to obtain coordinate intervals of a plurality of intersection points;
and taking the coordinate sections of the plurality of intersection points as the real section of the three-dimensional model.
In some embodiments of the present application, the scan line passes through a center point of the corresponding grid, and the first determining unit 1041 is specifically configured to:
determining a first grid from each grid according to the vertex coordinates of the projection geometric figure and the coordinates of each grid in the investigation region, wherein the first grid is a grid at least partially covered by the projection geometric figure;
determining a central point of the first grid, and comparing the position of the central point with the projection geometric figure;
and taking the first mesh with the central point positioned in the projection geometric figure as a target mesh, and associating the target mesh with the patch.
In some embodiments of the present application, the first determining module 1020 is specifically configured to:
projecting each patch in the three-dimensional model to the two-dimensional plane along the direction vertical to the two-dimensional plane to obtain a projection drawing of the three-dimensional model on the two-dimensional plane;
and determining a region of investigation according to the projection map.
According to the three-dimensional model voxelization device provided by the embodiment of the application, the three-dimensional model is projected to the two-dimensional plane, the projected investigation region is subjected to gridding processing according to the size of the target voxel, the three-dimensional model is subjected to line scanning based on each grid in the investigation region, and the real object region of the three-dimensional model is determined, so that the obtained real object region is discretized, and the voxel set of the three-dimensional model is obtained. That is to say, the data range can be reduced by converting the three-dimensional model data into the two-dimensional space, and the real object space of the three-dimensional model can be determined by scanning the lines of the three-dimensional model, so that the problem of erroneous judgment or missing judgment during the geometric voxelization of the nested cavity can be avoided, the complexity of the voxelization implementation process can be reduced, and the voxelization accuracy can be ensured.
FIG. 11 is a block diagram of an electronic device for implementing voxelization of a three-dimensional model according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 11, the electronic apparatus includes: memory 1110, processor 1120, and computer programs 1130 stored on the memory and executable on the processor. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system).
The memory 1110, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the three-dimensional model voxelization method in the embodiment of the present application (e.g., the first determining module 1010, the grid processing module 1020, the second determining module 1030, and the discretization module 1040 shown in fig. 10). The processor 1120 executes various functional applications of the server and data processing, i.e., implements the three-dimensional model voxelization method in the above-described method embodiments, by executing non-transitory software programs, instructions, and modules stored in the memory 1110.
The memory 1110 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of an electronic device to implement the three-dimensional model voxelization method, and the like. Further, the memory 1110 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 1110 optionally includes memory remotely located from processor 1120, which may be connected via a network to electronics used to implement the three-dimensional model voxelization method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device to implement the three-dimensional model voxelization method may further include: an input device 1140 and an output device 1150. The processor 1120, the memory 1110, the input device 1140 and the output device 1150 may be connected by a bus or other means, as exemplified by the bus connection in fig. 11.
The input device 1140 may receive input numeric or character information and generate key signal inputs related to user settings and function controls of an electronic apparatus used to implement the three-dimensional model voxelization method, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointer, one or more mouse buttons, a track ball, a joystick, or other input device. The output devices 1150 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (14)
1. A method of voxelizing a three-dimensional model, comprising:
acquiring a three-dimensional model to be processed;
determining an investigation region of the three-dimensional model projected on a two-dimensional plane according to each patch in the three-dimensional model, wherein the projection direction is vertical to the two-dimensional plane;
gridding the investigation region according to the size of the target voxel;
performing line scanning on the three-dimensional model along the direction perpendicular to the two-dimensional plane based on each grid in the examination area to determine a real object interval of the three-dimensional model;
and discretizing the real object interval according to the size of the target voxel to obtain a voxel set of the three-dimensional model.
2. The method of claim 1, wherein determining the physical extent of the three-dimensional model by line scanning the three-dimensional model in a direction perpendicular to the two-dimensional plane based on each grid in the observation area comprises:
determining the incidence relation between each grid and each patch in the investigation region according to the projection direction and the investigation region;
determining a respective scan line for each of said grids, said scan lines being along a direction perpendicular to said two-dimensional plane;
performing line scanning on the three-dimensional model according to the incidence relation to obtain a plurality of respective intersection points of the scanning lines; the intersection point is the intersection point of the scanning line and the patch associated with the corresponding grid;
and determining a real object interval of the three-dimensional model according to the plurality of intersection points of the scanning lines.
