CN106408664B - 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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- CN106408664B CN106408664B CN201610782900.5A CN201610782900A CN106408664B CN 106408664 B CN106408664 B CN 106408664B CN 201610782900 A CN201610782900 A CN 201610782900A CN 106408664 B CN106408664 B CN 106408664B
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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, which comprises the following steps: 1) shooting a plurality of groups of bitmap pictures at uniform shooting time intervals by using a three-dimensional scanning device; 2) transmitting the shot bitmap picture to a computer; 3) after the group of bitmap photos reach the internal memory of the computer, the computer discriminates the bitmap photos; 4) after the point cloud is obtained through calculation, the point cloud is subjected to coordinate corresponding coloring treatment by using the fully illuminated bitmap picture in the group of pictures, and the point cloud after coloring treatment is placed in a three-dimensional environment; 5) sequentially splicing the subsequent point cloud and the previous point cloud to obtain a point cloud group of the whole scanning part; 6) and accurately registering the point cloud group of the whole scanning part to form a complete part point cloud with each point containing color information, and then carrying out meshing and smoothing treatment to obtain a complete three-dimensional curved surface of the part. 7) And performing color rendering on the three-dimensional curved surface.
Description
Technical Field
The invention relates to a three-dimensional model curved surface reconstruction method based on a three-dimensional scanning device, and belongs to the technical field of three-dimensional scanning imaging.
Background
In recent years, three-dimensional scanning technology has been widely used in many fields, and particularly has made a prominent contribution in the field of medical imaging. For example, dental plaster impressions and radiographic techniques, which were developed in the mouth of dental patients in the past, have been replaced by current three-dimensional visible light scanning techniques. The three-dimensional scanning technology in the oral cavity avoids the defects of consumption of impression materials, cross infection, easy damage and difficult storage of models, low precision, exposure of patients to a large amount of rays and the like, obviously improves the comfort degree of the patients in the examination process, reduces the time consumption of the patients, and has wider and wider application. In dentistry, the ability to record surface color is also useful in many applications, such as where a user can distinguish between types of tissue or detect existing restorations, perform crown appearance colorimetry to determine the color of a new crown.
A series of US patents represented by US009066772 disclose a widely used intraoral dental crown three-dimensional scanner using structured light three-dimensional reconstruction principle, i.e. illuminated by a structured light generator, an image sensor takes a set of two-dimensional photographs, which are transmitted to a GPU, a point cloud is obtained by three-dimensional reconstruction according to the principle of triangulation, the related point clouds are registered together to form a point cloud of a part, such as upper jaw or lower jaw, and then gridding and curvedness are performed to form a curved three-dimensional model of a part, i.e. an electronic dental model, which becomes the basis for dental CAD editing. The image sensor generally adopts a CCD area array image sensor; the lighting device adopts a monochromatic laser tube, a monochromatic LED or a combined LED to emit monochromatic light or colored light; the structured light generator adopts LCoS; an interchangeable, sterilizable imaging nozzle is typically used, which includes an internally heated mirror.
European patent WO2010145669 takes several sequential images for different colors of illumination (typically blue, green and red), which are combined together to form a composite color image. This method requires means for changing the color of the light source, such as a color filter. In addition, in handheld use, the scanner will move relative to the scanned object during the time the illumination sequence is changed, reducing the accuracy of the composite color image.
US patents 7698068 and US8102538 also describe an intraoral scanner that records geometry data and surface texture data with one or more image sensors. However, there is a slight delay between the color and geometry recordings, respectively. US7698068 requires sequential illumination of different colors to form a composite image, while US8102538 mentions white light as illumination, but white light from a second illumination source or color is recorded by a second image sensor, the first set being used for recording the geometry.
European patent WO2012083967 discloses a scanner that records geometry data and texture data with two separate cameras. The first camera has a shallow depth of field based on focused scanning of multiple images and the second camera provides color texture information from a single image with a larger depth of field.
