CN110428494A - Processing method, equipment and the system of three-dimensional modeling - Google Patents
Processing method, equipment and the system of three-dimensional modeling Download PDFInfo
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- CN110428494A CN110428494A CN201910674772.6A CN201910674772A CN110428494A CN 110428494 A CN110428494 A CN 110428494A CN 201910674772 A CN201910674772 A CN 201910674772A CN 110428494 A CN110428494 A CN 110428494A
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Abstract
The present invention provides a kind of processing methods of three-dimensional modeling, it include: to drive target object thereon around vertical shaft rotation in rotational structure, and vertical motion structure drives camera along vertically to when moving, obtain the relative position information of each three-dimensional point in target object side, the camera is toward the side of the target object, and the relative position information is for being characterized in position of the three-dimensional point relative to camera when each three-dimensional point is acquired by the camera；After information is converted to target-based coordinate system depending on that relative position in each three-dimensional point, according to the target position information of all three-dimensional points, the threedimensional model of the target object is established.Modeling efficiency of the present invention is high, and the size of target object applicatory is more various, such as is applicable to the target object of larger size.
Description
Technical field
The present invention relates to field of three-dimension modeling more particularly to a kind of processing methods of three-dimensional modeling, equipment and system.
Background technique
The three-dimensional modeling of entity, it will be appreciated that for the entity object being directed in reality, three-dimensional Dummy modeling is carried out to it,
Obtain the threedimensional model of the entity object.
It is existing to can use the single line laser scanning of laser triangulation in the related technology, rotated using single turntable, with
And the laser demarcated in advance and camera position relationship carry out rotary scanning to object, can only construct laser position every time
Point cloud, is finally combined into a complete object dimensional model；Image or video modeling can also be used, according to trained nerve
Network frame generates corresponding threedimensional model.
However, single line laser rotary scanning has speed slow, modeling efficiency is low, and then is not easy to the object of reply labyrinth
The defect of body causes it to be limited in the height direction simultaneously as it is the rotation of single-degree-of-freedom, and it is small can only to scan friendship
The object of size.
Summary of the invention
The present invention provides the processing method, equipment and system of a kind of three-dimensional modeling, low to solve modeling efficiency, and can only
The problem of object of small size, is handed in scanning.
According to the first aspect of the invention, a kind of processing method of three-dimensional modeling is provided, comprising:
Drive target object thereon around vertical shaft rotation in rotational structure, and vertical motion structure drives camera edge
Vertically to it is mobile when, obtain the relative position information of each three-dimensional point in target object side, the camera is toward described
The side of target object, the relative position information is for being characterized in three-dimensional point when each three-dimensional point is acquired by the camera
Position relative to the camera；
After in each three-dimensional point, information is converted to target-based coordinate system depending on that relative position, according to the mesh of all three-dimensional points
Cursor position information establishes the threedimensional model of the target object.
Optionally, the relative position information of each three-dimensional point in target object side is obtained, comprising:
In the cam movement to each present level, with the rotation of the target object, described in control
The circumferential multiposition that camera is directed to the present level of the target object is successively acquired, and it is corresponding to obtain each position
Point converges, and to converge for each point, determines that the three-dimensional point cloud concentrates the relative position information of each three-dimensional point.
Optionally, the corresponding multiple points in the multiple positions of the circumferential direction of sustained height converge the base including being defined as base position
It converges and is converged with the non-referenced point in addition to the datum mark converges on schedule；
It is converged for each point, after determining the relative position information that the three-dimensional point cloud concentrates each three-dimensional point, further includes:
According to the datum mark converge with the non-referenced point converge between position auto―control, the non-referenced point is converged
In three-dimensional point transform to the datum mark and converge under the corresponding frame of reference；The position auto―control is for characterizing the non-base
The pose variation converged relative to corresponding datum mark is converged on schedule；
The target position information is incited somebody to action according to the relative positional relationship of the frame of reference and the target-based coordinate system
Three-dimensional point in the frame of reference, which transforms to, to be obtained after the target-based coordinate system, and the relative positional relationship is according to institute
State camera it is vertical to shift position determine.
Optionally, the position auto―control is determined in real time in the way of closest approach iteration.
Optionally, the position auto―control is to drive the vertical shaft rotation of calibration Objects around A thereon in rotational structure, and erect
Straight motion structure drives camera along vertically to when moving, predetermined in the way of nearest iteration.
