CN106408664A - Three-dimensional model curved surface reconstruction method based on three-dimensional scanning device - Google Patents
Three-dimensional model curved surface reconstruction method based on three-dimensional scanning device Download PDFInfo
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- CN106408664A CN106408664A CN201610782900.5A CN201610782900A CN106408664A CN 106408664 A CN106408664 A CN 106408664A CN 201610782900 A CN201610782900 A CN 201610782900A CN 106408664 A CN106408664 A CN 106408664A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/30—Polynomial surface description
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30036—Dental; Teeth
Abstract
The invention relates to a three-dimensional model curved surface reconstruction method based on a three-dimensional scanning device. The three-dimensional model curved surface reconstruction method comprises the following steps that 1) multiple sets of bitmap images are photographed by using the three-dimensional scanning device at a uniform photographing time interval; 2) the photographed bitmap images are transmitted to a computer; 3) a set of bitmap images reach the memory of the computer and then the computer discriminates the bitmap images; 4) a point cloud is calculated and then coordinate corresponding coloring processing is performed on the point cloud by using the all-lighting bitmap image in the set of images, and the point cloud after coloring processing is arranged in the three-dimensional environment; 5) the subsequent point clouds are spliced with the previous point cloud, and finally the point cloud group of the whole scanning part is obtained; 6) accurate registration is performed on the point cloud group of the whole scanning part so that a complete part point cloud of which each point includes color information is formed, then gridding and smooth processing are performed and thus a complete part three-dimensional curved surface is obtained; and 7) color rendering is performed on the three-dimensional curved surface.
Description
Technical field
The present invention relates to a kind of threedimensional model curve reestablishing method based on three-dimensional scanner, belong to 3-D scanning imaging
Technical field.
Background technology
In recent years, 3-D scanning technology is widely applied in a lot of fields, is especially made that in medical imaging field
Prominent contribution.For example, the tooth plaster impression of facsimile reproduction and X-ray radiography technology in past dental patients mouth, present
Three-dimensional Vis scan technology is replaced.In oral cavity, 3-D scanning technology avoids the consumption of moulage, cross-infection, model
Cracky and being difficult preserves, precision is low and the shortcomings of patient is exposed under a large amount of rays, significantly improves patient in inspection
Level of comfort during looking into, decreases the time loss of patient, and its application is more and more extensive.In dentistry, recording surface
The ability of color is also useful in numerous applications, and for example user with the type of dividing tissue or can detect existing reparation
Thing, carries out corona outward appearance colorimetric to determine the color of new corona.
A series of United States Patent (USP)s with US009066772 as representative disclose a kind of widely used, using structure light three
Dimension rebuilds corona spatial digitizer in the oral cavity of principle, is illuminated by structured light generators, and imageing sensor shoots one group of two dimension
Photo, sends GPU to, carries out three-dimensional reconstruction by triangle principle and obtains an amplitude point cloud, is formed by related point cloud registering together
The point cloud at one position, the such as upper jaw or lower jaw, then through gridding and curving, the curved surface threedimensional model at one position of formation,
Namely electronic dental mould, becomes the basis of dental CAD editor.Its imageing sensor typically adopts CCD array image sensor；According to
Funerary objects part adopts one-wavelength laser pipe, monochromatic LED or combination LED, sends monochromatic light or colourama；Structured light generators adopt
LCoS；Typically adopt interchangeable, sterilizable capture mouth, including the speculum of heating in.
European patent WO2010145669 is directed to some orders of lighting shooting of different colours (usually blue, green and red)
Image, combines to form combined color image.The method needs to change the device of light source colour, such as color filter.
Additionally, in hand-held use, scanner will be moved with respect to scanned object within the time that illumination sequence converts, reduce
The precision of combined color image.
United States Patent (USP) US7698068 and US8102538 also illustrate scanner in a kind of mouth, and it uses one or more images
Sensor record geometry data and superficial makings data.However, having small between color and geometry record respectively
Postpone.US7698068 needs the sequential illumination of different colours to form composograph, and US8102538 mentions white light as photograph
Bright, but white light is derived from the second light source or color by the second image recording sensor, and first group is used for recording geometry.