The scanning device adopts monochrome display or pseudo color display for the color of the model, the fidelity of the picture and the model is not good, and good video guide effect cannot be generated.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a three-dimensional model curved surface reconstruction method based on a three-dimensional scanning device, which can form a realistic curved surface model and has good fidelity.
In order to achieve the purpose, the invention adopts the following technical scheme: a three-dimensional model curved surface reconstruction method based on a three-dimensional scanning device comprises the following steps: 1) utilizing a three-dimensional scanning device to shoot a plurality of groups of bitmap photos at uniform shooting time intervals, wherein each group of bitmap photos comprises one or more frames of bitmap photos which are sequentially arranged and have lighting patterns, one frame of the group is a full-color and full-lighting bitmap photo, and the rest is a partially-lighting bitmap photo; 2) transmitting the shot bitmap picture to a computer; 3) after a group of bitmap photos reach the memory of the computer, the computer screens the bitmap photos: if only one fully-illuminated bitmap photo exists, sending the fully-illuminated bitmap photo to a video window for display; if the image is a plurality of images, the fully-illuminated bitmap image is sent to a video window for display, the rest partially-illuminated bitmap images are transmitted to a GPU, the GPU converts the fully-illuminated bitmap images into a point cloud according to an optical structure algorithm, and meanwhile, a three-dimensional local rectangular coordinate system is established, and the three-dimensional local rectangular coordinate system and a planar rectangular coordinate system of pixels in an area array sensor in a three-dimensional scanning device meet the following corresponding relation: an X1 axis and a Y1 axis of the three-dimensional local rectangular coordinate system are respectively parallel to an X2 axis and a Y2 axis of the planar rectangular coordinate system, and a Z1 axis of the three-dimensional local rectangular coordinate system passes through the origin of the coordinate system of the planar rectangular coordinate system and points to the area array sensor; 4) after the point cloud is obtained through calculation, the point cloud is subjected to coordinate corresponding coloring treatment by using the fully illuminated bitmap picture in the group of pictures, and the point cloud after coloring treatment is placed in a three-dimensional environment; 5) reading the first point cloud into a three-dimensional environment, namely, coinciding a three-dimensional local rectangular coordinate system of the first point cloud with a world coordinate system; sequentially reading the subsequent point clouds into a three-dimensional environment, namely, overlapping the three-dimensional local rectangular coordinate system of the subsequent point clouds with the three-dimensional local rectangular coordinate system of the previous point cloud, rotating and translating each coordinate point, simultaneously splicing the subsequent point clouds and the previous point cloud in a world coordinate system by using a CPU (Central processing Unit) or a GPU (graphics processing Unit) in the computer, and calculating the position of the three-dimensional local rectangular coordinate system of each point cloud in the world coordinate system; finally, a point cloud group of the whole scanning part is obtained; 6) and accurately registering the point cloud group of the whole scanning part to form a complete part point cloud with each point containing color information, and then carrying out meshing and smoothing treatment to obtain a complete three-dimensional curved surface of the part. 7) And performing color rendering on the three-dimensional curved surface.
In the step 1), the first frame of photograph of each group of bitmap photographs is a full-illumination photograph.
In the step 1), only one group of bitmap pictures are shot in one shooting time interval; when the starting time of the shooting time interval is reached, if a structured light shooting instruction exists, a complete group of bitmap pictures are shot, namely, each frame is shot one by one, and if no structured light shooting instruction exists, only one frame of full-lighting pictures are shot.
In the step 4), the process of performing coordinate corresponding coloring on the point cloud by using the fully-illuminated bitmap photo is as follows: one point in the point cloud is subjected to linear calculation to obtain a corresponding pixel in a plane rectangular coordinate system of the area array image sensor, and the color of the pixel or the average value of the colors of a polygonal or circular area taking the pixel as the center is used as the color value of the point.
In the step 7), the process of performing color rendering on the three-dimensional curved surface is as follows: rendering the inner surface into a color, and rendering the outer surface according to the following three-dimensional rendering method: making a normal line of the generated curved surface along one point in the position point cloud, and if the normal line and the curved surface have an intersection point, rendering the point, namely rendering the color of the point in a small polygonal or circular area taking the intersection point of the normal line and the curved surface as the center; if the intersection point does not exist, the point is discarded; thus, each point in the point cloud of the part corresponding to the curved surface is processed, and the color of each point can be transited to finish the rendering of the curved surface, so that a vivid curved surface model is formed.
