CN105869206B - three-dimensional rebuilding method and device - Google Patents
three-dimensional rebuilding method and device Download PDFInfo
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- CN105869206B CN105869206B CN201610229819.4A CN201610229819A CN105869206B CN 105869206 B CN105869206 B CN 105869206B CN 201610229819 A CN201610229819 A CN 201610229819A CN 105869206 B CN105869206 B CN 105869206B
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The invention discloses a kind of three-dimensional rebuilding methods, including：Object is scanned with predeterminated frequency driving infrared touch frame, obtains the coordinate points of the periphery in the section of the object on each frequency point；Wherein, the object translation passes through the infrared touch frame；Two nearest coordinate points of distance on the section of adjacent frequency point are divided into the coordinate points of identity set；Coordinate points on identity set are smoothed, the coordinate points after smoothing processing are obtained；According to the coordinate points after the smoothing processing, the 3D shape of the object is reconstructed.Correspondingly, the invention also discloses a kind of three-dimensional reconstruction apparatus.Using the embodiment of the present invention, at low cost, algorithm is simply and the 3D shape precision of structure is high.
Description
Technical field
The present invention relates to field of computer technology more particularly to a kind of three-dimensional rebuilding methods and device.
Background technology
Currently, obtaining its 3D shape to object to be scanned, there is following scheme：
Scheme one：The discrepant two dimensional image of scanned object shooting angle is obtained, is extracted by image processing means special
Sign is to build the 3D shape of scanned object.
Scheme two：Camera is answered by distance perspective, it is determining in the different image of the depth shot from several positions to be swept
The relative position of object is retouched, and then builds the 3D shape of scanned object.
Scheme three：By the image of CT scan equipment, the 3D shape of scanned object is built based on image procossing.
But inventor is in carrying out the present invention, it is found that above scheme has the following defects：For scheme one, this
Scheme needs complicated algorithm and computationally intensive, the threedimensional model accuracy of acquisition is low based entirely on image procossing.For scheme
For two, this scheme cost is higher, need to use multiple cameras and have higher requirement to camera position precision.For scheme
For three, this scheme cost is higher, needs the CT equipment using profession, and be limited by the size of CT equipment, identifiable object
Body size cannot be too big.
Invention content
The embodiment of the present invention proposes a kind of three-dimensional rebuilding method and device, and at low cost, algorithm is simple and the three-dimensional shaped of structure
Shape precision is high.
The embodiment of the present invention provides a kind of three-dimensional rebuilding method, including：
Object is scanned with predeterminated frequency driving infrared touch frame, obtains the periphery in the section of the object on each frequency point
Coordinate points；Wherein, the object translation passes through the infrared touch frame；
Two nearest coordinate points of distance on the section of adjacent frequency point are divided into the coordinate points of identity set；
Coordinate points on identity set are smoothed, the coordinate points after smoothing processing are obtained；
According to the coordinate points after the smoothing processing, the 3D shape of the object is reconstructed.
Further, after the coordinate points according to after the smoothing processing, the 3D shape for reconstructing the object,
Further include：
Receive idsplay order；The idsplay order includes display mode；
According to the display mode, the 3D shape of the object is displayed on the screen.
Further, the coordinate points on identity set are smoothed, and obtain the coordinate points after smoothing processing,
It specifically includes：
To the coordinate points on identity set, adjacent coordinate points are connected with straight line, obtain the broken line of the set；
The broken line of each set is become into smooth curve using Kalman filtering algorithm；
According to the predeterminated frequency by the curve segmentation of each set, each section of the endpoint obtained is as smoothing processing
Coordinate points afterwards.
Further, the object translates across the infrared touch frame by conveyer belt, then described with first frequency
It drives infrared touch frame to scan object, obtains and after the coordinate points of the periphery in the section of the object, also wrapped on each frequency point
It includes：
Judge whether the coordinate points are coordinate points in the outer shape of the conveyer belt；
If so, the coordinate points are removed from accessed coordinate points.
Preferably, the 3D shape of the reconstruct object is built based on OpenGL.
Correspondingly, the embodiment of the present invention also provides a kind of three-dimensional reconstruction apparatus, including：
Data obtaining module obtains the institute on each frequency point for scanning object with first frequency driving infrared touch frame
State the coordinate points of the periphery in the section of object；Wherein, the object translation passes through the infrared touch frame；
Coordinate sieves module, for dividing two nearest coordinate points of distance on the section of adjacent frequency point into identity set
Coordinate points；
Smoothing module obtains the seat after smoothing processing for being smoothed to the coordinate points on identity set
Punctuate；With,
Three-dimensionalreconstruction module, for according to the coordinate points after the smoothing processing, reconstructing the 3D shape of the object.
