CN108765572A - The triangulation methodology and system of plane point set in 3-D scanning - Google Patents
The triangulation methodology and system of plane point set in 3-D scanning Download PDFInfo
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Abstract
The present invention relates to three-dimensional reconstruction field, the triangulation methodology and system that disclose plane point set in a kind of 3-D scanning preferably meet the real-time demand of three-dimensional reconstruction to improve the triangulation speed of plane point set in 3-D scanning；The method of the present invention includes the three-dimensional coordinate points that acquisition target waits for reconstruction of objects, three-dimensional coordinate point are mapped as plane point set, traversal plane point set structure includes the target triangle of all the points in plane point set；Side pointer is distributed for triangle, target triangle is searched according to the side pointer relationship of insertion point and triangle, until completing the insertion of all coordinate points, the network of triangle obtained to the end is realized to the triangulation of plane point set in 3-D scanning, and network of triangle is then mapped as curved surface and waits for reconstruction of objects with fit object.
Description
Technical field
The present invention relates to a kind of triangulation sides of plane point set in three-dimensional reconstruction field more particularly to 3-D scanning
Method and system.
Background technology
The purpose of three-dimensional reconstruction is to establish the things of a virtual 3 D stereo, and give a kind of very true sense of people
Feel, the three-dimensional reconstruction of image has merged the knowledge such as image procossing and computer geometry, it, which possesses X-Y scheme, to compare
Function, the object of three-dimensional reconstruction can from arbitrary angle intuitively from and have very true feeling, can reach
The function of real-time, interactive.Fast development in face of modern production and demand, three-dimensional reconstruction can be used for reducing design cost, shorten
Design cycle, and can be that society brings huge economic benefit.Therefore, three-dimensional reconstruction is a development prospect suction very much
Gravitation, use scope is extensive, and the research field with very high research and use value.
Triangulation theory is a part most indispensable in three-dimensional reconstruction, and the triangulation of three dimensions is theoretical
Under the influence of three-dimensional reconstruction fast development, also obtains further abundant and improved.Currently, triangulation is in the presence of more
Kind different improvement specification, wherein common triangulation, which improves standard, compasses model, maximum/minimum interval specification, maximum/most
Small angle gauge model, the high specification of maximum/minimum, Thiessen specifications etc..One of bare bones of these specifications are exactly to reduce as far as possible
There is too sharp situation in plane triangle.It is learnt by approximation theory, the approximate difference of triangular surface and the minimum of triangle
Interior angle is related, it is accordingly required in particular to be to promote the accuracy approached and reduce excessively sharp triangle occur, this is in computational geometry
In it is very necessary.It is all bigger than other subdivisions and average that Delaunay Triangulation obtains minimum value in all interior angles of triangle
Most regular etc. features of form, therefore Optimized triangulations are known as by mathematician.Delaunay Triangulation is not only in two-dimensional space
In have a wide range of applications, very important effect is also played in three dimensions, at present in three dimensions
The research of Delaunay algorithm of triangulation is simultaneously few, and many traditional algorithm of triangulation are merely able to solve two-dimensional space
The problem of, in three dimensions, many problems of triangulation are not resolved.
The Delaunay Triangulation of two-dimensional space has developed to certain height at present, but works as and need to be inserted into a large amount of vertex
When, the execution time of traditional Delaunay Triangulation algorithm is all too long, is especially handled when to excessive scatterplot data
When, overlong time is expended, it is impossible to meet the requirements of real-time.
Invention content
Present invention aims at the triangulation methodologies and system of plane point set in a kind of 3-D scanning of offer, to improve three
The triangulation speed of plane point set, preferably meets the real-time demand of three-dimensional reconstruction in dimension scanning.
