CN109410322A - Three dimensional object modeling method, device and electronic equipment - Google Patents
Three dimensional object modeling method, device and electronic equipment Download PDFInfo
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Abstract
This application provides a kind of three dimensional object modeling method, device and electronic equipments, are related to the technical field of image procossing, and wherein the three dimensional object modeling method carries out three-dimensional modeling for treating reconstructed object, which is set on rotating device；This method comprises: acquisition step, obtains the image information of the object to be reconstructed of first angle；Spin step, control rotating device drive the object to be reconstructed to rotate based on rotary index step-length to second angle；Judgment step, judges whether rotating device completes predetermined angle rotation；If it is not, then returning to acquisition step；If it is, executing modeling procedure；Modeling procedure obtains the threedimensional model of object to be reconstructed based on the described image information acquired in different angle.The program improves the operation complexity of three-dimensional modeling significantly, effectively raises the usage experience of user in such a way that automated image acquires and models.
Description
Technical field
This application involves technical field of image processing, more particularly, to a kind of three dimensional object modeling method, device and electronics
Equipment.
Background technique
In recent years, three-dimensional reconstruction has become the research hotspot and emphasis of computer vision field, is widely used in work
Industry measurement, conservation of historic landmarks and sites, reverse-engineering, e-commerce, computer animation, medical dissection, photomicrography, virtual reality etc.
Numerous areas.
In existing three-dimensional reconstruction, eight fish eye lens cameras, such as four in pedestal are placed within the scope of one week
Face, two fish eye lens cameras placed side by side on each face, utilizes 360 degree of eight fish eye lens camera one acquisition objects
The image in space suitably can select baseline length suitably to select base length according to the requirement of object distance distance and modeling accuracy
Degree manually adjusts the distance between two fish eye lenses, and then realizes Image Acquisition and modeling.
But it is above-mentioned it is this carry out Image Acquisition in a manner of realizing three-dimensional reconstruction based on multiple cameras, there is operation is multiple
The miscellaneous higher problem of degree, seriously affects user experience.
Summary of the invention
In view of this, the application's is designed to provide a kind of three dimensional object modeling method, device and electronic equipment, with logical
The mode for crossing automated image acquisition and modeling, improves the operation complexity of three-dimensional modeling significantly, effective to improve user's
Usage experience.
In a first aspect, the embodiment of the present application provides a kind of three dimensional object modeling method, carried out for treating reconstructed object
Three-dimensional modeling, the object to be reconstructed are set on rotating device；
The described method includes:
Acquisition step obtains the image information of the object to be reconstructed of first angle；
Spin step is controlled the rotating device and the object to be reconstructed is driven to be rotated based on rotary index step-length to second
Angle；
Judgment step, judges whether the rotating device completes predetermined angle rotation；
If it is not, then returning to the acquisition step；If it is, executing modeling procedure；
Modeling procedure obtains the three-dimensional mould of the object to be reconstructed based on the described image information acquired in different angle
Type.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, further includes:
Frame number is acquired according to the target received, determines the rotary index step-length of the rotating device；
Or
Load modeling default information, the default information include target acquisition frame number and rotary index step-length.
With reference to first aspect, the embodiment of the present application provides second of possible embodiment of first aspect, wherein institute
It states target acquisition frame number and is set as 60 frames to 360 frames.
With reference to first aspect, the embodiment of the present application provides the third possible embodiment of first aspect, wherein institute
State the RGB image and depth image that image information includes object to be reconstructed.
With reference to first aspect, the embodiment of the present application provides the 4th kind of possible embodiment of first aspect, wherein institute
Stating modeling procedure includes:
Obtain the depth image in the image information that different angle acquires；
Point cloud registering is carried out to the depth image, obtains the threedimensional model of the object to be reconstructed.
The 4th kind of possible embodiment with reference to first aspect, the embodiment of the present application provide the 5th kind of first aspect
Possible embodiment, wherein before the progress point cloud registering to the depth image, further includes:
Pretreatment operation is carried out to the depth image, the pretreatment operation includes removal noise, holes filling and goes
Except invalid one or more of Object Depth edge.
