Vascular hierarchical structure automatic separation method based on retinal vascular image

The invention discloses a hierarchical structure automatic separation method based on a retinal blood vessel image. The method includes the following steps that original retinal blood vessel data are obtained and preprocessed, key points on the surface of a blood vessel are extracted, and a unit normal vector of a plane where the key points are located is used for representing the growth direction of a vertical blood vessel plexus where the key points are located; the three-dimensional image of the retinal blood vessel is divided into retinal blood vessel segments by the cubes, the main axis direction of the blood vessel segment in each cube is calculated, and the hierarchical structure category to which the blood vessel segment in the current cube belongs is judged according to the included angle between the main axis direction and the unit normal vector of the nearest key point. According to the method, through binaryzation, cavity filling and skeletonization of the blood vessel, the calculation amount is r