To achieve the above object, the present invention provides a kind of triangulation methodologies of plane point set in 3-D scanning, including
Following steps：
S1：The three-dimensional coordinate point that target waits for reconstruction of objects is obtained, the three-dimensional coordinate point is mapped as plane point set, is traversed
The plane point set structure includes the target triangle of all the points in the plane point set；
S2：By sequence counterclockwise be first vertex of target triangular marker, the second vertex and third vertex, so
Be afterwards first vertex and the third vertex company when distributing first pointer, be second vertex and the third top
The company of point pointer when distributing second, be first vertex and second vertex company when distributing third pointer；
S3：Some point chosen in the plane point set is used as insertion point, is separately connected the insertion point and the target
Each vertex of triangle obtains tactic new triangle after subdivision, completes first time triangulation and obtains network of triangle,
It deletes by the target triangle of subdivision, the side pointer of each new triangle is then updated according to the method described in the step S2,
And the new triangle is stored in sequence in triangle chained list；
S4：It chooses another point in the plane point set and is used as insertion point, according to the insertion point and the triangle chained list
In the side pointer relationship of first triangle the insertion point is inserted into corresponding triangle, the triangle being inserted into is considered as newly
Target triangle, be separately connected each vertex of the insertion point and the target triangle, complete to the target triangle
Subdivision obtain new triangle, and delete the target triangle to update the network of triangle, while updating each triangle
Side pointer and the triangle chained list；Then judge whether each new triangle meets Delaunay sky compasses successively
Then, if met, S5 is entered step, if do not met, adjusts the company side of the new triangle, until the new triangle
Meet Delaunay sky compasses and then enters step S5 afterwards；
S5：Repeat the above steps S4, until completing the insertion of all coordinate points, the network of triangle obtained to the end is realized to three
The triangulation of plane point set in dimension scanning.
Preferably, in the step S3, the sort method of the new triangle is：It is successively suitable with former vertex of a triangle
Sequence is counterclockwise each new rounded projections arranged sequence.
Preferably, in the step S3, the side according to the first triangle in insertion point and the triangle chained list
The insertion point is inserted into corresponding triangle by pointer relationship, specifically includes following steps：
(31) judge whether the insertion point is located at the outside of the first side pointer of the triangle, if so, according to institute
State the first of triangle when pointer is searched altogether triangle, if it is not, then judging whether the insertion point is located at the triangle
The second side pointer outside, if so, according to the second of the triangle while pointer search altogether while triangle, if it is not, then
Judge whether the insertion point is located at the outside of the third side pointer of the triangle, if so, according to the of the triangle
Three while pointer search altogether while triangle；
(32) judge whether the insertion point is located at the inside of the total side triangle, regarded if so, this is total to side triangle
For target triangle, the insertion point is inserted into the target triangle；If it is not, then using doing in the step (31)
Method continue to judge the insertion point with it is described altogether while triangle while pointer relationship, until finding the target three of the insertion point
It is angular.
Preferably, further include step before the step (31)：Judge whether the insertion point is located at the first triangle
In shape, if so, the first triangle is considered as target triangle；If it is not, then executing the step (31).
Preferably, when the insertion point is located on the side of the first triangle, insertion point is fallen into three where side
It is angular to be all considered as target triangle.
Preferably, described to delete the target triangle to update the network of triangle in the step S4, it updates simultaneously
Pointer, update and the deleted mesh when pointer and the triangle chained list specifically include update new triangle of each triangle
It marks the side pointer of the adjacent triangle of triangle and updates the triangle stored in triangle chained list；Wherein：
The side pointer for updating the triangle adjacent with deleted target triangle specifically includes following steps：Delete mesh
Triangle is marked, it will new triangle corresponding to the deleted side pointer direction of adjacent triangle of target triangle of script direction；
The triangle stored in the update triangle chained list specifically includes following steps：It will in the triangle chained list
The tactic new triangle generated replaces the position for being deleted target triangle where in triangle chained list.
Preferably, in the step S4, judge whether each new triangle meets Delaunay skies compasses then successively
Specifically include following steps：
According to the third of the new triangle while pointer search altogether while triangle, if the total side triangle found with this new three
The quadrangle of angular formation is unsatisfactory for Delaunay skies compasses then, then deletes the total side, and connect another in the quadrangle
Diagonal line updates the side pointer and triangle chained list of newly-generated triangle to adjust the company side of new triangle, then again
Each new triangle is judged.
To achieve the above object, the present invention also provides a kind of triangulation systems of plane point set in 3-D scanning, including
Memory, processor and storage on a memory and the computer program that can run on a processor, the processor execution
The step of above method is realized when the computer program.
The invention has the advantages that：
The triangulation methodology and system of plane point set in 3-D scanning provided by the invention obtain target and wait reconstructing first
Three-dimensional coordinate point is mapped as plane point set by the three-dimensional coordinate point of object, and traversal plane point set structure includes institute in plane point set
Then target triangle a little is realized by the new target triangle constantly looked in the target triangle to the target three
Angular subdivision；The present invention for target triangle by distributing corresponding side pointer, according to the side of insertion point and corresponding triangle
The position relationship of pointer searches new target triangle with having direction, can quickly realize the subdivision to primary objective triangle,
Network of triangle is obtained, the network of triangle is then mapped as curved surface waits for reconstruction of objects to be fitted, and this method and system can be improved and be looked into
The speed of new target triangle is looked for, the real-time demand of three-dimensional reconstruction can be preferably met.