According to the second aspect of the invention, a kind of processing equipment of three-dimensional modeling, including memory and processor are provided；
The memory, for storing the executable instruction of the processor；
The processor is configured to be related to via the execution executable instruction to execute first aspect and its optinal plan
Three-dimensional modeling processing method.
According to the third aspect of the invention we, a kind of processing system of three-dimensional modeling is provided, comprising: rotational structure, vertical
Motion structure, camera and processing equipment；
The rotational structure for carrying target object to be modeled, and drive the target object around vertical shaft from
Turn；The vertical motion structure is for driving the camera along vertically to moving；
The camera connects the camera, the processing towards the side of the target object, the processing equipment
Equipment is used for:
Drive target object thereon around vertical shaft rotation in the rotational structure, and vertical motion structure drives camera shooting
Head is along to when moving, the relative position information of each three-dimensional point in target object side, institute are obtained by the camera vertically
Camera is stated toward the side of the target object, the relative position information is for being characterized in each three-dimensional point by the camera shooting
Position of the three-dimensional point relative to camera when head acquisition；
After in each three-dimensional point, information is converted to target-based coordinate system depending on that relative position, according to the mesh of all three-dimensional points
Cursor position information establishes the threedimensional model of the target object.
Optionally, the processing equipment is also used to:
In the cam movement to each present level, with the rotation of the target object, described in control
The circumferential multiposition that camera is directed to the present level of the target object is successively acquired, and it is corresponding to obtain each position
Point converges, and to converge for each point, determines that the three-dimensional point cloud concentrates the relative position information of each three-dimensional point.
Optionally, the corresponding multiple points in the multiple positions of the circumferential direction of sustained height converge the base including being defined as base position
It converges and is converged with the non-referenced point in addition to the datum mark converges on schedule；
The processing equipment, is also used to:
According to the datum mark converge with the non-referenced point converge between position auto―control, the non-referenced point is converged
In three-dimensional point transform to the datum mark and converge under the corresponding frame of reference；The position auto―control is for characterizing the non-base
The pose variation converged relative to corresponding datum mark is converged on schedule；
The target position information is incited somebody to action according to the relative positional relationship of the frame of reference and the target-based coordinate system
Three-dimensional point in the frame of reference, which transforms to, to be obtained after the target-based coordinate system, and the relative positional relationship is according to institute
State camera it is vertical to shift position determine.
Optionally, the position auto―control is determining in real time in the way of closest approach iteration, or: the position auto―control
It is to demarcate object or when other objects wait modeling are arranged at the rotational structure, it is true in advance in the way of closest approach iteration
Fixed.
According to the fourth aspect of the invention, a kind of computer readable storage medium is provided, computer journey is stored thereon with
Sequence realizes the method that first aspect and its optinal plan are related to when the program is executed by processor.
Processing method, equipment and the system of three-dimensional modeling provided by the invention pass through the folded of rotary motion and vertical motion
Add, can be realized the comprehensive automatically scanning of target object, and then freely, automatically constructs the threedimensional model of target object,
Modeling efficiency is high, and then can be applied to the structure of various complexity, without because being not easy to bring inconvenience due to implementing scanning in reply
The problem of labyrinth, meanwhile, the present invention is unrestricted in short transverse, is even directed to larger-size object, can also
Ensure the realization of modeling, it is seen then that the present invention extends vertical moving sweep, and the size of target object applicatory is more
Sample, such as it is applicable to the target object of larger size.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the flow diagram of the processing method of three-dimensional modeling in one embodiment of the invention；
Fig. 2 is the flow diagram of step S11 in one embodiment of the invention；
Fig. 3 is the organigram one of the processing system of three-dimensional modeling in one embodiment of the invention；
Fig. 4 is the organigram two of the processing system of three-dimensional modeling in one embodiment of the invention；
Fig. 5 is the organigram of the processing equipment of three-dimensional modeling in one embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to
Here the sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation,
Be intended to cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, product or setting
It is standby those of to be not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these mistakes
The intrinsic other step or units of journey, method, product or equipment.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the flow diagram of the processing method of three-dimensional modeling in one embodiment of the invention.
