CN109995987A - Target scanning method, device and readable storage medium - Google Patents
Target scanning method, device and readable storage medium Download PDFInfo
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- CN109995987A CN109995987A CN201711482841.0A CN201711482841A CN109995987A CN 109995987 A CN109995987 A CN 109995987A CN 201711482841 A CN201711482841 A CN 201711482841A CN 109995987 A CN109995987 A CN 109995987A
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- target object
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- targeted scans
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 238000005516 engineering process Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 108010076504 Protein Sorting Signals Proteins 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 238000012163 sequencing technique Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/00127—Connection or combination of a still picture apparatus with another apparatus, e.g. for storage, processing or transmission of still picture signals or of information associated with a still picture
- H04N1/00249—Connection or combination of a still picture apparatus with another apparatus, e.g. for storage, processing or transmission of still picture signals or of information associated with a still picture with a photographic apparatus, e.g. a photographic printer or a projector
- H04N1/00251—Connection or combination of a still picture apparatus with another apparatus, e.g. for storage, processing or transmission of still picture signals or of information associated with a still picture with a photographic apparatus, e.g. a photographic printer or a projector with an apparatus for taking photographic images, e.g. a camera
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a target scanning method, which comprises the following steps: acquiring an image of a target object at a current pose by using a shooting device of target scanning equipment; marking a target object in the image and calculating a shooting distance between the shooting device and the target object under the current pose; judging whether the scanning is suspended; if not, adjusting the pose of the shooting device and then repeatedly executing the steps to acquire a plurality of images marked with the target object and corresponding shooting distances from a plurality of visual angles. The invention also discloses a target scanning device and a readable storage medium. Through the mode, the method can improve the precision of the three-dimensional model of the target object and reduce the calculation difficulty of the three-dimensional model.
Description
Technical field
The present invention relates to three-dimensional reconstruction fields, more particularly to a kind of targeted scans method, equipment and readable storage medium storing program for executing.
Background technique
MVS (Multiple View Stereo) is a kind of technology that three-dimensional model is generated based on multi-view image.It makes a living
At the three-dimensional model of target object, need to be scanned target object, i.e., from multiple angles to target object take pictures with
Obtain the image of the target object under multiple visual angles.
In the prior art, it is usually shot by human hand held camera/camera around target object to complete manually to sweep
Retouch, since manpower cannot keep stabilization, image be likely to occur it is fuzzy, simultaneously because people shift one's position it is uncertain when taking pictures
Property, the parameter (such as exposure, focal length, at a distance from target object etc.) between obtained different images can not be unified, build
It may need to be handled (such as brightness processed, rotation, scaling etc.) to image using algorithm in mold process uncertain to reduce
The influence of property, affects the precision and difficulty in computation of threedimensional model.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of targeted scans method, equipment and readable storage medium storing program for executing, energy
Enough solve the problems, such as the precision and difficulty in computation of either scans' influence threedimensional model in the prior art.
In order to solve the above-mentioned technical problems, the present invention provides a kind of targeted scans methods, this method comprises: utilizing target
The filming apparatus of scanning device obtains the image of target object under current pose；In the picture marking target body and calculate work as
Shooting distance under preceding pose between filming apparatus and target object；Judge whether scanning stops；If not stopping, shooting is adjusted
Above-mentioned steps are repeated after the pose of device to obtain target object is marked in multiple image and corresponding from multiple visual angles
Shooting distance.
In order to solve the above-mentioned technical problems, the present invention provides a kind of targeted scans device, the device include processor and
Filming apparatus, processor connect filming apparatus, and processor is for executing instruction to realize method above-mentioned.
In order to solve the above-mentioned technical problems, the present invention provides a kind of readable storage medium storing program for executing, are stored with instruction, and instruction is held
Method above-mentioned is realized when row.
The beneficial effects of the present invention are: replaced manually by using targeted scans equipment to complete to scan, it will not when taking pictures
Cause image fuzzy because of hand shaking, simultaneously because can control the pose of filming apparatus, the parameter consistency of different images is mentioned
Height can be improved the precision of the threedimensional model of target object and reduce its difficulty in computation.