Below with reference to accompanying drawings, the present invention is described in further detail.
Description of the drawings
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the method flow schematic diagram of the triangulation of the preferred embodiment of the present invention；
Fig. 2 be the preferred embodiment of the present invention triangulation in insertion point fall into instance graph in some triangle；
Fig. 3 be the preferred embodiment of the present invention triangulation in insertion point fall into instance graph in triangle edges；
Fig. 4 be the preferred embodiment of the present invention triangulation in Delaunay sky compasses then judge schematic diagram.
Specific implementation mode
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
Embodiment 1
Referring to Fig. 1, the present embodiment provides a kind of triangulation methodologies of plane point set in 3-D scanning, including following step
Suddenly：
S1：The three-dimensional coordinate point that target waits for reconstruction of objects is obtained, three-dimensional coordinate point is mapped as plane point set, traverses plane
Point set structure includes the target triangle of all the points in plane point set；
S2：By sequence counterclockwise be the first vertex of target triangular marker, the second vertex and third vertex, then for
The company on the first vertex and third vertex pointer when distributing first, refers to for the company on the second vertex and third vertex when distributing second
Needle, be the first vertex and the second vertex company when distributing third pointer；
S3：Some point chosen in plane point set is used as insertion point, is separately connected each of insertion point and target triangle
Vertex obtains tactic new triangle after subdivision, completes first time triangulation and obtains network of triangle, deletes by subdivision
Target triangle then according to the side pointer of each new triangle of the method for step S2 update, and new triangle is deposited in order
Storage is in triangle chained list；
S4：Choose plane point set in another point be used as insertion point, according to the insertion point with it is first in triangle chained list
The insertion point is inserted into corresponding triangle by the side pointer relationship of triangle, and the triangle being inserted into is considered as to new target three
It is angular, it is separately connected each vertex of insertion point and target triangle, completion obtains new triangle to the subdivision of the target triangle
Shape, and delete target triangle to be to update network of triangle, while updating the side pointer and triangle chained list of each triangle；Then
Judge whether each new triangle meets Delaunay skies compasses then successively, if met, S5 is entered step, if be not inconsistent
It closes, then adjusts the company side of new triangle, until new triangle meets Delaunay sky compasses and then enters step S5 afterwards；
S5：Repeat the above steps S4, until completing the insertion of all coordinate points, the network of triangle obtained to the end is realized to three
The triangulation of plane point set in dimension scanning.
It should be noted that when first time building target triangle, coordinate points all in plane point set are traversed first,
Find maximum abscissa value and ordinate value Xmax, Ymax, take the greater in the two to obtain max, and according to max constructions comprising flat
The target triangle of all the points in millet cake collection, it is preferable that its each point coordinates is：
V1={ 0,4*max }；
V2={ -4*max, -4*max }；
V3={ 4*max, 0 }；
Wherein, V1, V2, V3Three vertex for including the target triangle of all the points in plane point set of construction are indicated respectively,
The determination method can ensure that all scatterplots being inserted into all are fallen inside triangular, and all the points are then inserted into the target
In triangle, point V is finally deleted1, V2, V3And all and V1, V2, V3Relevant side finally obtains and meets Delaunay triangles
The network of triangle of shape rule.
Specifically, in actual implementation, target triangle ABC is built after traversing plane point set, referring to Fig. 2, then presses the inverse time
Needle direction is BC pointers when distributing second, is AB pointers when distributing third, chooses to distribute the first side pointer in AC
Point E in plane connects AE, BE and CE as insertion point, and carrying out subdivision to triangle ABC obtains tactic ABE,
BCE, CAE.It should be noted that when being named for new triangle, need to be named insertion point as last point.In addition,
It start to determine first with the first vertex A newly to putting in order for the triangle ABC new triangles obtained after subdivision
Then triangle is started to determine second new triangle with the second vertex B, then starts determining third new three with third vertex C
It is angular.Then, new triangle ABE, BCE, the CAE that can be arranged in order, it is then corresponding for each new triangle distribution
Side pointer, and each triangle is stored in sequence in triangle chained list.Wherein, it is distributed accordingly for each new triangle
When the pointer of side, it is should be the pointer when distributing first of the company between the first vertex and third vertex, is the second vertex and third top
Company between point pointer, company between the first vertex and the second vertex pointer when distributing third, with three when distributing second
For angular ABE, then, AE while it is upper be first while pointer, BE while it is upper be second while pointer, AB while it is upper be third while pointer.