European patent WO2012083967 discloses a kind of scanner, and it is with two independent camera record geometries
Data and data texturing.First camera has the shallower depth of field based on the scanning that focuses on of multiple images, and the second camera is from list
Individual image provides color and vein information to have the larger depth of field.
Above-mentioned scanning means is to the color of model or using monochromatic display, or adopts pseudo-color processing, photo and model
Fidelity is bad it is impossible to the video having produced guides effect.
Content of the invention
For the problems referred to above, it is an object of the invention to provide a kind of can form surface model true to nature and the good base of fidelity
Threedimensional model curve reestablishing method in three-dimensional scanner.
For achieving the above object, the present invention employs the following technical solutions：A kind of threedimensional model based on three-dimensional scanner
Curve reestablishing method, comprises the following steps：1) utilize three-dimensional scanner with the multigroup bitmap of uniform shooting time interval shooting
Photo, each group of bitmap photo includes the bitmap photo that a frame or multiframe are tactic, have lighting pattern, its in this group
In a frame be panchromatic, full illumination bitmap photo, remaining be partial illumination bitmap photo；2) by the bitmap photo shooting transmission
To computer；3), after one group of bitmap photo reaches calculator memory, computer is screened to bitmap photo：If only one
The bitmap photo of full illumination, then send it to video window and shown；If multiple pictures, then by that full illumination
Bitmap photo is sent to video window and is shown, the bitmap photo of remaining partial illumination is transferred to GPU, and GPU ties according to light
Structure algorithm is converted into an amplitude point cloud, sets up a three-dimensional local rectangular coordinate system simultaneously, three-dimensional local rectangular coordinate system with
In area array sensor in three-dimensional scanner, the plane right-angle coordinate of pixel meets following corresponding relation：Three-dimensional local is straight
The X1 axle of angular coordinate system is parallel respectively with the X2 axle of plane right-angle coordinate and Y2 axle with Y1 axle, three-dimensional local rectangular coordinate system
Z1 axle passes through the coordinate origin of plane right-angle coordinate and points to area array sensor；4) after being calculated a cloud, using this group
Bitmap photo of that full illumination in photo carries out coordinate pair and should paint process to this amplitude point cloud, the point cloud after colouring is processed
It is placed in three-dimensional environment；5) 5) the first amplitude point cloud is read in three-dimensional environment, will its three-dimensional local rectangular coordinate system and the world
Coordinate system overlaps；Then successively by subsequent point cloud read in three-dimensional environment in, will subsequent point cloud three-dimensional local rectangular coordinate system
Overlap with the three-dimensional local rectangular coordinate system of former point cloud and each coordinate points are rotated and translation is processed, utilize computer simultaneously
In CPU or GPU subsequent point cloud is spliced in world coordinate system with former point cloud, and calculate each point cloud three
Dimension position in world coordinate system for the local rectangular coordinate system；Finally obtain the point cloud group of whole scanned position；6) entirely swept
The point cloud group retouching position carries out accuracy registration, forms a position point cloud complete, that each point includes colouring information, then enters
Row gridding and smoothing processing, obtain the three-dimension curved surface at a complete position.7) color rendering is carried out to three-dimension curved surface.
Described step 1) in, the first photograph frame of each group of bitmap photo is full illumination photo.
Described step 1) in, a shooting time interval only shoots one group of bitmap photo；When between arrival shooting time
When start time, shoot instruction if there are structure light and exist, begin to shoot complete one group bitmap photo, shoot one by one
Each of which frame, shoots instruction without structure light and exists, then only shoot a frame and entirely illuminate photo.
Described step 4) in, using the bitmap photo of full illumination, a cloud is carried out with the process that coordinate pair should paint as follows：Point
One of cloud point calculates through linear, can get its corresponding picture in the plane right-angle coordinate of array image sensor
Element, with the color average of the color of pixel or the polygon using centered on pixel or border circular areas as point color value.