Detailed description of the invention
Fig. 1 is the flow diagram of targeted scans method first embodiment of the present invention；
Fig. 2 is the flow diagram of targeted scans method second embodiment of the present invention；
Fig. 3 is the structural schematic diagram of targeted scans equipment first embodiment of the present invention；
Fig. 4 is the structural schematic diagram of readable storage medium storing program for executing first embodiment of the present invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.What is do not conflicted in following embodiment can phase
Mutually combine.
As shown in Figure 1, targeted scans method first embodiment of the present invention includes:
S1: the image of target object is obtained under current pose using the filming apparatus of targeted scans equipment.
Targeted scans equipment can be robot, have locomitivity and stationkeeping ability, and be equipped with filming apparatus (phase
Machine, camera etc.).Filming apparatus, which can be, to be fixably attached in targeted scans equipment, is also possible to be movably installed at
In targeted scans equipment.The locomitivity of targeted scans equipment further includes the appearance for adjusting filming apparatus other than displacement capacity
The ability of gesture.If filming apparatus is to be fixedly mounted, targeted scans equipment (such as can rotate by adjusting the posture of itself
Body shoots the posture of equipment to adjust；If filming apparatus is movable installation, targeted scans equipment can be by adjusting
The installation part of itself posture and/or filming apparatus adjusts the posture of filming apparatus.Targeted scans equipment can use infrared
At least one of line, laser radar, GPS, odometer etc. realize positioning to obtain the location information of itself.
For current pose for filming apparatus, the specific data of current pose include position data and posture number
According to by the opposite position under current state between the position of targeted scans equipment, posture and filming apparatus and targeted scans equipment
Appearance relationship determines.
The image for the target object that filming apparatus obtains is normal image, such as gray level image, RGB image etc., can be anti-
Reflect the visual informations such as the shape, structure of object.
S2: in the picture marking target body and calculate the shooting under current pose between filming apparatus and target object away from
From.
If targeted scans equipment is mounted with depth transducer, other than the normal image that filming apparatus is got, also
It can use depth transducer obtains target object under current pose depth (i.e. in the case that the pose of filming apparatus is constant)
Image is spent, to using the convenient marking target body of depth image and calculate shooting distance.Process to simplify the process, depth pass
Generally with the neighbouring installation of filming apparatus, the optical axis of the two can be directed toward identical and parallel sensor.
Specifically, come marking target body may include: the normal image for getting filming apparatus using depth image
In correspond to the part of the nearest complete object of distance in depth image and be labeled as target object.It is got due to filming apparatus
Normal image be for subsequent three-dimensional modeling, therefore during the scanning process, should not between filming apparatus and target object
There is apparent shelter, that is to say, that the nearest complete object of distance is exactly target object in depth image, while having obtained mesh
Mark the depth information of object.According to position, size and depth information of the target object in depth image, in conjunction with filming apparatus
Relative pose relationship between depth transducer, can be marked in normal image target object and calculate shooting away from
From.In general, in the same plane in filming apparatus and depth transducer, and the central axis of the plane and target object is flat
In the case where row, it is believed that the distance between target object and depth transducer are equal between target object and filming apparatus
Distance, directly using the depth information of target object as shooting distance.
If targeted scans equipment is fitted without depth transducer, the depth image of target object can not be got, then may be used
To be handled using target identification technology image, thus detection and marking target body, and utilize the data of current pose
And the position data of target object calculates shooting distance.Certainly, in the case where targeted scans equipment is mounted with depth transducer,
It can also carry out marking target body without using depth image and/or calculate shooting distance.
Specifically, due in scanning process reference object (including target object) be usually stationary, certain spies
Sign (such as shape, structure, color etc.) is to maintain constant, can use target identification technology and handles image, based on not
The feature of change detects target object, marking target body after detecting successfully.The characterization of background is (such as in target object
Paper of the lower section pad with asymmetric pattern, sticks the paper of different pattern on the different directions around target object) can have
Help improve the success rate and accuracy rate of label.It can use the data of current pose and the position data of known target object
Calculate shooting distance.
The calculating of the label and shooting distance of target object can carry out simultaneously, can also separate and carry out；Separately carry out
In the case of sequencing between the two there is no restriction.
Under normal circumstances, generally by targeted scans equipment come the meter of the label of complete independently target object and shooting distance
It calculates, to reduce error rate, can choose and carried out again after being confirmed by user in next step after the label for completing target object.