Second aspect, the embodiment of the present application also provide a kind of three dimensional object model building device, carry out for treating reconstructed object
Three-dimensional modeling, the object to be reconstructed are set on rotating device；
The three dimensional object model building device includes:
Acquisition module, the image information of the object to be reconstructed for obtaining first angle；
Rotary module, for control the rotating device drive the object to be reconstructed be based on rotary index step-length rotate to
Second angle；
Judgment module, for judging whether the rotating device completes predetermined angle rotation；
Modeling module is used for when the rotating device completes predetermined angle rotation, based on the institute acquired in different angle
Image information is stated, the threedimensional model of the object to be reconstructed is obtained.
The third aspect, the embodiment of the present application also provide a kind of electronic equipment, including memory, processor, the memory
On be stored with the computer program that can be run on the processor, the processor is realized when executing the computer program
State method described in first aspect and its any possible embodiment.
Fourth aspect, the embodiment of the present application also provide a kind of meter of non-volatile program code that can be performed with processor
Calculation machine readable medium, said program code make the processor execute the first aspect and its any possible embodiment
The method.
The embodiment of the present application bring it is following the utility model has the advantages that
In the embodiment of the present application, which carries out three-dimensional modeling for treating reconstructed object, should be to weight
Object is built to be set on rotating device；This method obtains the image information of the object to be reconstructed of first angle by acquisition step；
It drives the object to be reconstructed to be based on rotary index step-length using spin step control rotating device to rotate to second angle；Then
Judge whether rotating device completes predetermined angle rotation；If it is not, then returning to acquisition step；If it is, executing modeling procedure
I.e. based on the described image information acquired in different angle, the threedimensional model of object to be reconstructed is obtained.It is based on rotating device in this way
Uniform stepping rotation, rotating device every stepping rotation is primary, and image collecting device treats reconstructed object and carries out Image Acquisition one
It is secondary, it is worked by the synchronous coordination of rotating device and image collecting device, realizes the predetermined angle for treating reconstructed object automatically
Image Acquisition, and then based on acquired image information carry out three-dimensional reconstruction.Therefore the program is acquired by automated image
And the mode of modeling, the operation complexity of three-dimensional modeling is improved significantly, effectively raises the usage experience of user.
Other feature and advantage of the application will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood and implementing the application.The purpose of the application and other advantages are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the application specific embodiment or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the application, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of three dimensional object modeling method provided by the embodiments of the present application；
Fig. 2 is Image Acquisition schematic diagram provided by the embodiments of the present application；
Fig. 3 is the posture figure under object different angle to be reconstructed provided by the embodiments of the present application；
Fig. 4 is the flow diagram of another three dimensional object modeling method provided by the embodiments of the present application；
Fig. 5 is preview effect picture in RGB acquisition device in the embodiment of the present application and depth collecting device；
Fig. 6 is the point cloud chart picture in the embodiment of the present application under different angle；
Fig. 7 is a kind of structural schematic diagram of three dimensional object model building device provided by the embodiments of the present application；
Fig. 8 is the structural schematic diagram of another three dimensional object model building device provided by the embodiments of the present application；
Fig. 9 is the structural schematic diagram of a kind of electronic equipment provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with attached drawing to the application
Technical solution be clearly and completely described, it is clear that described embodiment is some embodiments of the present application, rather than
Whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall in the protection scope of this application.
Image Acquisition is carried out in a manner of realizing three-dimensional reconstruction currently based on multiple cameras, and it is higher that there is operation complexities
The problem of, seriously affect user experience.
Based on this, a kind of three dimensional object modeling method, device and electronic equipment provided by the embodiments of the present application can be based on
The uniform stepping of rotating device rotates, and the every stepping rotation of rotating device is primary, and image collecting device treats reconstructed object and carries out figure
Once as acquisition, it is worked by the synchronous coordination of rotating device and image collecting device, realizes automatically and treat reconstructed object
The Image Acquisition of predetermined angle, and then three-dimensional reconstruction is carried out based on acquired image information.Therefore the program passes through automation
Image Acquisition and the mode of modeling, improve the operation complexity of three-dimensional modeling significantly, effectively raise the use of user
Experience.