Further, the three-dimensional reconstruction apparatus further includes：
Command reception module, for receiving idsplay order；The idsplay order includes display mode；With,
Display module, for according to the display mode, the 3D shape of the object to be displayed on the screen.
Further, the smoothing module, specifically includes：
Broken line generation unit, for the coordinate points on identity set, being connected adjacent coordinate points with straight line, obtaining institute
State the broken line of set；
Curve generation unit, for the broken line of each set to be become smooth curve using Kalman filtering algorithm；With,
Coordinate points acquiring unit is used for according to the first frequency by the curve segmentation of each set, by each section of end
Point is as the coordinate points after smoothing processing.
Further, the object translates across the infrared touch frame by conveyer belt, then three-dimensional reconstruction apparatus also wraps
It includes：
Judgment module obtains described on each frequency point for scanning object with first frequency driving infrared touch frame
After the coordinate points of the periphery in the section of object, judge whether the coordinate points are coordinate in the conveyer belt outer shape
Point；With,
Coordinate removes module, is used for when the coordinate points are the coordinate points in the conveyer belt outer shape, will be described
Coordinate points are removed from accessed coordinate points.
Preferably, the 3D shape of the reconstruct object is built based on OpenGL.
Implement the embodiment of the present invention, has the advantages that：
Three-dimensional rebuilding method and device provided in an embodiment of the present invention are made to be scanned by providing an infrared touch frame
Object directly passes through touching box, gets the peripheral coordinate points on multiple sections of scanned object, utilize obtained it is multiple
Peripheral coordinate points on section are built, and the photography technology of the prior art need not be used in scanning process, not by environment
The interference of factor (such as illumination), it is only necessary to obtain coordinate points information, so that it may to be accurately reconstructed the three of scanned object
Tie up shape.In addition, this method coordinate points nearest to the distance scanned on adjacent two frequency point are smoothed, can reduce
For effect of jitter caused by infrared light.
Description of the drawings
Fig. 1 is the flow diagram of one embodiment of three-dimensional rebuilding method provided by the invention；
Fig. 2 is the structural schematic diagram of one embodiment of three-dimensional reconstruction apparatus provided by the invention；
Fig. 3 is the structural schematic diagram of one embodiment of the smoothing module of three-dimensional reconstruction apparatus provided by the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
It is the flow diagram of one embodiment of three-dimensional rebuilding method provided by the invention referring to Fig. 1, this method includes
Following steps：
S1 scans object with predeterminated frequency driving infrared touch frame, obtains the section of the object on each frequency point
The coordinate points of periphery；Wherein, the object translation passes through the infrared touch frame；
Two nearest coordinate points of distance on the section of adjacent frequency point are divided into the coordinate points of identity set by S2；
S3 is smoothed the coordinate points on identity set, obtains the coordinate points after smoothing processing；
S4 reconstructs the 3D shape of the object according to the coordinate points after the smoothing processing.
Preferably, the 3D shape of the reconstruct object is to be built based on OpenGL, but be not limited to use
OpenGL is built, and it is a kind of mode for realizing structure model to carry out structure using OpenGL, can also utilize other modes
Graphical software programs interface carry out structure object 3D shape.
It should be noted that the object translation includes across the mode of the infrared touch frame：Scanned object is kept
Motionless, infrared touch frame is with a preset translation frequency shifts；And infrared touch frame remains stationary as, scanned object with
One preset translation frequency shifts.The coordinate points that each frequency point scans are that the outer of section of scanned object is placed
Coordinate points, the number of this coordinate points is identical by the infrared light supply quantity of the infrared transmitter on infrared touch frame sent out, excellent
Selection of land, infrared light supply are equally distributed, are conducive to improve the precision of cross-sectional circumference shape structure.
Since the infrared transmitter on infrared touch frame is generally infrared lamp, the distance that two neighboring frequency point scans
Nearest coordinate point data has obvious shake, can influence the structure of the 3D shape of follow-up scanned object, so being
Keep the 3D shape of structure more accurate, using step S2 and S3, the distance that scans to two neighboring frequency point is nearest
Coordinate points are smoothed.
Further, after above-mentioned steps S4, further include：
Receive idsplay order；The idsplay order includes display mode；
According to the display mode, the 3D shape of the object is displayed on the screen.
It should be noted that display mode include show the specific cross section information of scanned object, specific physical size, with
And the specifying informations such as shape, frame and lines and with different visual angles be shown scanned special body size appearance (rotation, just
It depending on, side view, looks up and overlooks).