In addition to this, in the case that the failure of marking target body or calculating shooting distance obviously malfunction, user can also be notified to carry out
It handles manually.
S3: judge whether scanning stops.
If do not stopped, S4 is jumped to；If stopped, two kinds of situations can be divided into, one is the ends of scan, such as receive
The quantity of end of scan instruction or the collected image that target object is marked is greater than or equal to preset threshold, at this time
Terminate process；Another is scanning pause, such as receives scanning pause instruction, or scanning adjusts the pose of filming apparatus
Obstacle is encountered in the process, can be suspended movement (including pose adjusts and takes pictures) at this time and be waited instruction.
S4: the pose of filming apparatus is adjusted.
Targeted scans equipment can be by moving self-position, adjusting itself posture (such as rotation body), adjustment shooting
At least one of installation part of device adjusts the pose of capture apparatus.
In order to establish threedimensional model, targeted scans equipment needs to carry out photographic subjects object from multiple angles, therefore has adjusted
S1 is jumped to after obtains image (the i.e. multi-angle of view figure that target object is marked in multiple to repeat S1 and its subsequent step
Picture) and corresponding shooting distance, the image of target object and the corresponding shooting distance of every image, which is marked, in multiple can be used for
The three-dimensional modeling of target object.Three-dimensional modeling, which can be, to be completed by targeted scans equipment, may not be.
It needs to shoot how many photos, shot from which angle, from which height (if object is higher)
It can be pre-set.Can be generated according to the position of these preset datas and target object has positioning to record, positioning
It include a plurality of position and attitude data in record, targeted scans equipment can record repeatedly adjustment filming apparatus according to positioning, make
The pose of capture apparatus reaches every position and pose that attitude data indicates one by one, then taken pictures, marked and distance
Calculating.Certainly, targeted scans equipment can also be according to preset angle/vertical separation and apart from voluntarily surrounding target object
It moves and takes pictures.
Optionally, picture tracking technique can be used during the adjustment of the pose of filming apparatus, target object is carried out
Locking, so that in the different images under different positions and pose, target object is in image in the multi-view image finally obtained
Same range in, to be further reduced the calculation amount in modeling process.
By the implementation of the present embodiment, using targeted scans equipment replace it is artificial complete to scan, will not be because of when taking pictures
Hand shaking and cause image fuzzy, simultaneously because can control the pose of filming apparatus, the parameter consistency of different images is improved, energy
It enough improves the precision of the threedimensional model of target object and reduces its difficulty in computation.
As shown in Fig. 2, targeted scans method second embodiment of the present invention, is implemented in targeted scans method first of the present invention
It further comprise modeling process on the basis of example.The present embodiment is the extension to targeted scans method first embodiment of the present invention,
Details are not described herein for same part, and the present embodiment includes:
S11: the image of target object is obtained under current pose using the filming apparatus of targeted scans equipment.
S12: marking target body in the picture is attempted.
It marks and successfully then jumps to S14；Otherwise S13 is jumped to.
S13: prompt user's hand labeled.
S14 is jumped to after the completion of hand labeled.
S14: whether prompt user's confirmation flag is correct.
In the correct situation of confirmation flag just can be performed subsequent step, it is incorrect if by user again hand labeled.
S15: it attempts to calculate the shooting distance under current pose between filming apparatus and target object.
If calculating shooting distance obviously to malfunction, S16 is jumped to；Otherwise S17 is jumped to.
S16: prompt user handles manually.
S17 is jumped to after the completion of handling manually.
S17: judge whether scanning stops.
If the end of scan jumps to S19；If scanning pause, waits instruction；If scanning does not stop, jump to
S18。
S18: the pose of filming apparatus is adjusted.
S11 is jumped to after adjustment to repeat S11 and its subsequent step.
S19: target object is marked in multiple image and corresponding shooting distance are exported to establish the three-dimensional of target object
Model.
It is voluntarily modeled if it is by targeted scans equipment, then this step is completed inside targeted scans equipment；If not
Modeled by targeted scans equipment, then to equipment/terminal of responsible modeling export target object is marked in multiple image and
Corresponding shooting distance.
As shown in figure 3, targeted scans equipment first embodiment of the present invention includes: processor 110 and filming apparatus 120, place
It manages device 110 and connects filming apparatus 120.In addition to this, targeted scans equipment can also include depth transducer, positioning device, lead to
Believe at least one of circuit etc. (being not drawn into figure).