For convenient for understanding the present embodiment, first to a kind of three dimensional object modeling side disclosed in the embodiment of the present application
Method describes in detail.This method carries out three-dimensional modeling for treating reconstructed object, can be by being loaded with corresponding software program
Electronic equipment realize that the electronic equipment can be the processor inside rotating device, or be located at image collector
Set internal processor, or the processing equipment outside rotating device and image collecting device.The electronic equipment can be with
Rotating device and image collecting device are controlled, realize the coordinate synchronization work between rotating device and image collecting device
Make.
Fig. 1 shows a kind of flow diagram of three dimensional object modeling method provided by the embodiments of the present application.Such as Fig. 1 institute
Show, which includes:
Acquisition step S101 obtains the image information of the object to be reconstructed of first angle.
Referring to fig. 2, above-mentioned object to be reconstructed 1, which can be, arbitrarily is suitble to be set on rotating device 2 three (such as on turntable)
Tie up object, such as sculpture, vase, books.The image information of object to be reconstructed can be obtained by image collecting device 3, wherein
The image collecting device 3 can be, but not limited to as Kinect device, or including RGB acquisition device (such as mobile phone camera) and deep
Spend the equipment of acquisition device (such as depth camera).Image collecting device is fixed on support rod either A-frame, is adjusted
Whole shooting angle makes its shooting direction be directed toward the object to be reconstructed on rotating device.
Corresponding image information to be reconstructed under image acquisition device first angle, the first angle are rotating device
The current angular at place.In a possible embodiment, above-mentioned image information includes at least the depth image of object to be reconstructed, may be used also
To include RGB (RGB) image of object to be reconstructed.Wherein, depth image is above-mentioned to weight in the follow-up process, obtaining
Build the threedimensional model of object；RGB image is used to indicate position and the posture of object to be reconstructed, convenient for user to collected depth
The position of object to be reconstructed in image and posture are observed.
Spin step S102, control rotating device drive object to be reconstructed to rotate based on rotary index step-length to second jiao
Degree.
After the completion of determining above-mentioned image acquisition device, control rotating device drives above-mentioned object to be reconstructed according to suitable
Hour hands are rotated based on rotary index step-length to second angle counterclockwise, and wherein second angle is on the basis of first angle
Based on the postrotational angle of rotary index step-length.Such as drive rotary shaft that turntable is driven to be based on by the motor inside rotating device
Predetermined rotary index step-length, rotation to next angle, that is, second angle.Such as 0 degree of the image shot in step s101
Information, then rotating device needs to rotate to second angle at this time: 0 degree+rotary index step-length.
Optionally, above-mentioned rotary index step-length is determined according to the target acquisition frame number for setting image in collection process.
Wherein the target acquires frame number i.e.: to realize the three-dimensional modeling for treating reconstructed object, needing to acquire the image of the object to be reconstructed
Frame number；It is the integer greater than 1 that the target, which acquires frame number, can specifically be set according to the accuracy requirement actually modeled.
In view of the demand of modeling accuracy, in a possible embodiment, can set target and acquire frame number is 60 frames to 360
In the quantitative range of frame, for example, it can be set to being 120 frames or 180 frames.
It, can be according to following two when determining rotary index step-length according to above-mentioned target acquisition frame number before acquisition step
Kind mode carries out the setting of rotary index step-length.
The first: acquiring frame number according to the target received, determine the rotary index step-length of rotating device.
User can input target by electronic equipment and acquire frame number.Such as user needs the image information of 120 frames
At modeling, then inputting target acquisition frame number is 120.