Referring to FIG. 1, the processing method of three-dimensional modeling, comprising:
S11: drive target object thereon around vertical shaft rotation in rotational structure, and vertical motion structure drives camera shooting
Head is along vertically to the relative position information for when moving, obtaining each three-dimensional point in target object side.
Camera therein is toward the side of the target object, in turn, can scan in target object rotation to each
Corresponding relative position information can be obtained by the scanning of camera in the three-dimensional point of height downside each position.
Relative position information, it will be appreciated that for for being characterized in three-dimensional point phase when each three-dimensional point is acquired by the camera
For the position of the camera, such as it can be characterized by way of characterizing the coordinate under three-dimensional space.Obtain opposite position
The process of confidence breath, can be the process for calculating relative position information, and the equipment for being also possible to other such as cameras calculates
After out, processing equipment receives the process of relative position information received from camera, and in a kind of citing, camera can be collected
Image can also collect image for characterizing each three-dimensional point depth.
In concrete example, camera can specifically acquire the point cloud of three-dimensional point, normal vector, the information such as color, and then later
In, the position auto―control demarcated when using alignment, or the reality that obtained position auto―control carries out 360 degree to three-dimensional data is handled in real time
When splicing and preview.
Rotation, vertical shift and the process for obtaining relative position information referred to above, can be synchronous implementation.
Fig. 2 is the flow diagram of step S11 in one embodiment of the invention.
Referring to FIG. 2, step S11 may include:
S111: the cam movement to each present level；
S112: with the rotation of the target object, the current height that the camera is directed to the target object is controlled
The circumferential multiposition of degree is successively acquired, and is obtained the corresponding point in each position and is converged, to converge for each point, described in determination
Put the relative position information of each three-dimensional point in converging.
Circumferential direction therein, it will be appreciated that for direction around the shaft.Meanwhile for the ease of collecting information, multi-turn can be acquired
Point converges.
In one of embodiment, each point can be converged according to the revolving speed of rotation and transform to the same frame of reference
In, point can also be converged according to position auto―control and be transformed in the same frame of reference.In turn, under a frame of reference
Three-dimensional point can splice under the same coordinate system, and then be converted to target-based coordinate system.
In one of embodiment, the corresponding multiple points in the multiple positions of the circumferential direction of sustained height are converged including being defined as
The datum mark of base position is converged to converge with the non-referenced point in addition to the datum mark converges；Wherein, each position corresponds to
One point converges.
Point converges, it will be appreciated that for the set of three-dimensional point in same position.It can be any one position pair that datum mark, which converges,
The point answered converges, different according to defined mode, identified datum mark converge be also possible to it is different.One of which is implemented
In mode, datum mark converges can converge for the corresponding point in position of first scanning in each height.
Wherein, putting the location point quantity converged can determine according to distance, scanning range of camera etc., a kind of citing
In, camera can be adjustable with the distance between target object and rotational structure.
Referring to FIG. 2, may also include that after step S112
S113: according to the datum mark converge with the non-referenced point converge between position auto―control, will be described non-referenced
Point converge in three-dimensional point transform to the datum mark and converge under the corresponding frame of reference, and the datum mark is converged
Three-dimensional point is mutually spliced with the non-referenced three-dimensional point converged.
Wherein, transformed each three-dimensional point is sliceable together.
Position auto―control, it will be appreciated that converge the pose converged relative to corresponding datum mark for characterizing the non-referenced point
Variation.It can take the mode of multiplicity to determine, it will be understood that are as follows: calibration or the position calculated in real time can be with according to different need
It asks and is adjusted, rather than fix and cannot change, in turn, method involved in the present embodiment can be expired in the way of different
The demand of foot multiplicity.
In a kind of specific implementation process, the position auto―control is determined in real time in the way of closest approach iteration.
In concrete example, if the point of corresponding i-th of the position of present level converges, i.e., i-th point converge on the basis of put cloud
Collection, can be denoted as Pi(i=1,2 ..., 10).After one non-referenced point of acquisition converges, calculated using the mode of closest approach iteration
Each point converges the position auto―control T converged to first point.The mode of closest approach iteration therein can be regarded as ICP algorithm,
In ICP be specially Iterative Closest Point.
It is directed to the mode of closest approach iteration therein, is exemplified below:
P is converged with point1={ p11,p12,p13,…p1n(wherein p1iP is converged for point1In each point coordinate, n be point converge
P1The quantity at midpoint) and P2={ p21,p22,p23,…p2m(wherein p2iP is converged for point2In each point coordinate, m be point converge P2
The quantity at midpoint) for: set spin matrix as R, translation matrix t, then T=T (R, t).