Due to the adoption of the technical scheme, the invention has the following advantages: the invention can accurately and rapidly realize the reconstruction of the three-dimensional curved surface model of the scanned part and has higher fidelity.
Drawings
FIG. 1 is a schematic diagram of the distribution of the shooting intervals of the present invention;
FIG. 2 is a schematic diagram of the three-dimensional local coordinate system definition and coloring of the point cloud according to the present invention;
FIG. 3 is a schematic representation of the surface rendering of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
The invention provides a three-dimensional model curved surface reconstruction method based on a three-dimensional scanning device, which comprises the following steps:
1) as shown in fig. 1, a plurality of sets of bitmap pictures 104 are taken at uniform shooting intervals 101 by a three-dimensional scanning device, for example, each set of bitmap pictures 104 can be divided into 30 shooting intervals per second, each set of bitmap pictures 104 includes one or more frames of bitmap pictures of a specific illumination pattern in a specific order, one frame of the set is a full-color, fully-illuminated bitmap picture, and the rest are partially-illuminated bitmap pictures.
Specifically, the total time 103 for taking a group of bitmap photos 104 is much shorter than the inter-shot time interval 101, and only one group of bitmap photos is taken in one shot time interval 101. When the starting time of the shooting time interval is reached, if the structural light shooting command 102 exists, a complete group of bitmap pictures are shot, namely, each frame is shot one by one, and if no structural light shooting command 102 exists, only one frame of full-lighting pictures is shot.
2) And transmitting the taken bitmap picture to the computer.
3) After a group of bitmap photos reach the back memory of the computer, the computer screens the bitmap photos: if only one fully illuminated bitmap picture is available, the fully illuminated bitmap picture is sent to a video window for display, so that a picture stream with equal intervals is formed, and stable color video output is formed; if the number of the pictures is multiple, the fully-illuminated bitmap picture is sent to a video window for display, the rest partially-illuminated bitmap pictures are transmitted to a GPU (graphic processing unit), the GPU converts the fully-illuminated bitmap pictures into a point cloud 202 (as shown in fig. 2) according to an optical structure algorithm, and meanwhile a three-dimensional local rectangular coordinate system 203 is established, wherein the three-dimensional local rectangular coordinate system 203 and a planar rectangular coordinate system 204 of pixels in an area array sensor 201 in the three-dimensional scanning device meet the following corresponding relation: the X1 axis and the Y1 axis of the three-dimensional local rectangular coordinate system 203 are parallel to the X2 axis and the Y2 axis of the planar rectangular coordinate system 204, respectively, and the Z1 axis of the three-dimensional local rectangular coordinate system 203 passes through the coordinate system origin O2 point of the planar rectangular coordinate system 204 and points to the outside of the object to be photographed and the area array sensor 201.
4) After the point cloud is obtained through calculation, coordinate corresponding coloring processing is performed on the point cloud 202 by using the fully-illuminated bitmap picture in the group of pictures, that is, a corresponding pixel 206 of a point in the plane rectangular coordinate system 204 can be obtained by performing linear calculation on one point 207 in the point cloud 202, and the color information of each point in the point cloud 202 can be determined by using the color of the pixel 206 or the color average value of a polygonal or circular area with the pixel 206 as the center as the color value of the point 207, and then the point cloud 202 is prepared to be placed in a three-dimensional environment required by registration and splicing.