Since the rotation treated reconstructed object and complete predetermined angle P (being generally defaulted as 360 degree) in modeling process, can be set
Turn, the appearance to obtain the image information of the different angle of object to be reconstructed, under object different angle to be reconstructed as shown in Figure 3
State figure.In collection process, need to obtain target acquisition frame number in predetermined angle, to reach required modeling accuracy.Therefore
Rotary index step-length is the quotient that predetermined angle and target acquire frame number.Such as when the target acquisition frame number set is N, rotary index
Step-length is P/N=m degree, i.e. hypothesis N=120, P=360, then controls rotating device and rotate 360/120=3 degree every time.
Second: load modeling default information, the default information include target acquisition frame number and rotary index step-length.
Modeling default information can be preset, if default objects acquisition frame number is 120 frames, then corresponding rotary index walks
A length of 3 degree.The modeling default information is stored in the form of text or table, before acquisition step, electronic equipment
Corresponding program load modeling default information is enabled, to complete the setting of rotary index step-length.
It is uniformly indexed by above-mentioned based on rotary index step-length, such as 0 degree, 10 degree, 20 degree, 30 degree ..., is uniformly adopted
The image information for collecting the object to be reconstructed of all angles is conducive to the subsequent precision for improving threedimensional model.
It should be noted that the rotation of above-mentioned rotating device every time can be rotated according to the step-length of fixation among the above, i.e.,
Above-mentioned rotary index step-length is fixed and invariable when rotation every time, such as 10 degree of rotation every time；It can also be according to revocable step-length
Rotation, that is, can change, such as 10 degree of rotation for the first time rotates 12 degree next time.
Judgment step S103, judges whether rotating device completes predetermined angle rotation.
If it is determined that rotating device does not complete predetermined angle rotation, then after the completion of this rotation, acquisition step is executed
S101；If it is determined that rotating device completes predetermined angle rotation, then modeling procedure S104 is executed.
It is, acquisition step S101 and spin step S102 are repeated in, until rotating device completes predetermined angle rotation
After turning, rotating device stops rotating and shoots.Predetermined angle rotation in the present embodiment is defaulted as 360 degree, to wait for weight to this
Build the shooting that object carries out full angle.
Image collecting device is controlled by electronic equipment and rotating device co-ordination, the image for completing predetermined angle are adopted
Collection.
Modeling procedure S104 obtains the three-dimensional mould of object to be reconstructed based on the above-mentioned image information acquired in different angle
Type.
It, using the depth image in above-mentioned image information, can be obtained to be reconstructed corresponding by the way of point cloud registering
Threedimensional model.
In the embodiment of the present application, the uniform stepping rotation based on rotating device, the every stepping rotation of rotating device is primary, figure
As acquisition device treat reconstructed object carry out Image Acquisition it is primary, pass through the synchronous coordination work of rotating device and image collecting device
Make, realizes the Image Acquisition for treating the predetermined angle of reconstructed object automatically, and then carry out three based on acquired image information
Dimension is rebuild.Therefore for the program in such a way that automated image acquires and models, the operation for improving three-dimensional modeling significantly is multiple
Miscellaneous degree effectively raises the usage experience of user.
On the basis of the above embodiments, the flow diagram of another three dimensional object modeling method shown referring to fig. 4.
The another kind three dimensional object modeling method includes:
Step S401 opens the Image Acquisition process of three dimensional object.
When object to be reconstructed is set on rotating device by user, and the shooting angle of image collecting device is adjusted and is completed
Afterwards, it can be opened by input unit (such as keyboard, mouse either touch screen) triggering Image Acquisition process of electronic equipment.
Step S402, load modeling default information.
The modeling default information includes target acquisition frame number and rotary index step-length.Electronic equipment enables corresponding program load
Default information is modeled, to complete the setting of rotary index step-length.
Step S403, control image collecting device open preview data stream function.
In the present embodiment, image collecting device include RGB acquisition device (such as mobile phone camera) and depth collecting device (such as
Depth camera).After electronic device information loaded, directly controls RGB acquisition device and depth collecting device is opened in advance
Data flow function is look at, in order to subsequent carry out image taking.Wherein preview effect picture is shown in Figure 5.
It should be noted that can recorde the initial angle of rotating device at this time after opening preview data stream function, with
Judge whether shooting of stopping rotating convenient for subsequent.