Simultaneously, it is assumed that point therein converges P1On the basis of point converge, point converge P2It is converged for non-referenced point, then: not missing
In the case where difference, P is converged from point2Coordinate system be transformed into and a little converge P1Coordinate system formula are as follows:
p1i=Rp2i+t
Closest approach iteration, it will be appreciated that are as follows: the direction of required optimization is that invocation point is made to converge P1It is converged with point
The position auto―control that other all non-referenced points converge is solved, if the quantity that the corresponding point of each height converges is 10
It is a, and the corresponding point in first position converge on the basis of point converge, then can be in the above manner, respectively obtaining remaining 9 positions
It, can be by embodiments are as follows: T to the position auto―control of first positioni(i=2 ..., 10).In turn, alignment ginseng at this time is saved
Several and position auto―control, can be used for calculating instantly, it can also be used to which the position auto―control under other target objects calculates demand.
In another specific implementation process, the position auto―control is to drive calibration Objects around A thereon vertical in rotational structure
Shaft rotation, and vertical motion structure drives camera along vertically to when moving, it is predetermined in the way of nearest iteration.
The implementation process can be regarded as: before step S11, be set to rotational structure, Jin Ershi by that will demarcate object
Above procedure is applied, can calculate and determine required position auto―control, after calculating, subscript earnest body is can use, target object is placed in
Rotational structure.
Calibration object therein may be, for example, alignment plate.
According to the position auto―control calculated in real time, the splicing that can be advantageously implemented between high accuracy three-dimensional point, so that scanning
Model accuracy it is higher, it is more true to nature.
Wherein, since the combination of turntable and motor can be used in rotational structure, mode referred to above can reduce turntable
The repeatable accuracy error that the movement of motor introduces.
According to the position auto―control that calibration object is demarcated, it may make that calculating process is more quick, improve the effect of processing
Rate.
The precedence relationship of above step S112 and step S113, it should be understood that are as follows: it is directed to a single point and converges, be both needed to first implement
Step S112, in implementation steps S113, however, step S113 can be carried out after the relative position information that each point converges determines
Implement to calculate, i.e., one point of every calculation converges then splicing once, can also be another after the relative position information that each point converges determines
And calculate, i.e., all the points, which are converged, successively calculates.
No matter as it can be seen that sequence, as long as the implementation process of step S112 Yu step S113 are implemented, all without departing from this reality
Apply the description of example.
It after step sl 13, can be according to the relative positional relationship of the frame of reference and target-based coordinate system, by the base
Three-dimensional point in conventional coordinates transforms to the target-based coordinate system, so that the corresponding three-dimensional point of each height can be with other height
Three-dimensional point mutually splice.
Meanwhile above procedure can be implemented once respectively after the completion of each circle calculates, and can also have been calculated in each circle
Implement to calculate together after.
As it can be seen that the target position information is closed according to the relative position of the frame of reference and the target-based coordinate system
Three-dimensional point in the frame of reference is transformed to and to be obtained after the target-based coordinate system by system
Wherein, the relative positional relationship is to be determined according to the vertical of the camera to shift position.It was determined
Journey can be according only to can determine to shift position vertically, be also possible to also need that other factors is combined just to can determine, no matter such as
What, all without departing from the vertical logic for determining relative positional relationship to shift position according to the camera.
In a kind of citing, the corresponding base position of each height can be same position circumferentially, in turn, each reference coordinate
The difference of system is only that the difference of the origin on vertical direction, in turn, can determine that relative position is closed to shift position according to vertically
System.
In another kind citing, each highly corresponding base position is also possible to different location circumferentially, in turn, each benchmark
The difference of coordinate system had both included the variation on vertical direction, it is also possible to the variation including direction of rotation, in turn, using coordinate system
Position auto―control embodies this variation, and the present embodiment is also not excluded for the mode for combining this means class to determine relative positional relationship.
In specific implementation process, before step S11, it may also include and set fixing turn (i.e. target object needs to turn several circles),
The quantity (three-dimensional point is scanned in that several position in each circle) of position, height respectively enclosed etc. in every circle.