5) Reading the first point cloud into a three-dimensional environment, namely, coinciding a three-dimensional local rectangular coordinate system of the first point cloud with a world coordinate system; reading the second point cloud into the three-dimensional environment, superposing the local coordinate system of the second point cloud and the local coordinate system of the first point cloud, and performing rotation and translation processing on each point coordinate; because the second group of bitmap pictures and the first group of bitmap pictures have a certain range of coincidence, a CPU or a GPU in a computer is utilized to splice the second point cloud and the first point cloud in a world coordinate system, so that a larger point cloud group is formed, and meanwhile, the position of a local coordinate system of the second point cloud in the world coordinate system is calculated; at the moment, in the three-dimensional display window, the central axis of the window is superposed with the Z axis of the three-dimensional local rectangular coordinate system 203 of the second point cloud, and the positive direction of the Z axis faces to the user, so that the user can conveniently observe the point cloud; reading the third point cloud into the three-dimensional environment, superposing a local coordinate system of the third point cloud and a local coordinate system of the second point cloud, and performing rotation and translation processing on each point coordinate; the third group of bitmap pictures and the second group of bitmap pictures are overlapped in a certain range, the third point cloud and the second point cloud are spliced by using a CPU or a GPU in a computer, so that a larger point cloud group is formed, the position of a local coordinate system of the third point cloud in a world coordinate system is calculated, at the moment, in a three-dimensional display window, the central axis of the window is overlapped with the Z axis of a three-dimensional local rectangular coordinate system of the third point cloud, and the positive direction of the Z axis faces a user. By analogy, the fourth point cloud, the fifth point cloud and the like are registered and spliced one by one, and the finally obtained point cloud group is the point cloud group of the whole part scanned by the three-dimensional scanning device.
6) And carrying out primary accurate registration on the point cloud group of the whole part to form a complete part point cloud with each point containing color information, and then carrying out optimization, meshing and smoothing to obtain a complete three-dimensional curved surface of the part.
7) Rendering the inner surface of the three-dimensional curved surface into a color, and rendering the outer surface according to the following three-dimensional rendering method (as shown in fig. 3): making a normal 303 of the generated curved surface along a point 302 in the point cloud 301, and if the normal and the curved surface have an intersection point 304, rendering the point, namely rendering the color of the point in a small polygonal or circular area 305 centered on the intersection point of the normal and the curved surface; if there is no intersection, the point is discarded. The size of the small polygonal or circular area 305 may ensure that the areas corresponding to the respective points overlap. Thus, each point in the point cloud of the part corresponding to the curved surface is processed, and the color of each point can be transited to finish the rendering of the curved surface, so that a vivid curved surface model is formed.
The above embodiments are only for further detailed description of the object, technical solution and advantages of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A three-dimensional model curved surface reconstruction method based on a three-dimensional scanning device comprises the following steps:
1) utilizing a three-dimensional scanning device to shoot a plurality of groups of bitmap photos at uniform shooting time intervals, wherein each group of bitmap photos comprises one or more frames of bitmap photos which are sequentially arranged and have lighting patterns, one frame of the group is a full-color and full-lighting bitmap photo, and the rest is a partially-lighting bitmap photo;
2) transmitting the shot bitmap picture to a computer;
3) after a group of bitmap photos reach the memory of the computer, the computer screens the bitmap photos: if only one fully-illuminated bitmap photo exists, sending the fully-illuminated bitmap photo to a video window for display; if the image is a plurality of images, the fully-illuminated bitmap image is sent to a video window for display, the rest partially-illuminated bitmap images are transmitted to a GPU, the GPU converts the fully-illuminated bitmap images into a point cloud according to an optical structure algorithm, and meanwhile, a three-dimensional local rectangular coordinate system is established, and the three-dimensional local rectangular coordinate system and a planar rectangular coordinate system of pixels in an area array sensor in a three-dimensional scanning device meet the following corresponding relation: an X1 axis and a Y1 axis of the three-dimensional local rectangular coordinate system are respectively parallel to an X2 axis and a Y2 axis of the planar rectangular coordinate system, and a Z1 axis of the three-dimensional local rectangular coordinate system passes through the origin of the coordinate system of the planar rectangular coordinate system and points to the area array sensor;
4) after the point cloud is obtained through calculation, the point cloud is subjected to coordinate corresponding coloring treatment by using the fully-illuminated bitmap picture in the group of pictures, and then the point cloud is prepared to be placed in a three-dimensional environment required by registration splicing;
5) reading the first point cloud into a three-dimensional environment, namely, coinciding a three-dimensional local rectangular coordinate system of the first point cloud with a world coordinate system; sequentially reading the subsequent point clouds into a three-dimensional environment, namely, overlapping the three-dimensional local rectangular coordinate system of the subsequent point clouds with the three-dimensional local rectangular coordinate system of the previous point cloud, rotating and translating each coordinate point, simultaneously splicing the subsequent point clouds and the previous point cloud in a world coordinate system by using a CPU (Central processing Unit) or a GPU (graphics processing Unit) in the computer, and calculating the position of the three-dimensional local rectangular coordinate system of each point cloud in the world coordinate system; finally, a point cloud group of the whole scanning part is obtained;
6) accurately registering the point cloud group of the whole scanning part to form a complete part point cloud with each point containing color information, and then performing meshing and smoothing to obtain a complete three-dimensional curved surface of the part;
7) and performing color rendering on the three-dimensional curved surface.
