CN115309455A - Three-dimensional scanner processing system and data processing method thereof - Google Patents
Three-dimensional scanner processing system and data processing method thereof Download PDFInfo
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- CN115309455A CN115309455A CN202210849262.XA CN202210849262A CN115309455A CN 115309455 A CN115309455 A CN 115309455A CN 202210849262 A CN202210849262 A CN 202210849262A CN 115309455 A CN115309455 A CN 115309455A
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- 238000004364 calculation method Methods 0.000 claims description 11
- 238000004422 calculation algorithm Methods 0.000 claims description 10
- 238000000605 extraction Methods 0.000 claims description 8
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/38—Concurrent instruction execution, e.g. pipeline or look ahead
- G06F9/3877—Concurrent instruction execution, e.g. pipeline or look ahead using a slave processor, e.g. coprocessor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4004—Coupling between buses
- G06F13/4009—Coupling between buses with data restructuring
- G06F13/4018—Coupling between buses with data restructuring with data-width conversion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2213/00—Indexing scheme relating to interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
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Abstract
The invention relates to a three-dimensional scanner processing system and a data processing method thereof, wherein the three-dimensional scanner processing system comprises a three-dimensional scanner and a background server, wherein the three-dimensional scanner is in communication connection with the background server through a wire or a wireless way; the three-dimensional scanner comprises a sensor; the background server comprises a central processing unit and a co-processing card; the central processing unit comprises a control module A and an operation module A; the control module A controls the operation module A to operate through the control signal; the co-processing card comprises a control module B and an operation module B; the control module B controls the operation module B to perform operation through the control signal; and the control module A is in data communication connection with the control module B. The invention adopts a mode of inserting the co-processing card in the background server, and transfers all the operations originally completed in the central processing unit to the co-processing card to complete all or part of the operations, thereby reducing the configuration of the central processing unit and facilitating the upgrading, changing or replacing of the processing system of the three-dimensional scanner.
Description
Technical Field
The invention belongs to the technical field of three-dimensional photogrammetry, and particularly relates to a three-dimensional scanner processing system and a data processing method thereof.
Background
Three-dimensional scanners are scientific instruments used to detect and analyze shape and appearance data of the real world or environment, such as color, surface albedo, etc. The three-dimensional scanner greatly improves the working efficiency in digital modeling. With the development of the technology, the data volume is also increased rapidly, and higher requirements are put on the processing speed of the three-dimensional scanner.
Currently, there are many studies and technologies to improve the processing system of the three-dimensional scanner and improve the performance of the three-dimensional scanner. However, most three-dimensional scanner processing systems improve the performance of the algorithm, and the performance of the scanner processing system is improved by improving the performance of the algorithm. On one hand, the improvement of the performance of the algorithm is long in research and development period and high in cost; on the other hand, the performance of the scanner processing system can be improved to a certain extent by improving the computer configuration, but the improvement is limited and the cost is higher. In addition, if the arranged three-dimensional scanner has larger version and function changes, the existing computer configuration cannot keep up and the situation that a higher configuration computer needs to be replaced often occurs.
Disclosure of Invention
The invention provides a three-dimensional scanner processing system and a data processing method thereof, which adopt a mode of inserting a co-processing card in a background server to transfer all operations originally completed in a central processing unit to the co-processing card to complete all or part of operations, can reduce the configuration and requirements of the central processing unit, and simultaneously facilitate the upgrading, changing or replacing of the three-dimensional scanner processing system.
In order to achieve the purpose, the invention provides the following technical scheme:
a three-dimensional scanner processing system comprises a three-dimensional scanner and a background server, wherein the three-dimensional scanner is in communication connection with the background server in a wired or wireless mode;
the three-dimensional scanner comprises a sensor, wherein the sensor is used for scanning surface data information of an object to be detected and sending the acquired data information of the surface of the object to be detected to the background processor;
the background server comprises a central processing unit and a co-processing card; the central processing unit comprises a control module A and an operation module A; the control module A controls the operation module A to perform operation through a control signal; the co-processing card comprises a control module B and an operation module B; the control module B controls the operation module B to perform operation through a control signal; and the control module A and the control module B are in data communication connection.
As a preferred embodiment of the present invention, the co-processing card is plugged into the background server through PCIE, USB3.0, or other interfaces.
Preferably, in this embodiment, the central processing unit transmits the data and the control information to the co-processor card through the PCIE bus, and receives a calculation result of the co-processor card, and the PCIE bus slot is used to extend the co-processor card.
As a preferred feature of this embodiment, the calculation task executed by the operation module a includes parameter fitting operation; the calculation tasks executed by the operation module B comprise image filtering, edge extraction and connected domain marking algorithm.