Further, it is specifically included in above-mentioned steps S3：
To the coordinate points on identity set, adjacent coordinate points are connected with straight line, obtain the broken line of the set；
The broken line of each set is become into smooth curve using Kalman filtering algorithm；
According to the predeterminated frequency by the curve segmentation of each set, each section of the endpoint obtained is as smoothing processing
Coordinate points afterwards.
It should be noted that nearest using the distance that Kalman filtering algorithm can be such that two neighboring frequency point scans
Coordinate point data is reduced by shake shadow caused by infrared tube, and this algorithm is simple and effective.
Further, the object is to translate across the infrared touch frame by conveyer belt, then above-mentioned steps S1 it
Afterwards, further include：
Judge whether the coordinate points are coordinate points in the outer shape of the conveyer belt；
If so, the coordinate points are removed from accessed coordinate points.
It should be noted that since transmit process uses conveyer belt, then the data that scan are by the data of conveyer belt
Remove, to avoid it is constructed go out 3D shape include conveyer belt including.
Three-dimensional rebuilding method provided in an embodiment of the present invention keeps object to be scanned straight by providing an infrared touch frame
It connects and passes through touching box, get the peripheral coordinate points on multiple sections of scanned object, utilize on the multiple sections obtained
Peripheral coordinate points built, the photography technology of the prior art need not be used in scanning process, not by environmental factor (example
Such as illumination) interference, it is only necessary to obtain coordinate points information, so that it may the 3D shape of scanned object is accurately reconstructed.
In addition, this method coordinate points nearest to the distance scanned on adjacent two frequency point are smoothed, can reduce for red
Effect of jitter caused by outer light.
Correspondingly, it is the structural schematic diagram of an implementation of three-dimensional reconstruction apparatus provided by the invention referring to Fig. 2, it can be real
Apply whole flows in the above method, the three-dimensional reconstruction apparatus, including：
Data obtaining module 10 is obtained for scanning object with first frequency driving infrared touch frame on each frequency point
The coordinate points of the periphery in the section of the object；Wherein, the object translation passes through the infrared touch frame；
Coordinate sieves module 20, for dividing two nearest coordinate points of distance on the section of adjacent frequency point into same collection
The coordinate points of conjunction；
Smoothing module 30, for being smoothed to the coordinate points on identity set, after obtaining smoothing processing
Coordinate points；With,
Three-dimensionalreconstruction module 40, for according to the coordinate points after the smoothing processing, reconstructing the 3D shape of the object.
Further, the three-dimensional reconstruction apparatus further includes：
Command reception module 50, for receiving idsplay order；The idsplay order includes display mode；With,
Display module 60, for according to the display mode, the 3D shape of the object to be displayed on the screen.
Further, it is one embodiment of the smoothing module of three-dimensional reconstruction apparatus provided by the invention referring to Fig. 3
Structural schematic diagram, which specifically includes：
Broken line generation unit 31, for the coordinate points on identity set, being connected, being obtained by adjacent coordinate points with straight line
The broken line of the set；
Curve generation unit 32, for the broken line of each set to be become smooth curve using Kalman filtering algorithm；
With,
Coordinate points acquiring unit 33 is used for according to the first frequency by the curve segmentation of each set, by each section
Endpoint is as the coordinate points after smoothing processing.
Further, the object translates across the infrared touch frame by conveyer belt, then three-dimensional reconstruction apparatus also wraps
It includes：
Judgment module 70 obtains the institute on each frequency point for scanning object with first frequency driving infrared touch frame
After the coordinate points of periphery for stating the section of object, judge whether the coordinate points are coordinate in the conveyer belt outer shape
Point；With,
Coordinate removes module 80, is used for when the coordinate points are the coordinate points in the conveyer belt outer shape, by institute
Coordinate points are stated to remove from accessed coordinate points.
Preferably, the 3D shape of the reconstruct object is built based on OpenGL.
Three-dimensional reconstruction apparatus provided in an embodiment of the present invention keeps object to be scanned straight by providing an infrared touch frame
It connects and passes through touching box, get the peripheral coordinate points on multiple sections of scanned object, utilize on the multiple sections obtained
Peripheral coordinate points built, the photography technology of the prior art need not be used in scanning process, not by environmental factor (example
Such as illumination) interference, it is only necessary to obtain coordinate points information, so that it may the 3D shape of scanned object is accurately reconstructed.