Processor 110 controls the operation of targeted scans equipment, and processor 110 can also be known as CPU (Central
Processing Unit, central processing unit).Processor 110 may be a kind of IC chip, with signal sequence
Processing capacity.Processor 110 can also be general processor, digital signal sequences processor (DSP), specific integrated circuit
(ASIC), ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components.General processor can be microprocessor or the processor is also possible to any conventional processor etc..
Processor 110 is for executing instruction to realize provided by targeted scans method first or second embodiments of the present invention
Method.
As shown in figure 4, readable storage medium storing program for executing first embodiment of the present invention includes memory 210, memory 210 is stored with finger
It enables, which, which is performed, realizes method provided by targeted scans method first or second embodiments of the present invention.
Memory 210 may include read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), flash memory (Flash Memory), hard disk, CD etc..
In several embodiments provided by the present invention, it should be understood that disclosed method and apparatus can pass through it
Its mode is realized.For example, device embodiments described above are only schematical, for example, the module or unit
Division, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown
Or the mutual coupling, direct-coupling or communication connection discussed can be through some 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.Some or all of unit therein can be selected to realize present embodiment scheme according to the actual needs
Purpose.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that the independent physics of each unit includes, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The all or part of the steps of embodiment the 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. the various media that can store program code.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (11)
1. a kind of targeted scans method characterized by comprising
The image of target object is obtained under current pose using the filming apparatus of targeted scans equipment；
The target object is marked in described image and calculates the filming apparatus and the object under the current pose
Shooting distance between body；
Judge whether scanning stops；
If not stopping, above-mentioned steps are repeated to obtain multiple marks from multiple visual angles after adjusting the pose of the filming apparatus
The image and corresponding shooting distance of the target object are remembered.
2. the method according to claim 1, wherein
It is described to mark the target object to include: in described image
The part for corresponding to the complete object that distance is nearest in depth image in described image is labeled as the target object,
Described in depth image be to be obtained under the current pose using the depth transducer of the targeted scans equipment.
3. the method according to claim 1, wherein
It is described to mark the target object to include: in described image
Described image is handled using target identification technology to detect and mark the target object.
4. the method according to claim 1, wherein
Calculating the shooting distance under the current pose between the filming apparatus and the target object includes:
The depth information of the target object is obtained using depth image, wherein the depth image is under the current pose
It is obtained using the depth transducer of the targeted scans equipment；
The shooting distance is calculated using the depth information.
5. the method according to claim 1, wherein
Calculating the shooting distance under the current pose between the filming apparatus and the target object includes:
The shooting distance is calculated using the data of the current pose and the position data of the target object.
6. the method according to claim 1, wherein
The pose of the adjustment filming apparatus includes:
The filming apparatus pose is adjusted according to the position and attitude data that position in record.
7. method according to claim 1 to 6, which is characterized in that
The target object under different positions and pose is in the same range in image.
8. method according to claim 1 to 6, which is characterized in that further comprise:
If scan abort, stop adjusting pose and shooting.
9. method according to claim 1 to 6, which is characterized in that further comprise:
The image and corresponding shooting distance that the target object is marked in multiple described in output are to establish the target object
Threedimensional model.
10. a kind of targeted scans equipment, which is characterized in that including processor and filming apparatus, the processor connects the bat
Device is taken the photograph, the processor is for executing instruction to realize method as claimed in any one of claims 1-9 wherein.
11. a kind of readable storage medium storing program for executing is stored with instruction, which is characterized in that described instruction is performed realization such as claim
Method described in any one of 1-9.
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| CN201711482841.0A CN109995987A (en) | 2017-12-29 | 2017-12-29 | Target scanning method, device and readable storage medium |
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| CN201711482841.0A CN109995987A (en) | 2017-12-29 | 2017-12-29 | Target scanning method, device and readable storage medium |
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| CN112146629A (en) * | 2020-09-24 | 2020-12-29 | 武汉大学 | Multi-angle close-up photography track and attitude planning method |
| CN112270339A (en) * | 2020-06-30 | 2021-01-26 | 上海扩博智能技术有限公司 | Image data generation method, system, device and storage medium for model training |
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