Step S404 controls image acquisition device RGB image to carry out picture preview.
Above-mentioned RGB image is used to observe position and the posture of reconstructed object, assists the acquisition of depth image.
Step S405 controls the depth image of the object to be reconstructed of image acquisition device first angle, by depth map
As being stored.
Depth image is stored to be used to obtain the threedimensional model of above-mentioned object to be reconstructed, such as can be by the depth
Image is stored in depth data queue or in depth data storehouse, and specific storage mode is not construed as limiting here, can be with
It sets according to actual needs.
Step S406, control rotating device drive object to be reconstructed to rotate based on rotary index step-length to second angle.
One rotary index step-length of rotating device stepping is controlled by electronic equipment, after the rotation is completed, executes step S407.
Assuming that current angular is 15 degree in step S405, rotary index step-length is 1.5 degree, then when rotating device is rotated to 16.5 degree,
It stops rotating.
Step S407, judges whether rotating device completes predetermined angle rotation.
In the present embodiment, default predetermined angle is 360 degree.
After step S406, when rotating device reaches 360 degree rotation, i.e., current angle and unlatching Image Acquisition process
When initial angle between difference be 360 degree when, determine rotating device complete predetermined angle rotation, execute step S408.Instead
It, then need return step S405.
Step S408, control image collecting device close preview data stream function.
After determining that completing predetermined angle rotates, the preview data stream function of image collecting device is closed, image is stopped
Acquisition.
Step S409 obtains the above-mentioned depth image in different angle acquisition of above-mentioned storage, carries out to the depth image
Pretreatment.
Such as from reading the above-mentioned depth acquired in different angle in depth data queue or in depth data storehouse
Image.Above-mentioned pretreatment operation include remove one of noise, holes filling and the invalid Object Depth edge of removal or
It is a variety of.
In view of the influence due to itself precision of human interference, illumination or image collecting device, the depth data of acquisition
There are noise cavity, the region of depth value missing is can be, but not limited to using joint bilateral filtering removal depth noise and filled up.
Furthermore it is possible to but be not limited to the direction image coordinate system u-v of 1 × 9 matching template of selection and 9 × 1 matching templates along depth image
It is scanned, identifies the invalid depth edge of object and removes.
Step S410 carries out point cloud registering to above-mentioned pretreated depth image, obtains the three-dimensional mould of object to be reconstructed
Type.
As shown in fig. 6, above-mentioned pretreated depth image is calculated as point cloud data by coordinate conversion, and to these
Point cloud data carries out Registration of Measuring Data.
Wherein, point cloud registering is exactly that (rigid transformation is European for the rotational translation matrix of asking between two point cloud datas
Transformation), source point cloud data is transformed under the identical coordinate system of target point cloud data.
It can be expressed as calculating formula below:
Pt=R × Ps+T (1)
Wherein PtIndicate target point cloud data, PsIt is exactly source point cloud data.Point cloud registering process is to determine spin matrix R
With the process of translation matrix T.
Point cloud registering can be divided into registration be divided into rough registration with essence be registrated two steps:
(1) rough registration: refer to that finding one makes in the case where not knowing the relative positional relationship of two point cloud datas completely
The approximate spin matrix R of the two point cloud datas, translation matrix T (accuracy is lower).
Above-mentioned rough registration can be realized by following evaluation criterion and search strategy:
Evaluation criterion:
The present embodiment for LCP (Largetst Common Pointset, maximum matching point set) to be illustrated.It is given
Two point sets P, Q find a transformation T (P), so that the degree of overlapping of transformed P and Q is maximum.It is any one in P after the conversion
Point, if there is the point of another Q in range of tolerable variance, then it is assumed that the point is coincidence point, and coincidence point accounts for the ratio of all the points quantity
Example is degree of overlapping.
The calculating of LCP is realized by traversing.Assuming that the size of point set P, Q are respectively m and n, and find a rigid body and become
It changes and needs 3 pairs of corresponding points, then traversal search needs O (m3, n3) complexity.For the point cloud of millions of a points, this time
Complexity is unacceptable, therefore introduces search strategy.