When being demarcated using alignment plate, settable circle number=1；Every circle quantity=10；Each circle height={ 0 }, Ti(i
=2 ..., 10).The point for still setting i-th of position converges as Pi(i=1,2 ..., 10)；So total point cloud P are as follows:
Wherein T1For unit matrix:
T1=E4*4
Obtain all three-dimensional points that object has been obtained after total point cloud P, completion scanning process.
After step s 11, may also include that
S13: after information is converted to target-based coordinate system depending on that relative position in each three-dimensional point, according to all three-dimensional points
Target position information, establish the threedimensional model of the target object.
In specific implementation process, triangle gridding Mesh and mapping operations, building band textures can be automatically done in step S13
Threedimensional model.
In addition, three-dimensional point referred to above may also be characterized as 3D point, threedimensional model can also Eng be 3D model.
In concrete example, the present embodiment be can reach:
The modeling time: 30 seconds；
Model accuracy: 1 millimeter；
Modeling size: 200 millimeters * 200 millimeters * 200 millimeters.
So the processing method of three-dimensional modeling provided in this embodiment, pass through being superimposed for rotary motion and vertical motion, energy
It enough realizes the comprehensive automatically scanning of target object, and then freely, automatically constructs the threedimensional model of target object, modeling effect
Rate is high, and then can be applied to the structure of various complexity, without because being not easy to bring inconvenience due to implementing scanning in the complicated knot of reply
The problem of structure, meanwhile, the present embodiment is unrestricted in short transverse, is even directed to larger-size object, can also ensure
The realization of modeling, it is seen then that the present embodiment extends vertical moving sweep, and the size of target object applicatory is more various,
Such as it is applicable to the target object of larger size.
Fig. 3 is the organigram one of the processing system of three-dimensional modeling in one embodiment of the invention；Fig. 4 is that the present invention one is real
Apply the organigram two of the processing system of three-dimensional modeling in example.
Please refer to Fig. 3 and Fig. 4, the processing system of three-dimensional modeling, comprising: rotational structure 25, vertical motion structure 24, camera shooting
First 22 with processing equipment 21.
The rotational structure 25 drives the target object 23 to turn around vertical for carrying target object 23 to be modeled
Axis rotation；The vertical motion structure 24 is for driving the camera 22 along vertically to moving；
The camera 22 connects the camera 22 towards the side of the target object 23, the processing equipment 21,
The processing equipment 21 is used for:
Drive target object 23 thereon around vertical shaft rotation in the rotational structure 25, and 24 band of vertical motion structure
Dynamic camera 22 is along to when moving, obtaining the opposite of each three-dimensional point in 23 side of target object by the camera 22 vertically
Location information, for the camera 22 toward the side of the target object 23, the relative position information is each for being characterized in
The three-dimensional point position of the three-dimensional point relative to camera when being acquired by the camera；
After in each three-dimensional point, information is converted to target-based coordinate system depending on that relative position, according to the mesh of all three-dimensional points
Cursor position information establishes the threedimensional model of the target object 23.
Optionally, the processing equipment 21 is also used to:
When the camera 22 moves to each present level, with the rotation of the target object 23, control
The circumferential multiposition that the camera 22 is directed to the present level of the target object is successively acquired, and obtains each position
Corresponding point converges, and to converge for each point, determines that the three-dimensional point cloud concentrates the relative position information of each three-dimensional point.
Optionally, the corresponding multiple points in the multiple positions of the circumferential direction of sustained height converge the base including being defined as base position
It converges and is converged with the non-referenced point in addition to the datum mark converges on schedule；
The processing equipment 21, is also used to:
According to the datum mark converge with the non-referenced point converge between position auto―control, the non-referenced point is converged
In three-dimensional point transform to the datum mark and converge under the corresponding frame of reference；The position auto―control is for characterizing the non-base
The pose variation converged relative to corresponding datum mark is converged on schedule；
The target position information is incited somebody to action according to the relative positional relationship of the frame of reference and the target-based coordinate system
Three-dimensional point in the frame of reference, which transforms to, to be obtained after the target-based coordinate system, and the relative positional relationship is according to institute
State camera it is vertical to shift position determine.
Optionally, the position auto―control is determining in real time in the way of closest approach iteration, or: the position auto―control
It is to demarcate object or when other objects wait modeling are arranged at the rotational structure, it is true in advance in the way of closest approach iteration
Fixed.