It should be noted that each total side triangle when pointer all points to this.According to the pointing direction of side pointer
Be total to when can quickly find with where the pointer while it is total while triangle, provide basis to quickly find target triangle.Example
Such as, referring to Fig. 2, after the E of insertion point, new triangle ABE first while pointer be directed toward altogether while triangle CAE, the second side pointer
It is directed toward side triangle BCE altogether.
Then, another point D in plane is chosen as insertion point.First, it is determined that point D is not located in triangle chained list
The inside of first triangle ABE, then, according to the first triangle ABE in point D and triangle chained list it is each while while pointer close
System is judged.Specifically, as can be seen from FIG. 2, point D be in the first of triangle ABE when pointer is corresponding AE outside, then
Find with triangle ABE altogether while AE it is total while triangle CAE, judge that point D is not located at the inside of side triangle CAE altogether, then sentence
Breakpoint D is located at the outside of the corresponding side CE of pointer in the first of triangle CAE altogether, then finds total side triangle BCE, judges
Point D is located at the inside of side triangle BCE altogether, then point D is inserted into total side triangle BCE, total side triangle BCE is considered as mesh
Mark triangle, each vertex of tie point D and target triangle BCE obtain tactic new triangle BCD, CED and
EBD.Then delete target triangle BCE distributes corresponding side pointer for each new triangle, update triangle chained list is ABE,
BCD, CED, EBD, CAE.Specifically, when distributing corresponding side pointer for each new triangle, the side pointer distribution side of use
Method is consistent with the distribution method that the new triangle ABE of above-mentioned generation is used.Meanwhile in insertion point D, deleting target triangle
BCE, at this point, should also update pointer of the triangle adjacent with target triangle BCE shaped like triangle ABE.Specifically, in triangle
In shape ABE, the pointer on the side BE adjacent with target triangle BCE is original to be directed toward triangle BCE, deletes triangle BCE
Afterwards, the pointer on the BE of the side is directed toward newly-generated triangle EBD.
Point P is inserted into triangle CED after the same method, then obtains tactic new triangle CEP, EDP,
DCP.Then delete target triangle CED distributes corresponding side pointer for each new triangle, and update triangle chained list is ABE,
EBD, BCD, CEP, EDP, DCP, CAE.Further, point X is inserted into, similarly, judges point X not inside triangle ABE,
Judge point X be in the first of triangle ABE when pointer is corresponding AE outside, then find and be total to side AE's with triangle ABE
Side triangle CAE altogether judges that point X is not located at the inside of side triangle CAE altogether, judges that point X is in the first side of triangle CAE and refers to
The outside of needle CE, find with triangle CAE altogether while CE it is total while triangle CEP, judge that point X is in side triangle CEP altogether
Total side triangle CEP is then considered as target triangle by inside.In this embodiment, pass through 3 according to the method based on the search of side pointer
It is secondary to find target triangle, if according to traditional algorithm (searching triangle chained list successively), need the 4th that can just look for
To target triangle, and with the increase of insertion point counted out, the speed of the method based on the search of side pointer can be highlightedly
It is more obvious.
Insertion point is fallen when insertion point is located on the side of first triangle as the present embodiment preferred embodiment
Triangle where entering side is all considered as target triangle.Specifically, in above-mentioned insertion process, it is assumed that point P is fallen on the CE of side, such as
Fig. 3 first determines whether to obtain point P on the CE of side when finding triangle CDE, then searches for the total side triangle of triangle CED,
It can be directly obtained by the pointer on the CE of side, i.e. triangle AEC.After finding total side triangle, point P is inserted on the CE of side, is generated
Triangle EDP, DCP and AEP, CAP, (thickened portion, the sides AE pointer are former in Fig. 3 for the pointer of update side AE, CA, DE and CD
This direction triangle ACE is now directed toward triangle AEP, and similarly the sides DE pointer is directed toward the sides triangle EDP, CD pointer and is directed toward triangle
The side CDP, CA pointer is directed toward triangle CAP；Update dotted portion in Fig. 3 so that triangle EDP, CDP and AEP, CAP can
Pass through the triangle when upper pointer finds adjacent total), while EP, DP, CP and AP pointer be directed toward it is adjacent altogether while triangle,
Then triangle CDE, ACE is target triangle, deletes triangle CDE, ACE.