Search strategy:
For different scene features, the specific information that can use point cloud data subject to registration accelerates search.Such as it is known
Point cloud is made of the face of specific shape, then can use 4PC (4 Point Congruent, 4 points of congruences) method and carry out
Search.The wherein core of the 4PC are as follows: find four coplanar corresponding points in P, Q, finally reduced the complexity to O (n2+
k)。
(2) essence registration: being exactly to further calculate to obtain more accurate in the case where the initial value of known one rotation translation
Spin matrix R, translation matrix T.
The present embodiment for ICP (Iterative Closest Point, closest approach search method) to be illustrated.ICP is calculated
Method core is to minimize following objective function:
WithIndicate i-th pair corresponding points, NPIndicate the logarithm of corresponding points.The objective function is actually all corresponding points
Between Euclidean distance quadratic sum.
Source point cloud data is converted with initial spin matrix R, translation matrix T, the transformed point of obtain
Cloud data.Then this transformed point cloud data is compared with target point cloud data, as long as being deposited in two point cloud datas
It is less than certain threshold value in distance, then it is assumed that the two points are exactly corresponding pointsWith
First with initial spin matrix R, translation matrix T, corresponding pointsWithOptimize R and T, successively iterates
It carries out.So that target function value f (R, T) declines, so ICP algorithm is always convergent.Finally obtain optimal spin matrix R,
Translation matrix T.By optimal spin matrix R, translation matrix T, substitutes into calculating formula (1), seek source point cloud data PsTarget point
Cloud data Pt。
After completing point cloud registering based on the above method, the threedimensional model of object to be reconstructed can be obtained.
Above-mentioned threedimensional model is sent to display device, to be shown by display device by step S411.
Above-mentioned electronic equipment can also connect display device, after obtaining threedimensional model, which is sent to aobvious
Showing device is shown.
Step S412, it is determined whether continue three dimensional object modeling.
User can send by input units such as the mouses, keyboard or touch screen of electronic equipment and continue modeling instruction,
Or terminate modeling instruction.
It is modeled if it is determined that continuing three dimensional object, then return step S403；If it is determined that result three dimensional object models,
Then follow the steps S413.
Step S413 exits the Image Acquisition process of three dimensional object.
After detecting above-mentioned end modeling instruction, the Image Acquisition process of three dimensional object is directly exited.
In view of needing image collecting device and rotating device synchronous coordination work in the establishment process of above-mentioned threedimensional model
Make, therefore when a side is broken down, another party then cannot can such as be handled in time, then sternly in the state waited always
Ghost image rings modeling process.Based on this, in a possible embodiment, the above method further include: be not detected when more than preset duration
When shooting is completed or rotation is completed, sending alarm command is that warning device is alarmed.
Such as electronic equipment receives image information in preset duration and then determines that shooting is completed, or detects rotating dress
It sets and is rotated up to rotary index step-length in preset duration, it is determined that rotation is completed.Otherwise user is directly reminded by alarm in time
It is adjusted.
In conclusion the embodiment of the present application has the advantages that
(a) Image Acquisition is carried out based on rotating device, frame number is acquired according to target and is evenly dividing rotary index step-length；Rotation
The every stepping rotation of device is primary, and image collecting device carries out Image Acquisition one to the object to be reconstructed being fixed on rotating device
It is secondary, it solves 360 degree existing in the prior art and indexes image problem that is uneven, can not uniformly acquiring all angles.
(b) the stepping rotation progress synchronous with the Image Acquisition of image collecting device for controlling rotating device, solves existing side
Operation complexity existing for case is higher, user experience poor.
(c) based on the point cloud matching of depth image, the three-dimensional modeling result of object to be reconstructed more can completely be obtained.
(d) operation complexity of three dimensional object modeling is effectively reduced.