In addition, this method coordinate points nearest to the distance scanned on adjacent two frequency point are smoothed, can reduce for red
Effect of jitter caused by outer light.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (8)
1. a kind of three-dimensional rebuilding method, which is characterized in that including：
Object is scanned with predeterminated frequency driving infrared touch frame, obtains the seat of the periphery in the section of the object on each frequency point
Punctuate；Wherein, the object translation passes through the infrared touch frame；
Two nearest coordinate points of distance on the section of adjacent frequency point are divided into the coordinate points of identity set；
Coordinate points on identity set are smoothed, the coordinate points after smoothing processing are obtained；
According to the coordinate points after the smoothing processing, the 3D shape of the object is reconstructed；
Wherein, the coordinate points on identity set are smoothed, and obtain the coordinate points after smoothing processing, specific to wrap
It includes：
To the coordinate points on identity set, adjacent coordinate points are connected with straight line, obtain the broken line of the set；
The broken line of each set is become into smooth curve using Kalman filtering algorithm；
According to the predeterminated frequency by the curve segmentation of each set, after each section of endpoint being obtained is as smoothing processing
Coordinate points.
2. three-dimensional rebuilding method as described in claim 1, which is characterized in that in the coordinate according to after the smoothing processing
Point after the 3D shape for reconstructing the object, further includes：
Receive idsplay order；The idsplay order includes display mode；
According to the display mode, the 3D shape of the object is displayed on the screen.
3. three-dimensional rebuilding method as described in claim 1, which is characterized in that the object is translated across described by conveyer belt
Infrared touch frame then scans object with predeterminated frequency driving infrared touch frame described, obtains the object on each frequency point
Section periphery coordinate points after, further include：
Judge whether the coordinate points are coordinate points in the outer shape of the conveyer belt；
If so, the coordinate points are removed from accessed coordinate points.
4. three-dimensional rebuilding method as described in any one of claims 1 to 3, which is characterized in that the three of the reconstruct object
Tieing up shape is built based on OpenGL.
5. a kind of three-dimensional reconstruction apparatus, which is characterized in that including：
Data obtaining module obtains the object on each frequency point for scanning object with first frequency driving infrared touch frame
The coordinate points of the periphery in the section of body；Wherein, the object translation passes through the infrared touch frame；
Coordinate sieves module, the seat for two nearest coordinate points of distance on the section of adjacent frequency point to be divided into identity set
Punctuate；
Smoothing module obtains the coordinate points after smoothing processing for being smoothed to the coordinate points on identity set；
With,
Three-dimensionalreconstruction module, for according to the coordinate points after the smoothing processing, reconstructing the 3D shape of the object；
Wherein, the smoothing module, specifically includes：
Broken line generation unit, for the coordinate points on identity set, being connected adjacent coordinate points with straight line, obtaining the collection
The broken line of conjunction；
Curve generation unit, for the broken line of each set to be become smooth curve using Kalman filtering algorithm；With,
Coordinate points acquiring unit, for, by the curve segmentation of each set, each section of endpoint being made according to the first frequency
For the coordinate points after smoothing processing.
6. three-dimensional reconstruction apparatus as claimed in claim 5, which is characterized in that the three-dimensional reconstruction apparatus further includes：
Command reception module, for receiving idsplay order；The idsplay order includes display mode；With,
Display module, for according to the display mode, the 3D shape of the object to be displayed on the screen.
7. three-dimensional reconstruction apparatus as claimed in claim 5, which is characterized in that the object is translated across described by conveyer belt
Infrared touch frame, then three-dimensional reconstruction apparatus further include：
Judgment module obtains the object on each frequency point for scanning object with first frequency driving infrared touch frame
Section periphery coordinate points after, judge whether the coordinate points are coordinate points in the outer shape of the conveyer belt；
With,
Coordinate removes module, is used for when the coordinate points are the coordinate points in the conveyer belt outer shape, by the coordinate
Point is removed from accessed coordinate points.
8. such as claim 5 to 7 any one of them three-dimensional reconstruction apparatus, which is characterized in that the three of the reconstruct object
Tieing up shape is built based on OpenGL.
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| CN101923729A (en) * | 2010-08-25 | 2010-12-22 | 中国人民解放军信息工程大学 | Reconstruction method of three-dimensional shape of lunar surface based on single gray level image |
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| CN105023282A (en) * | 2014-04-30 | 2015-11-04 | 华中科技大学 | Sparse projection ultrasonic CT image reconstruction method based on CS |
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2016
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|---|---|---|---|---|
| CN101593358A (en) * | 2009-06-25 | 2009-12-02 | 汕头大学 | A kind of method for reconstructing three-dimensional model |
| CN101923729A (en) * | 2010-08-25 | 2010-12-22 | 中国人民解放军信息工程大学 | Reconstruction method of three-dimensional shape of lunar surface based on single gray level image |
| CN105023282A (en) * | 2014-04-30 | 2015-11-04 | 华中科技大学 | Sparse projection ultrasonic CT image reconstruction method based on CS |
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