As the present embodiment preferred embodiment, in step S4, judge whether each new triangle meets successively
Delaunay sky compasses then specifically include following steps：
According to the third of the new triangle while pointer search altogether while triangle, if the total side triangle found with this new three
The quadrangle of angular formation is unsatisfactory for Delaunay skies compasses then, then deletes the diagonal line of the quadrangle, and connects four side
Another diagonal line in shape, while the side pointer and triangle chained list of newly-generated triangle are updated, then again to each new
Triangle is judged.
Specifically, when progress Delaunay sky compasses then judge, it is assumed that being carried out to triangle ABP
Delaunay rules judge, total side triangle DBA can be found in upper while pointer by AB, then by judging triangle
Whether three vertex meet counterclockwise to determine the position relationship (DBA or ADB or BAD) of triangle ADB.Then judge three
If angular ABP, ADB, not in same circle, meet Delaunay skies circle characteristic rule whether in the same circumscribed circle, no
Delaunay skies circle characteristic rule is not met then.If not meeting empty circle characteristic, dotted portion in Fig. 4 is deleted, by quadrangle
APBD is split as triangle ADP and BPD again, and according to the position relationship of triangle, update and newly-generated triangle phase
The side pointer of pass.Black arrow still points to the triangle for having common edge with it in Fig. 4, and triangle ADP and BPD is enable to lead to
The triangle when pointer finds adjacent total is crossed, thickened portion is directed toward triangle ADB, ABP originally in Fig. 4, is now directed toward triangle
ADP, BPD.Side triangle ABP and ADB altogether are finally deleted, judges whether newly-generated triangle ADP and BPD meet successively
Delaunay rules.
Similarly, similar with insertion point is inserted in situation in the common edge of triangle, side three altogether during Delaunay rules judge
Angular different position relationship is also that can all generate triangle ADP and BPD, but newer side pointer is needed to will be different.
For example, if original side triangle altogether is ABP and ADB, for triangle ADB, AD is when upper pointer should be third
Pointer；If original side triangle altogether is ABP and DBA, for triangle DBA, AD refers to when upper pointer should be first
Needle, at the same time, pointer is also different on other sides.Other situations are similar, and different position relationships splits the triangle of generation
Shape is although identical, but the pointer update on side will be different.Wherein, since the position relationship for being tested triangle ABP is to determine
, so not exactly the same with insertion point is inserted in the position relationship in the common edge of triangle.
Embodiment 2
Corresponding with above method embodiment, the present embodiment provides a kind of triangulations of plane point set in 3-D scanning
System, including memory, processor and storage are on a memory and the computer program that can run on a processor, the place
Manage the step of realizing the above method when device executes the computer program.
As described above, in 3-D scanning provided by the invention plane point set triangulation methodology and system, obtain first
Target waits for the three-dimensional coordinate point of reconstruction of objects, three-dimensional coordinate point is mapped as plane point set, traversal plane point set structure is comprising flat
Then the target triangle of all the points in millet cake collection is realized by the new target triangle constantly looked in the target triangle
To the subdivision of the target triangle；The present invention for target triangle by distributing corresponding side pointer, according to insertion point and accordingly
The position relationship of the side pointer of triangle searches new target triangle with having direction, can quickly realize to primary objective triangle
The subdivision of shape obtains network of triangle, and the network of triangle is then mapped as curved surface waits for reconstruction of objects to be fitted, this method and system
The speed for searching new target triangle can be improved, the real-time demand of three-dimensional reconstruction can be preferably met.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. the triangulation methodology of plane point set in 3-D scanning, which is characterized in that include the following steps：
S1：It obtains target and waits for the three-dimensional coordinate point of reconstruction of objects, the three-dimensional coordinate point is mapped as plane point set, described in traversal
Plane point set structure includes the target triangle of all the points in the plane point set；
S2：By sequence counterclockwise be first vertex of target triangular marker, the second vertex and third vertex, then for
The company on first vertex and third vertex pointer when distributing first, is second vertex and the third vertex
The even pointer when distributing second, be first vertex and second vertex company when distributing third pointer；
S3：Some point chosen in the plane point set is used as insertion point, is separately connected the insertion point and the target triangle
Each vertex of shape obtains tactic new triangle after subdivision, completes first time triangulation and obtains network of triangle, deletes
By the target triangle of subdivision, then according to the side pointer of each new triangle of method update described in the step S2, and will
The new triangle is stored in sequence in triangle chained list；
S4：It chooses another point in the plane point set and is used as insertion point, according in the insertion point and the triangle chained list
The insertion point is inserted into corresponding triangle by the side pointer relationship of first triangle, and the triangle being inserted into is considered as to new mesh
Triangle is marked, each vertex of the insertion point and the target triangle is separately connected, the target triangle is cutd open in completion
Get new triangle, and delete the target triangle to update the network of triangle, while updating the side of each triangle
Pointer and the triangle chained list；Then judge whether each new triangle meets Delaunay skies compasses then successively, such as
Fruit meets, then enters step S5, if do not met, adjusts the company side of the new triangle, until the new triangle meets
Delaunay sky compasses then enter step S5 afterwards；
S5：Repeat the above steps S4, until completing the insertion of all coordinate points, three-dimensional is swept in the network of triangle realization obtained to the end
Retouch the triangulation of middle plane point set.