It is directed to the three dimensional object modeling method of above-described embodiment description, referring to Fig. 7, the embodiment of the present application provides one kind
Three dimensional object model building device, the three dimensional object model building device carry out three-dimensional modeling, the object to be reconstructed for treating reconstructed object
It is set on rotating device；The three dimensional object model building device includes:
Acquisition module 11, the image information of the object to be reconstructed for acquiring first angle；
Rotary module 12 drives object to be reconstructed to rotate based on rotary index step-length to second jiao for controlling rotating device
Degree；
Judgment module 13, for judging whether rotating device completes predetermined angle rotation；
Modeling module 14 is used for when rotating device completes predetermined angle rotation, described in acquiring in different angle
Image information obtains the threedimensional model of object to be reconstructed.
Further, referring to Fig. 8, above-mentioned three dimensional object model building device further includes loading module 10, which is used for:
Frame number is acquired according to the target received, determines the rotary index step-length of rotating device；
Or
Load modeling default information, the default information include target acquisition frame number and rotary index step-length.
Further, above-mentioned target acquisition frame number is set as 60 frames to 360 frames.
Further, above-mentioned image information includes the RGB image and depth image of above-mentioned object to be reconstructed；The RGB image
It is used to indicate position and the posture of object to be reconstructed；The depth image is used to obtain the threedimensional model of object to be reconstructed.
Further, above-mentioned modeling module 14 is also used to:
Obtain the depth image in image information；
Point cloud registering is carried out to above-mentioned depth image, obtains the threedimensional model of object to be reconstructed.
Further, above-mentioned modeling module 14 is also used to:
Before carrying out point cloud registering to above-mentioned depth image, pretreatment operation, the pretreatment are carried out to the depth image
Operation includes one or more of removing noise, holes filling and removing invalid Object Depth edge.
In the embodiment of the present application, the uniform stepping rotation based on rotating device, the every stepping rotation of rotating device is primary, figure
As acquisition device treat reconstructed object carry out Image Acquisition it is primary, pass through the synchronous coordination work of rotating device and image collecting device
Make, realizes the Image Acquisition for treating the predetermined angle of reconstructed object automatically, and then carry out three based on acquired image information
Dimension is rebuild.Therefore for the program in such a way that automated image acquires and models, the operation for improving three-dimensional modeling significantly is multiple
Miscellaneous degree effectively raises the usage experience of user.
Referring to Fig. 9, the embodiment of the present application also provides a kind of electronic equipment 100, comprising: processor 40, memory 41, bus
42 and communication interface 43, the processor 40, communication interface 43 and memory 41 are connected by bus 42；Processor 40 is for holding
The executable module stored in line storage 41, such as computer program.
Wherein, memory 41 may include high-speed random access memory (RAM, Random Access Memory),
It may further include nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.By at least
One communication interface 43 (can be wired or wireless) realizes the communication between the system network element and at least one other network element
Connection, can be used internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 42 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, data
Bus, control bus etc..Only to be indicated with a four-headed arrow convenient for indicating, in Fig. 9, it is not intended that an only bus or
A type of bus.
Wherein, memory 41 is for storing program, and the processor 40 executes the journey after receiving and executing instruction
Sequence, method performed by the device that the stream process that aforementioned the embodiment of the present application any embodiment discloses defines can be applied to handle
In device 40, or realized by processor 40.
Processor 40 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware in processor 40 or the instruction of software form.Above-mentioned
Processor 40 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network
Processor (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute in the embodiment of the present application
Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor is also possible to appoint
What conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present application, can be embodied directly in hardware decoding processing
Device executes completion, or in decoding processor hardware and software module combination execute completion.Software module can be located at
Machine memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable memory, register etc. are originally
In the storage medium of field maturation.The storage medium is located at memory 41, and processor 40 reads the information in memory 41, in conjunction with
Its hardware completes the step of above method.
Three dimensional object model building device and electronic equipment provided by the embodiments of the present application, it is right with three-dimensional provided by the above embodiment
As modeling method technical characteristic having the same, so also can solve identical technical problem, reach identical technical effect.
