CN112085839B - Flexible and multifunctional three-dimensional reconstruction method and device - Google Patents
Flexible and multifunctional three-dimensional reconstruction method and device Download PDFInfo
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- CN112085839B CN112085839B CN202010972233.3A CN202010972233A CN112085839B CN 112085839 B CN112085839 B CN 112085839B CN 202010972233 A CN202010972233 A CN 202010972233A CN 112085839 B CN112085839 B CN 112085839B
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- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
Abstract
The invention provides a flexible and multifunctional three-dimensional reconstruction method and device, comprising the following steps: the three-dimensional scanning sensor is controlled by the motion control system to perform annular motion around the target object; controlling a three-dimensional scanning sensor to acquire a depth image of a target object; processing the depth image to obtain point cloud data of the target object; and processing the point cloud data to obtain and output a three-dimensional model of the target object. The flexible and multifunctional three-dimensional reconstruction method and device can realize the translation between the three-dimensional scanning sensor and the target object and the rotation of the target object through the motion system, realize 360-degree annular scanning of the target object and improve the flexibility and the integrity of three-dimensional reconstruction.
Description
Technical Field
The invention relates to the technical field of three-dimensional reconstruction, in particular to a flexible and multifunctional three-dimensional reconstruction method and device.
Background
The three-dimensional reconstruction technology truly reconstructs a three-dimensional virtual model of an object in a computer through the processes of depth data acquisition, preprocessing, point cloud registration and fusion, surface generation and the like, is a basis for processing, operating and analyzing the three-dimensional virtual model in a computer environment, is also a common scientific problem and core technology in the fields of Computer Aided Geometric Design (CAGD), computer Graphics (CG), computer animation, computer vision, medical image processing, scientific computation, virtual reality, digital media creation and the like, and has great development prospect and market potential.
The traditional method for acquiring the three-dimensional data of the object mainly depends on three-dimensional reconstruction methods such as structured light or laser, and the current 3D scanning system mainly scans the sensor and the object to be reconstructed in parallel and cannot realize 360-degree scanning reconstruction.
Disclosure of Invention
One of the purposes of the invention is to provide a flexible and multifunctional three-dimensional reconstruction method and device, which can realize the translation between a three-dimensional scanning sensor and a target object and the rotation of the target object through a motion system, realize 360-degree annular scanning of the target object and improve the flexibility and integrity of three-dimensional reconstruction.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction method, which comprises the following steps:
the three-dimensional scanning sensor is controlled by the motion control system to perform annular motion around the target object;
controlling the three-dimensional scanning sensor to acquire a depth image of the target object;
processing the depth image to obtain point cloud data of the target object;
and in the motion process of the three-dimensional scanning sensor, obtaining point cloud data of the target object under different angles, processing the point cloud data to obtain a three-dimensional model of the target object, and outputting the three-dimensional model.
Preferably, the controlling, by the motion control system, the three-dimensional scanning sensor to perform the circular motion around the target object includes:
the three-dimensional scanning sensor is controlled by the motion control system to perform annular motions with different angles of 360 degrees around the target object.
Preferably, the processing the depth image to obtain the point cloud data of the target object includes:
and processing the depth image by adopting a preset reconstruction algorithm to obtain the point cloud data of the target object.
Preferably, in the moving process of the three-dimensional scanning sensor, the method for obtaining and processing the point cloud data of the target object under different angles to obtain and output the three-dimensional model of the target object includes:
analyzing the depth images of the target object under different angles to obtain displacement information;
ordering and combining the point cloud data of the target object under different angles according to the displacement information to obtain an initial model;
inputting the initial model into a three-dimensional engine to perform point cloud triangularization to obtain a three-dimensional model of the target object;
outputting the three-dimensional model.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction device, which comprises:
the device comprises an upper computer, a motion control system and a three-dimensional scanning sensor, wherein the motion control system and the three-dimensional scanning sensor are electrically connected with the upper computer;
the motion control system includes: a servo motor and a motion control card; the three-dimensional scanning sensor includes: line laser scanners and industrial cameras;
the upper computer controls the three-dimensional scanning sensor to circularly move around the target object through the motion control system, controls the three-dimensional scanning sensor to acquire a depth image of the target object, processes the depth image to obtain point cloud data of the target object, and obtains and processes the point cloud data of the target object under different angles in the motion process of the three-dimensional scanning sensor to obtain and output a three-dimensional model of the target object.