2. the triangulation methodology of plane point set in 3-D scanning according to claim 1, which is characterized in that the step
In S3, the sort method of the new triangle is：It is counterclockwise each new three with former vertex of a triangle sequencing
Triangular arrangement sequence.
3. the triangulation methodology of plane point set in 3-D scanning according to claim 1, which is characterized in that the step
It is described to be inserted into the insertion point according to insertion point and the side pointer relationship of the first triangle in the triangle chained list in S3
In corresponding triangle, following steps are specifically included：
(31) judge whether the insertion point is located at the outside of the first side pointer of the triangle, if so, according to described three
The triangle when pointer is searched altogether of angular first, if it is not, then judging whether the insertion point is located at the of the triangle
The outside of two side pointers, if so, according to the second of the triangle while pointer search altogether while triangle, if it is not, then judging
Whether the insertion point is located at the outside of the third side pointer of the triangle, if so, according to the third side of the triangle
Pointer searches side triangle altogether；
(32) judge whether the insertion point is located at the inside of the total side triangle, if so, this, which is total to side triangle, is considered as mesh
Triangle is marked, the insertion point is inserted into the target triangle；If it is not, then use the step (31) in method after
It is continuous judge the insertion point with it is described altogether while triangle while pointer relationship, the target triangle up to finding the insertion point
Shape.
4. the triangulation methodology of plane point set in 3-D scanning according to claim 3, which is characterized in that in the step
Suddenly further include step before (31)：Judge whether the insertion point is located in the first triangle, if so, by described first
Triangle is considered as target triangle；If it is not, then executing the step (31).
5. the triangulation methodology of plane point set in 3-D scanning according to claim 4, which is characterized in that inserted when described
When access point is located on the side of the first triangle, the triangle where insertion point to be fallen into side is all considered as target triangle.
6. the triangulation methodology of plane point set in 3-D scanning according to claim 5, which is characterized in that the step
It is described to delete the target triangle to update the network of triangle in S4, while updating side pointer and the institute of each triangle
It states triangle chained list and specifically includes and update the side pointer of new triangle, update the triangle adjacent with deleted target triangle
The triangle stored in side pointer and update triangle chained list；Wherein：
The side pointer for updating the triangle adjacent with deleted target triangle specifically includes following steps：Delete target three
It is angular, it will new triangle corresponding to the deleted side pointer direction of adjacent triangle of target triangle of script direction；
The triangle stored in the update triangle chained list specifically includes following steps：It will be generated in the triangle chained list
Tactic new triangle replace the position for being deleted target triangle where in triangle chained list.
7. the triangulation methodology of plane point set in 3-D scanning according to claim 6, which is characterized in that the step
In S4, judge whether each new triangle meets Delaunay sky compasses and then specifically include following steps successively：
According to the third of the new triangle when pointer is searched altogether triangle, if the total side triangle found and the new triangle
The quadrangle of formation is unsatisfactory for Delaunay skies compasses then, then deletes the total side, and connect another in the quadrangle diagonally
Line updates the side pointer of newly-generated triangle, the triangle adjacent with deleted triangle to adjust the company side of new triangle
The side pointer and triangle chained list of shape, then again judge each new triangle.
8. the triangulation system of plane point set in 3-D scanning, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, which is characterized in that the processor is realized when executing the computer program
The step of stating claim 1 to 7 any the method.
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