Described step 7) in, the process that three-dimension curved surface is carried out with color rendering is as follows：Inner surface is rendered to a kind of color, outward
Surface is rendered according to following three-dimensional rendering method：Along one of position point cloud point, do generated normal to a surface, such as
Fruit normal and curved surface have intersection point, then render this point, that is, in the small pieces polygon centered on normal with curved surface intersection point or circle
Region in, render the color of this point；As there is no intersection point, then this point is discarded；It is processed as the position point corresponding to this curved surface
Each point in cloud, can also carry out the transition processing of each point color, complete rendering of this curved surface, form curved die true to nature
Type.
Due to taking above technical scheme, it has advantages below to the present invention：The present invention can accurately and fast realize quilt
The reconstruction of the three-dimensional surface model of scanned position, and there is higher fidelity.
Brief description
Fig. 1 is the distribution schematic diagram at shooting time interval of the present invention；
Fig. 2 is present invention three-dimensional local coordinate system definition and point cloud colouring schematic diagram；
Fig. 3 is curved surface rendering schematic diagram of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in detail.
The present invention proposes a kind of threedimensional model curve reestablishing method based on three-dimensional scanner, comprises the following steps：
1) as shown in figure 1, multigroup bitmap photo is shot with uniform shooting time interval 101 using three-dimensional scanner
104, for example can be divided into 30 shooting times interval each second, each group of bitmap photo 104 includes a frame or multiframe is specific suitable
Sequence, specific illumination pattern bitmap photo, wherein one frame in this group is the bitmap photo of panchromatic, full illumination, and remaining is portion
Divide the bitmap photo of illumination, most preferred embodiment is to allow the first photograph frame be full illumination photo.
Specifically, the shooting total time 103 of one group of bitmap photo 104 is much smaller than time interval 101 between shooting, claps at one
Take the photograph and in time interval 101, only shoot one group of bitmap photo.When reaching shooting time interval start time, if there are structure photo-beat
Take the photograph instruction 102 presence, begin to shoot complete one group bitmap photo, shoot each of which frame one by one, without knot
Structure light shoots instruction 102 presence, then only shoot a frame and entirely illuminate photo.
2) the bitmap photo of shooting is transferred to computer.
3), after internal memory after one group of bitmap photo arrival computer, computer is screened to bitmap photo：If only one
Open the bitmap photo of full illumination, then send it to video window and shown, thus forming an equally spaced photo stream, shape
Become stable color video output；If multiple pictures, then the bitmap photo of that full illumination is sent to video window and enters
Row display, the bitmap photo of remaining partial illumination is transferred to GPU (graphic process unit), and GPU is changed according to photo structure algorithm
It is counted as an amplitude point cloud 202 (as shown in Figure 2), set up a three-dimensional local rectangular coordinate system 203, three-dimensional local rectangular coordinates simultaneously
It is 203 to meet following corresponding pass with the plane right-angle coordinate 204 of pixel in the area array sensor 201 in three-dimensional scanner
System：The X1 axle of three-dimensional local rectangular coordinate system 203 is parallel respectively with the X2 axle of plane right-angle coordinate 204 and Y2 axle with Y1 axle,
The Z1 axle of three-dimensional local rectangular coordinate system 203 by the coordinate origin O2 point of plane right-angle coordinate 204 and points to and is taken
The outside of object and area array sensor 201.
4), after being calculated a cloud, the bitmap photo using the full illumination of that in this group photo enters to this amplitude point cloud 202
Row coordinate pair should be painted process, and that is, one of point cloud 202 point 207 calculates through linear, can get it in plane rectangular coordinates
It is the respective pixel 206 in 204, with the color of pixel 206 or the color of the polygon centered on pixel 206 or border circular areas
Mean value, as the color value of point 207, this permit to make sure that the colouring information of each point in a cloud 202, is ready for putting into registration
In the required three-dimensional environment of splicing.