The embodiment of the invention provides a data processing method of a three-dimensional scanner processing system, which comprises the following steps:
s1, scanning by a sensor to acquire image data, and then sending the image data to a central processing unit, wherein the central processing unit sends the image data to a co-processing card after receiving the image data;
s2, the control module A sends the relevant control signal to the control module B, the control module B controls the operation module B to carry out relevant operation, and the operation module B feeds back the operation result to the control module B after completing the operation;
and S3, the control module B sends the operation completion signal to the control module A, and the control module A controls the operation module A to perform subsequent operation after receiving the operation completion signal of the operation module B.
Preferably, in step S2, the computing module B executes a computing task including image filtering, edge extraction, and a connected component labeling algorithm; in step S3, the operation module 3 performs a calculation task including parameter fitting operation.
Compared with the prior art, the invention has the following beneficial effects:
(1) The three-dimensional scanner processing system and the data processing method thereof adopt a mode of inserting the co-processing card in the background server, all operations originally completed in the central processing unit are transferred to the co-processing card to complete all or part of operations, and the configuration and the requirement of the central processing unit can be reduced.
(2) The three-dimensional scanner processing system and the data processing method thereof adopt the mode of externally inserting the co-processing card to process data, only the co-processing card is inserted into a background server (generally a computer) to complete the installation of the co-processing card when in use, the operation is simple, and the upgrading, changing or replacing of the three-dimensional scanner is not influenced.
Drawings
Fig. 1 is a schematic structural diagram of a three-dimensional scanner processing system according to the present invention.
Fig. 2 is a flow chart of a data processing method of the three-dimensional scanner processing system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a three-dimensional scanner processing system, which specifically includes a three-dimensional scanner and a background server (which may be understood as a computer, a mobile phone, a tablet, or other terminal processing device), where the three-dimensional scanner and the background server are in wired or wireless communication connection. The three-dimensional scanner comprises a sensor, wherein the sensor is used for scanning surface data information of an object to be detected and sending the acquired data information of the surface of the object to be detected to the background processor. When the surface data acquisition device is used, the three-dimensional scanner (particularly the sensor) can transmit the surface data information of the object to be detected to the background server in real time, and the background server calculates and processes the acquired data information and feeds the data information back to subsequent processing personnel.
The background server comprises a central processing unit and a co-processing card; the central processing unit comprises a control module A and an operation module A; the control module A controls the operation module A to operate through the control signal. The co-processing card comprises a control module B and an operation module B; the control module B controls the operation module B to perform operation through a control signal; and the control module A and the control module B are in data communication connection. In this embodiment, the co-processor card is inserted into the background server through the PCIE, the USB3.0, or other interfaces, the central processing unit in the background server transmits data and control information to the co-processor card through the PCIE bus and receives a calculation result of the co-processor card, and the PCIE bus slot is used to expand the co-processor card. The co-processing card adopts XCKU085 as a control chip of the co-processing card, adopts PCIE3.0 x 4 interface to realize data interaction between the background server and the co-processing card, and adopts XDMA to realize PCIE function.
In this embodiment, the co-processor card is configured with an XDMA, a DDR, a control module B, and an operation module B. The XDMA, the DDR and the operation module B are communicated and transmit data through AXI; the XDMA, the control module B and the operation module B communicate and transmit control information through AXI lite; after image data acquired by scanning of the three-dimensional scanner is transmitted to a computer background server, the control module A starts H2C transmission through XDMA (data is transmitted to the co-processing card from the background server), and writes the data into DDR of the co-processing card through PCIE; the control module A sends control information to the control module B through the XDMA via the PCIE, and the control module B controls the operation module B to start; the operation module B reads data from the DDR, and sequentially performs algorithms such as image filtering, edge extraction, connected domain marking, and the like (in this embodiment, the operation performed by the operation module B does not include only the algorithms such as image filtering, edge extraction, and connected domain marking, but this embodiment describes only one of the cases, and in an actual application scene, a designer may adjust and preset operation contents and steps performed by the operation module B in advance), writes an operation result into the DDR, and sends an operation sending completion signal to the control module a through the XDMA via the PCIE by the control module B; the control module A starts C2H transmission (data is transmitted to a background server by a co-processing card) through the XDMA, and sends an operation result in the DDR of the co-processor to the background server through the PCIE; the control module a controls the parameter fitting module to perform operation (in this embodiment, the operation performed by the operation module a is not only the operation performed by the parameter fitting module, but this embodiment is only one of the cases described, and in an actual application scenario, a designer may adjust and preset the operation content and steps performed by the operation module a in advance) until all operations are completed.