2. The three-dimensional model curved surface reconstruction method based on the three-dimensional scanning device as claimed in claim 1, characterized in that: in the step 1), the first frame of photograph of each group of bitmap photographs is a full-illumination photograph.
3. The three-dimensional model curved surface reconstruction method based on the three-dimensional scanning device as claimed in claim 1, characterized in that: in the step 1), only one group of bitmap pictures are shot in one shooting time interval; when the starting time of the shooting time interval is reached, if a structured light shooting instruction exists, a complete group of bitmap pictures are shot, namely, each frame is shot one by one, and if no structured light shooting instruction exists, only one frame of full-lighting pictures are shot.
4. The three-dimensional model curved surface reconstruction method based on the three-dimensional scanning device as claimed in claim 1, characterized in that: in the step 4), the process of performing coordinate corresponding coloring on the point cloud by using the fully-illuminated bitmap photo is as follows: one point in the point cloud is subjected to linear calculation to obtain a corresponding pixel in a plane rectangular coordinate system, and the color of the pixel or the average value of the colors of a polygonal or circular area taking the pixel as the center is used as the color value of the point.
5. The three-dimensional model curved surface reconstruction method based on the three-dimensional scanning device as claimed in claim 1, characterized in that: in the step 7), the process of performing color rendering on the three-dimensional curved surface is as follows: rendering the inner surface into a color, and rendering the outer surface according to the following three-dimensional rendering method: making a normal line of the generated curved surface along one point in the position point cloud, and if the normal line and the curved surface have an intersection point, rendering the point, namely rendering the color of the point in a small polygonal or circular area taking the intersection point of the normal line and the curved surface as the center; if the intersection point does not exist, the point is discarded; thus, each point in the point cloud of the part corresponding to the curved surface is processed, and the color of each point can be transited to finish the rendering of the curved surface, so that a vivid curved surface model is formed.
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| CN106971418A (en) * | 2017-04-28 | 2017-07-21 | 碰海科技（北京）有限公司 | Hand-held household building materials convex-concave surface texture reconstructing device |
| CN108317954B (en) * | 2017-10-27 | 2020-06-12 | 广东康云多维视觉智能科技有限公司 | Laser guide scanning system and method |
| CN107870334A (en) * | 2017-10-27 | 2018-04-03 | 西安电子科技大学昆山创新研究院 | Single pixel laser infrared radar imaging device and imaging method based on embedded gpu |
| US10353073B1 (en) * | 2019-01-11 | 2019-07-16 | Nurulize, Inc. | Point cloud colorization system with real-time 3D visualization |
| CN110505465B (en) | 2019-08-30 | 2022-08-23 | 京东方科技集团股份有限公司 | Data transmission method, three-dimensional image display method and device and electronic equipment |
| CN111626930A (en) * | 2020-04-30 | 2020-09-04 | 兰州大学 | Omnibearing three-dimensional photographing method |
| CN112907187B (en) * | 2021-03-13 | 2023-05-23 | 深圳市土地公网络科技有限公司 | Distribution route planning method, distribution route planning device, electronic equipment and storage medium |
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