Technical term, optional embodiment and technical effect referred to above, is referred to method implementation above
Associated description understand, for the same or similar content, be not repeated secondary.
Referring to FIG. 4, rotational structure 24 may include turntable 251, deceleration mechanism 252 and rotating electric machine 253, rotating electric machine
253 can control 251 rotation of turntable by deceleration mechanism 252, and turntable 251 can be regarded as loading target object, calibration object
Body etc..
Rotational structure 25 and vertical motion structure 24 are mountable to same pedestal 26.
Rotating electric machine 253 therein may connect to control panel, and to operate under the control of the control panel, which can be set
It is placed in pedestal 26, meanwhile, control panel, rotational structure 25 and vertical motion structure 24 may be placed at the power supply power supply of pedestal 26.
Vertical motion structure 24 therein may include elevating mechanism and lifting motor, under the driving of lifting motor, lifting
Mechanism can drive camera to go up and down.Lifting motor is also connected to control panel, to operate under the control of control panel.
Meanwhile above control panel can also direct or indirect connection processing equipment 21, thus in the instruction of processing equipment 21
Lower each motor of control.
In specific implementation process, referring to FIG. 4, vertical motion structure 24 can horizontally be translated relative to pedestal 26,
So that camera 22 translates in the horizontal direction or vertical motion structure 24 can connect camera by horizontal movement structures,
In turn, camera 22 can be driven to translate in the horizontal direction using horizontal movement structures.
In embodiment of above, by the translation of camera 22, its spacing between target object can adjust, meet different
The acquisition demand of size objects can also meet the different acquisition demand of same object.
In a kind of citing, the horizontal direction visual angle of camera 22 can be 68 degree, vertically to visual angle can be 46 degree its can be right
Should be in 30 centimetres of spacing, the adjustable citing of camera translation may be, for example, 20 centimetres.More than specifically can be by changing respectively
Parameter meets the needs of variation.
In specific implementation process, processing equipment 21 can be any computer, terminal, can pass through arbitrary communication party
Formula is connect with camera 22, such as can be connect by USB line with camera 22, can also be connected by other Wirelines, also
It mode can connect by wireless communication.
Fig. 5 is the organigram of the processing equipment of three-dimensional modeling in one embodiment of the invention.
Referring to FIG. 5, providing a kind of processing equipment 30 of three-dimensional modeling, comprising:
Processor 31；And
Memory 32, for storing the executable instruction of the processor；
Wherein, the processor 31 is configured to execute method referred to above via the executable instruction is executed.
Processor 31 can be communicated by bus 33 and memory 32.
The present embodiment additionally provides a kind of computer readable storage medium, is stored thereon with computer program, the program quilt
Processor realizes method referred to above when executing.
In conclusion the processing method of three-dimensional modeling provided in this embodiment, equipment and system, by rotary motion and are erected
The superposition directly moved, can be realized the comprehensive automatically scanning of target object, so freely, automatically construct target object
Threedimensional model, modeling efficiency is high, and then can be applied to the structure of various complexity, without because being not easy to cause not due to implementing scanning
The problem of convenient for reply labyrinth, meanwhile, the present embodiment is unrestricted in short transverse, is even directed to larger-size
Object can also ensure the realization of modeling, it is seen then that the present embodiment extends vertical moving sweep, target object applicatory
Size it is more various, such as be applicable to the target object of larger size.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of processing method of three-dimensional modeling characterized by comprising
Drive target object thereon around vertical shaft rotation in rotational structure, and vertical motion structure drives camera along vertical
To it is mobile when, obtain the relative position information of each three-dimensional point in target object side, the camera is toward the target
The side of object, the relative position information are opposite for being characterized in three-dimensional point when each three-dimensional point is acquired by the camera
In the position of the camera；
After in each three-dimensional point, information is converted to target-based coordinate system depending on that relative position, according to the target position of all three-dimensional points
Confidence breath, establishes the threedimensional model of the target object.
2. the method according to claim 1, wherein obtaining the opposite position of each three-dimensional point in target object side
Confidence breath, comprising:
In the cam movement to each present level, with the rotation of the target object, the camera shooting is controlled
Scalp acupuncture is successively acquired the circumferential multiposition of the present level of the target object, obtains corresponding of each position cloud
Collection determines that the three-dimensional point cloud concentrates the relative position information of each three-dimensional point to converge for each point.