In this embodiment, the central processing unit only needs to perform parameter fitting operation and process control, and other operations are completed by the co-processing card (specifically, the operation module B), so that the requirement on configuration of the background server (generally, a computer) is low. A PCIE3.0 x 4 interface is adopted between the co-processing card and the computer, so that the installation is easy, the data bandwidth of the interface is as high as 4GB/s, the data transmission between the co-processing card and the background server can be completed in a very short time, and the high-performance requirement of a three-dimensional scanner processing system is met.
Referring to fig. 2, an embodiment of the present invention provides a data processing method for a three-dimensional scanner processing system, which specifically includes the following steps:
(1) A sensor in the three-dimensional scanner scans and acquires image data and then sends the image data to a central processing unit; after receiving the image data, the central processing unit sends the image data to the co-processing card;
(2) The control module A sends the relevant control signals to the control module B, the control module B controls the operation module B to carry out relevant operation, and the operation module B feeds back the operation result to the control module B after completing the operation. In this embodiment, the calculation task executed by the operation module B includes algorithms such as image filtering, edge extraction, and connected component labeling.
(3) And the control module B sends the operation completion signal to the control module A, and after receiving the operation completion signal of the operation module B, the control module A controls the operation module A to execute the parameter fitting module to perform operation until all operations are completed.
In this embodiment, a data processing is performed by using an extrapolation co-processor card, and all or part of operations originally performed by the central processing unit are transferred to the co-processor card to perform all or part of operations (in this embodiment, operations such as image filtering, edge extraction, connected domain marking, etc. are transferred to the co-processor card to perform operations, and the central processing unit only processes subsequent operations such as a parameter fitting module, etc.), which can reduce the configuration and requirements of the central processing unit. Meanwhile, when the three-dimensional scanner is used, the installation of the co-processor card can be completed only by inserting the co-processor card into a background server (generally a computer), the operation is simple, and the upgrading, changing or replacing of the three-dimensional scanner is not influenced.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. A three-dimensional scanner processing system, characterized by: the system comprises a three-dimensional scanner and a background server, wherein the three-dimensional scanner is in communication connection with the background server through wires or wirelessly;
the three-dimensional scanner comprises a sensor, wherein the sensor is used for scanning surface data information of an object to be detected and sending the acquired data information of the surface of the object to be detected to the background processor;
the background server comprises a central processing unit and a co-processing card; the central processing unit comprises a control module A and an operation module A; the control module A controls the operation module A to perform operation through a control signal; the co-processing card comprises a control module B and an operation module B; the control module B controls the operation module B to carry out operation through a control signal; and the control module A and the control module B are in data communication connection.
2. The three-dimensional scanner processing system of claim 1, wherein: the co-processing card is inserted into the background server through PCIE, USB3.0 or other interfaces.
3. The three-dimensional scanner processing system of claim 1, wherein: the central processing unit transmits data and control information to the co-processing card through the PCIE bus and receives a calculation result of the co-processing card, and the PCIE bus slot is used for expanding the co-processing card.
4. The three-dimensional scanner processing system of claim 3, wherein: the calculation task executed by the operation module A comprises parameter fitting operation; the calculation tasks executed by the operation module B comprise image filtering, edge extraction and connected domain marking algorithm.
5. The data processing method of the three-dimensional scanner processing system of claims 1-4, comprising the steps of:
s1, scanning by a sensor to acquire image data and then sending the image data to a central processing unit, and sending the image data to a co-processing card by the central processing unit after receiving the image data;
s2, the control module A sends the relevant control signal to the control module B, the control module B controls the operation module B to carry out relevant operation, and the operation module B feeds back the operation result to the control module B after completing the operation;
and S3, the control module B sends the operation completion signal to the control module A, and the control module A controls the operation module A to perform subsequent operation after receiving the operation completion signal of the operation module B.
6. The data processing method of the three-dimensional scanner processing system of claim 5, wherein in the step S2, the operation module B performs calculation tasks including image filtering, edge extraction, and connected domain labeling algorithm; in step S3, the operation module 3 performs a calculation task including a parameter fitting operation.
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| CN202210849262.XA CN115309455A (en) | 2022-07-19 | 2022-07-19 | Three-dimensional scanner processing system and data processing method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117237230A (en) * | 2023-11-09 | 2023-12-15 | 武汉中观自动化科技有限公司 | Laser line and mark point identification method and system |
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- 2022-07-19 CN CN202210849262.XA patent/CN115309455A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117237230A (en) * | 2023-11-09 | 2023-12-15 | 武汉中观自动化科技有限公司 | Laser line and mark point identification method and system |
| CN117237230B (en) * | 2023-11-09 | 2024-03-22 | 武汉中观自动化科技有限公司 | Laser line and mark point identification method and system |
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