Four-corner grid data denoising method, device and equipment and storage medium

The invention relates to the technical field of computer graphics and computer vision, and discloses a four-corner grid data denoising method, device and equipment and a storage medium, and the method comprises the steps: obtaining an original ordered point cloud of a to-be-scanned workpiece, traversing all points Pi in the original ordered point cloud, generating a vertex set according to the three-dimensional coordinates of the points Pi, and scanning the to-be-scanned workpiece according to the vertex set; a four-corner patch set is generated according to the original ordered point cloud and the vertex set, the vertex set and the four-corner patch set form a four-corner grid, a corresponding normal filtering candidate block is set for any four-corner patch in the four-corner grid, a grid surface neighborhood structure is simplified, and algorithm execution efficiency is improved; according to the normal filtering candidate blocks, grid normal filtering is carried out on the quadrangular grid, grid vertexes of the quadrangular grid are updated according to the grid normal after filtering, the denoised quadrangular grid is obtained, the smoothness of the denoised quadrangular grid is higher, the grid edge is neater, and the three-dimensional information of the workpiece can be better reflected.