5) the first amplitude point cloud is read in three-dimensional environment, will its three-dimensional local rectangular coordinate system and world coordinate system weight
Close；Second amplitude point cloud is read in three-dimensional environment, is the local seat by the local coordinate system of the second amplitude point cloud and the first amplitude point cloud
Mark system overlaps, and each point coordinates are rotated and translation is processed；Because second group of bitmap photo and first group of bitmap photo have necessarily
The coincidence of scope, is spelled in world coordinate system with the first amplitude point cloud to the second amplitude point cloud using CPU or GPU in computer
Connect, thus forming one piece of larger point cloud group, the local coordinate system simultaneously calculating the second amplitude point cloud is in world coordinate system
Position；Now in three-dimensional display windows, the Z of the three-dimensional local rectangular coordinate system 203 of window center axis and the second amplitude point cloud
Overlapping of axles, towards user, convenient use person observes the positive direction of Z axis；3rd amplitude point cloud is read in three-dimensional environment, is by the
The local coordinate system of three amplitude point clouds is overlapped with the local coordinate system of the second amplitude point cloud, and each point coordinates are rotated and translation is processed；
3rd group of bitmap photo and second group of bitmap photo also have a range of coincidence, using CPU or GPU in computer to the 3rd
Amplitude point cloud is spliced with the second amplitude point cloud, thus forming one piece of bigger point cloud group, calculates the office of the 3rd amplitude point cloud simultaneously
Position in world coordinate system for portion's coordinate system, now in three-dimensional display windows, window center axis and the 3rd amplitude point cloud
The Z axis of three-dimensional local rectangular coordinate system overlap, and the positive direction of Z axis is towards user.By that analogy, by the 4th amplitude point cloud, the 5th
The Registration and connection one by one such as amplitude point cloud, the point cloud group finally obtaining is exactly the point cloud at the whole position that three-dimensional scanner is scanned
Group.
6) the point cloud group at whole position is carried out an accuracy registration, form that one complete, each point includes color
The position point cloud of information, then be optimized, gridding, smoothing processing, obtain the three-dimension curved surface at a complete position.
7) inner surface of three-dimension curved surface is rendered to a kind of color, outer surface carries out wash with watercolours according to following three-dimensional rendering method
Dye (as shown in Figure 3)：Along one of position point cloud 301 point 302, do generated normal to a surface 303, if normal and curved surface
There is intersection point 304, then render this point, that is, in the region 305 of the small pieces polygon centered on normal with curved surface intersection point or circle,
Render the color of this point；As there is no intersection point, then this point is discarded.The size in the region 305 of an above-mentioned small pieces polygon or circle
Can guarantee that the corresponding region of each point overlaps.It is processed as each point in the position point cloud corresponding to this curved surface,
The transition processing of each point color can also be carried out, complete rendering of this curved surface, form surface model true to nature.
The various embodiments described above are only used for the purpose of the present invention, technical scheme and beneficial effect have been carried out further specifically
Bright, it is not limited to the present invention, all any modification, equivalent substitution and improvement within the spirit and principles in the present invention, done
Deng should be included within the scope of the present invention.