The computer program product of three dimensional object modeling method is carried out provided by the embodiment of the present application, including stores place
The computer readable storage medium of the executable non-volatile program code of device is managed, the instruction that said program code includes can be used for
Previous methods method as described in the examples is executed, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
And the specific work process of electronic equipment, it can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
The flow chart and block diagram in the drawings show multiple embodiment method and computer program products according to the application
Architecture, function and operation in the cards.In this regard, each box in flowchart or block diagram can represent one
A part of module, section or code, a part of the module, section or code include it is one or more for realizing
The executable instruction of defined logic function.It should also be noted that in some implementations as replacements, function marked in the box
It can also can occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be substantially parallel
Ground executes, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram
And/or the combination of each box in flow chart and the box in block diagram and or flow chart, it can the function as defined in executing
Can or the dedicated hardware based system of movement realize, or can come using a combination of dedicated hardware and computer instructions real
It is existing.
In the description of the present application, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for describe the application and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.Unless specifically stated otherwise, otherwise exist
Component described in these embodiments and opposite step, numerical expression and the numerical value of step do not limit the scope of the application.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (9)
1. a kind of three dimensional object modeling method, which is characterized in that three-dimensional modeling is carried out for treating reconstructed object, it is described to be reconstructed
Object is set on rotating device；
The described method includes:
Acquisition step obtains the image information of the object to be reconstructed of first angle；
Spin step is controlled the rotating device and the object to be reconstructed is driven to be rotated based on rotary index step-length to second jiao
Degree；
Judgment step, judges whether the rotating device completes predetermined angle rotation；
If it is not, then returning to the acquisition step；If it is, executing modeling procedure；
Modeling procedure obtains the threedimensional model of the object to be reconstructed based on the described image information acquired in different angle.
2. the method according to claim 1, wherein further include:
Frame number is acquired according to the target received, determines the rotary index step-length of the rotating device；
Or
Load modeling default information, the default information include target acquisition frame number and rotary index step-length.
3. according to the method described in claim 2, it is characterized in that, target acquisition frame number is set as 60 frames to 360 frames.
4. the method according to claim 1, wherein described image information includes the RGB of the object to be reconstructed
Image and depth image.
5. the method according to claim 1, wherein the modeling procedure includes:
Obtain the depth image in the image information that different angle acquires；
Point cloud registering is carried out to the depth image, obtains the threedimensional model of the object to be reconstructed.
6. according to the method described in claim 5, it is characterized in that, it is described to the depth image carry out point cloud registering before,
Further include:
Pretreatment operation is carried out to the depth image, the pretreatment operation includes removal noise, holes filling and removal nothing
One or more of Object Depth edge of effect.
7. a kind of three dimensional object model building device, which is characterized in that three-dimensional modeling is carried out for treating reconstructed object, it is described to be reconstructed
Object is set on rotating device；
The three dimensional object model building device includes:
Acquisition module, the image information of the object to be reconstructed for obtaining first angle；
Rotary module drives the object to be reconstructed to rotate based on rotary index step-length to second for controlling the rotating device
Angle；
Judgment module, for judging whether the rotating device completes predetermined angle rotation；
Modeling module is used for when the rotating device completes predetermined angle rotation, based on the figure acquired in different angle
As information, the threedimensional model of the object to be reconstructed is obtained.
8. a kind of electronic equipment, including memory, processor, be stored on the memory to run on the processor
Computer program, which is characterized in that the processor realizes that the claims 1 to 6 are any when executing the computer program
Method described in.
9. a kind of computer-readable medium for the non-volatile program code that can be performed with processor, which is characterized in that described
Program code makes the processor execute the method as claimed in any one of claims 1 to 6.
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| CN110163797A (en) * | 2019-05-31 | 2019-08-23 | 四川大学 | A kind of calibration turntable position orientation relation realizes the method and device of any angle point cloud |
| CN110288687A (en) * | 2019-06-19 | 2019-09-27 | 深圳市福瑞达显示技术有限公司 | A kind of 3D modeling method and its system applied to fan screen |
| CN110874864A (en) * | 2019-10-25 | 2020-03-10 | 深圳奥比中光科技有限公司 | Method, device, electronic equipment and system for obtaining three-dimensional model of object |
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