3. according to the method described in claim 2, it is characterized in that, the corresponding multiple clouds in the multiple positions of the circumferential direction of sustained height
Collect to converge including the datum mark for being defined as base position and be converged with the non-referenced point in addition to the datum mark converges；
It is converged for each point, after determining the relative position information that the three-dimensional point cloud concentrates each three-dimensional point, further includes:
According to the datum mark converge with the non-referenced point converge between position auto―control, the non-referenced point converged
Three-dimensional point transforms to the datum mark and converges under the corresponding frame of reference, and the three-dimensional point that the datum mark is converged and institute
The non-referenced three-dimensional point converged is stated mutually to splice；The position auto―control is converged for characterizing the non-referenced point relative to corresponding base
The pose variation converged on schedule；
The target position information be according to the relative positional relationship of the frame of reference and the target-based coordinate system, will be described
Three-dimensional point in the frame of reference, which transforms to, to be obtained after the target-based coordinate system, and the relative positional relationship is taken the photograph according to
As head it is vertical to shift position determine.
4. according to the method described in claim 3, it is characterized in that, the position auto―control is real in the way of closest approach iteration
When determine.
5. according to the method described in claim 3, it is characterized in that, the position auto―control is to drive mark thereon in rotational structure
Determine the vertical shaft rotation of Objects around A, and vertical motion structure drives camera along vertically to when moving, and utilizes the side of nearest iteration
Formula is predetermined.
6. a kind of processing equipment of three-dimensional modeling, which is characterized in that including memory and processor；
The memory, for storing the executable instruction of the processor；
The processor is configured to carry out perform claim 1 to 5 described in any item three-dimensionals of requirement via the execution executable instruction
The processing method of modeling.
7. a kind of processing system of three-dimensional modeling characterized by comprising rotational structure, vertical motion structure, camera and place
Manage equipment；
The rotational structure drives the target object around vertical shaft rotation for carrying target object to be modeled；Institute
Vertical motion structure is stated for driving the camera along vertically to moving；
The camera connects the camera, the processing equipment towards the side of the target object, the processing equipment
For:
Drive target object thereon around vertical shaft rotation in the rotational structure, and vertical motion structure drives camera edge
Vertically to it is mobile when, obtain the relative position information of each three-dimensional point in target object side, the camera is toward described
The side of target object, the relative position information is for being characterized in three-dimensional point when each three-dimensional point is acquired by the camera
Position relative to the camera；
After in each three-dimensional point, information is converted to target-based coordinate system depending on that relative position, according to the target position of all three-dimensional points
Confidence breath, establishes the threedimensional model of the target object.
8. processing system according to claim 7, which is characterized in that the processing equipment is also used to:
In the cam movement to each present level, with the rotation of the target object, the camera shooting is controlled
Scalp acupuncture is successively acquired the circumferential multiposition of the present level of the target object, obtains corresponding of each position cloud
Collection determines that the three-dimensional point cloud concentrates the relative position information of each three-dimensional point to converge for each point.
9. processing system according to claim 8, which is characterized in that the multiple positions of the circumferential direction of sustained height are corresponding multiple
Point converges to converge including the datum mark for being defined as base position to converge with the non-referenced point in addition to the datum mark converges；
The processing equipment, is also used to:
According to the datum mark converge with the non-referenced point converge between position auto―control, the non-referenced point converged
Three-dimensional point transforms to the datum mark and converges under the corresponding frame of reference, and the three-dimensional point that the datum mark is converged and institute
The non-referenced three-dimensional point converged is stated mutually to splice；The position auto―control is converged for characterizing the non-referenced point relative to corresponding base
The pose variation converged on schedule；
The target position information be according to the relative positional relationship of the frame of reference and the target-based coordinate system, will be described
Three-dimensional point in the frame of reference, which transforms to, to be obtained after the target-based coordinate system, and the relative positional relationship is taken the photograph according to
As head it is vertical to shift position determine.
10. processing system according to claim 9, which is characterized in that the position auto―control utilizes closest approach iteration
What mode determined in real time, or: the position auto―control is that calibration object or other objects to be modeled are arranged at the rotation
It is predetermined in the way of closest approach iteration when structure.
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Application publication date: 20191108 |