Claims (5)
1. a kind of threedimensional model curve reestablishing method based on three-dimensional scanner, comprises the following steps：
1) utilize three-dimensional scanner with the multigroup bitmap photo of uniform shooting time interval shooting, each group of bitmap photo includes
One frame or multiframe are tactic, have the bitmap photo of lighting pattern, and wherein one frame in this group is the position of panchromatic, full illumination
Figure photo, remaining is the bitmap photo of partial illumination；
2) the bitmap photo of shooting is transferred to computer；
3), after internal memory after one group of bitmap photo arrival computer, computer is screened to bitmap photo：If only one complete
The bitmap photo of illumination, then send it to video window and shown；If multiple pictures, then by the position of that full illumination
Figure photo is sent to video window and is shown, the bitmap photo of remaining partial illumination is transferred to GPU, and GPU is according to photo structure
Algorithm is converted into an amplitude point cloud, sets up a three-dimensional local rectangular coordinate system, three-dimensional local rectangular coordinate system and three simultaneously
In area array sensor in dimension scanning means, the plane right-angle coordinate of pixel meets following corresponding relation：Three-dimensional partial, right angle
The X1 axle of coordinate system distinguishes parallel, the Z1 of three-dimensional local rectangular coordinate system with Y1 axle with the X2 axle of plane right-angle coordinate and Y2 axle
Axle passes through the coordinate origin of plane right-angle coordinate and points to area array sensor；
4), after being calculated a cloud, the bitmap photo using the full illumination of that in this group photo carries out coordinate pair to this amplitude point cloud
Should paint process, be ready for putting in the three-dimensional environment needed for Registration and connection；
5) the first amplitude point cloud is read in three-dimensional environment, will its three-dimensional local rectangular coordinate system overlap with world coordinate system；So
Successively subsequent point cloud is read in three-dimensional environment afterwards, will the three-dimensional local rectangular coordinate system of subsequent point cloud and former point cloud three
Dimension local rectangular coordinate system overlaps and each coordinate points are rotated and translation is processed, and utilizes CPU or GPU pair in computer simultaneously
Subsequent point cloud is spliced in world coordinate system with former point cloud, and calculates the three-dimensional local rectangular coordinates of each point cloud
Tie up to the position in world coordinate system；Finally obtain the point cloud group of whole scanned position；
6) the point cloud group of whole scanned position is carried out accuracy registration, form that one complete, each point includes colouring information
Position point cloud, then carry out gridding and smoothing processing, obtain the three-dimension curved surface at a complete position.
7) color rendering is carried out to three-dimension curved surface.
2. as claimed in claim 1 a kind of threedimensional model curve reestablishing method based on three-dimensional scanner it is characterised in that：
Described step 1) in, the first photograph frame of each group of bitmap photo is full illumination photo.
3. as claimed in claim 1 a kind of threedimensional model curve reestablishing method based on three-dimensional scanner it is characterised in that：
Described step 1) in, a shooting time interval only shoots one group of bitmap photo；When reaching shooting time interval starting point
During quarter, shoot instruction if there are structure light and exist, begin to shoot complete one group bitmap photo, shoot therein every one by one
One frame, shoots instruction without structure light and exists, then only shoot a frame and entirely illuminate photo.
4. as claimed in claim 1 a kind of threedimensional model curve reestablishing method based on three-dimensional scanner it is characterised in that：
Described step 4) in, using the bitmap photo of full illumination, a cloud is carried out with the process that coordinate pair should paint as follows：In point cloud one
Individual point calculates through linear, can get its respective pixel in plane right-angle coordinate, with the color of pixel or with pixel is
The color average of the polygon at center or border circular areas is as the color value of point.
5. as claimed in claim 1 a kind of threedimensional model curve reestablishing method based on three-dimensional scanner it is characterised in that：
Described step 7) in, the process that three-dimension curved surface is carried out with color rendering is as follows：Inner surface is rendered to a kind of color, outer surface according to
Following three-dimensional rendering method is rendered：Along one of position point cloud point, do generated normal to a surface, if normal with
Curved surface has intersection point, then render this point, that is, in the region of the small pieces polygon centered on normal with curved surface intersection point or circle,
Render the color of this point；As there is no intersection point, then this point is discarded；It is processed as each in the position point cloud corresponding to this curved surface
Point, can also carry out the transition processing of each point color, complete rendering of this curved surface, form surface model true to nature.
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| CN111626930A (en) * | 2020-04-30 | 2020-09-04 | 兰州大学 | Omnibearing three-dimensional photographing method |
| CN112907187A (en) * | 2021-03-13 | 2021-06-04 | 深圳市土地公网络科技有限公司 | Distribution route planning method and device, electronic equipment and storage medium |
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