3. The method of claim 2, wherein determining the association relationship between each grid and each patch in the observation area according to the projection direction and the observation area comprises:
for each of the patches, determining vertex coordinates of the patch;
projecting the patch to the investigation region along the projection direction according to the vertex coordinates to obtain a projection geometric figure of the patch;
associating a target mesh located in the projection geometry with the patch.
4. The method of claim 2, wherein determining a physical extent of the three-dimensional model from the respective plurality of intersections of the scan lines comprises:
aiming at a plurality of intersection points of the same scanning line, determining the coordinate value of each intersection point;
sorting the coordinate values according to the size, and combining the coordinate values in pairs according to a sorting result to obtain coordinate intervals of the intersection points;
and taking the coordinate intervals of the intersection points as the real object intervals of the three-dimensional model.
5. The method of claim 3, wherein the scan line passes through a center point of the corresponding grid; the associating the target mesh located in the projection geometry with the patch comprises:
determining a first grid from the grids according to the vertex coordinates of the projection geometric figure and the coordinates of each grid in the observation area, wherein the first grid is a grid at least partially covered by the projection geometric figure;
determining a central point of the first grid, and comparing the position of the central point with the projection geometric figure;
and taking the first grid with the central point positioned in the projection geometric graph as a target grid, and associating the target grid with the patch.
6. The method of claim 1, wherein determining the area of interest of the three-dimensional model projected on the two-dimensional plane according to each patch of the three-dimensional model comprises:
projecting each patch in the three-dimensional model to the two-dimensional plane along the direction vertical to the two-dimensional plane to obtain a projection drawing of the three-dimensional model on the two-dimensional plane;
and determining the investigation region according to the projection drawing.
7. A three-dimensional model voxelization apparatus, comprising:
the acquisition module is used for acquiring a three-dimensional model to be processed;
the first determining module is used for determining an investigation region of the three-dimensional model projected on a two-dimensional plane according to each patch in the three-dimensional model, and the direction of the projection is perpendicular to the two-dimensional plane;
the grid processing module is used for carrying out grid processing on the investigation region according to the size of the target voxel;
a second determining module, configured to perform line scanning on the three-dimensional model along a direction perpendicular to the two-dimensional plane based on each grid in the examination area, and determine a real object interval of the three-dimensional model;
and the discretization module is used for discretizing the real object interval according to the size of the target voxel to obtain a voxel set of the three-dimensional model.
8. The apparatus of claim 7, wherein the second determining module comprises:
a first determining unit, configured to determine, according to the projection direction and the investigation region, an association relationship between each grid and each patch in the investigation region;
a second determining unit, configured to determine a respective scan line of each grid, the scan line being along a direction perpendicular to the two-dimensional plane;
the scanning unit is used for carrying out line scanning on the three-dimensional model according to the incidence relation to obtain a plurality of respective intersection points of the scanning lines; the intersection point is the intersection point of the scanning line and the patch associated with the corresponding grid;
and the third determining unit is used for determining a real object interval of the three-dimensional model according to the plurality of intersection points of the scanning lines.
9. The apparatus according to claim 8, wherein the first determining unit is specifically configured to:
for each of the patches, determining vertex coordinates of the patch;
projecting the patch to the investigation region along the projection direction according to the vertex coordinates to obtain a projection geometric figure of the patch;
associating a target mesh located in the projection geometry with the patch.
10. The apparatus according to claim 8, wherein the third determining unit is specifically configured to:
aiming at a plurality of intersection points of the same scanning line, determining the coordinate value of each intersection point;
sorting the coordinate values according to the size, and combining the coordinate values in pairs according to a sorting result to obtain coordinate intervals of the intersection points;
and taking the coordinate intervals of the intersection points as the real object intervals of the three-dimensional model.
11. The apparatus of claim 9, wherein the scan line passes through a center point of the corresponding grid; the first determining unit is specifically configured to:
determining a first grid from the grids according to the vertex coordinates of the projection geometric figure and the coordinates of each grid in the observation area, wherein the first grid is a grid at least partially covered by the projection geometric figure;
determining a central point of the first grid, and comparing the position of the central point with the projection geometric figure;
and taking the first grid with the central point positioned in the projection geometric graph as a target grid, and associating the target grid with the patch.
12. The apparatus of claim 7, wherein the first determining module is specifically configured to:
projecting each patch in the three-dimensional model to the two-dimensional plane along the direction vertical to the two-dimensional plane to obtain a projection drawing of the three-dimensional model on the two-dimensional plane;
and determining the investigation region according to the projection drawing.
13. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 6 when executing the computer program.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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