Preferably, the upper computer controls the three-dimensional scanning sensor to perform annular movement around the target object through the movement control system, and the method comprises the following steps:
the three-dimensional scanning sensor is controlled by the motion control system to perform annular motions with different angles of 360 degrees around the target object.
Preferably, the processing the depth image by the upper computer to obtain point cloud data of the target object includes:
and processing the depth image by adopting a preset reconstruction algorithm to obtain the point cloud data of the target object.
Preferably, the method for obtaining and processing the point cloud data of the target object under different angles by the upper computer in the motion process of the three-dimensional scanning sensor to obtain and output a three-dimensional model of the target object includes:
analyzing the depth images of the target object under different angles to obtain displacement information;
ordering and combining the point cloud data of the target object under different angles according to the displacement information to obtain an initial model;
inputting the initial model into a three-dimensional engine to perform point cloud triangularization to obtain a three-dimensional model of the target object;
outputting the three-dimensional model.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a flow chart of a flexible, multi-functional three-dimensional reconstruction method in accordance with an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a specific application of one embodiment of the present invention;
in fig. 2, the upper computer controls the servo motor to select a motion mode, controls the object to be detected or the three-dimensional scanning sensor to move, opens the line laser scanner and the industrial camera, and records the scanned image; inputting the scanned image into an upper computer, and processing the scanned image by using a reconstruction algorithm to obtain complete point cloud data of the object to be detected; and finally, carrying out triangularization processing on the point cloud data and outputting a complete model.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction method, which is shown in fig. 1 and comprises the following steps:
s1, controlling a three-dimensional scanning sensor to perform annular movement around a target object through a movement control system;
s2, controlling the three-dimensional scanning sensor to acquire a depth image of the target object;
s3, processing the depth image to obtain point cloud data of the target object;
and S4, in the motion process of the three-dimensional scanning sensor, obtaining point cloud data of the target object under different angles, processing the point cloud data to obtain a three-dimensional model of the target object, and outputting the three-dimensional model.
The working principle of the technical scheme is as follows:
the motion control system consists of a servo motor, a motion control card and the like; the three-dimensional scanning sensor consists of a line laser scanner and an industrial camera; the motion control system can control the three-dimensional scanning sensor or the target object to move; the line laser scanner is matched with the industrial camera to work; the line laser scanner is responsible for projecting structured light to a target object, and the industrial camera acquires a video depth image of the target object; the three-dimensional scanning sensor can be controlled to perform 360-degree circular movement around the target object through the movement control system; controlling a three-dimensional scanning sensor to acquire a depth image of the target object every time an angle is switched; the acquired depth image of the target object is processed to obtain point cloud data of the target object; then processing the point cloud data to obtain a complete three-dimensional model of the target object; finally, outputting the three-dimensional model; in the three-dimensional reconstruction process, CUDA (unified computing device architecture) acceleration is added, so that the reconstruction time can be shortened.
The beneficial effects of the technical scheme are as follows: the motion system of the embodiment of the invention not only can realize the translation between the three-dimensional scanning sensor and the target object, but also can realize the rotation motion of the target object, realize 360-degree annular scanning of the target object, and promote the flexibility and the integrity of three-dimensional reconstruction.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction method, which controls a three-dimensional scanning sensor to perform annular movement around a target object through a motion control system, and comprises the following steps:
the three-dimensional scanning sensor is controlled by the motion control system to perform annular motions with different angles of 360 degrees around the target object.
The working principle of the technical scheme is as follows:
the motion control system can control the three-dimensional scanning sensor to perform 360-degree annular motion around the target object at different angles without dead angles, and perform annular scanning on the target object, so that depth images of each angle of the target object can be acquired; in addition, 360-degree annular scanning can be carried out on the target object, so that the reconstruction quality of the curved surface of the target object can be improved to the greatest extent.
The beneficial effects of the technical scheme are as follows: according to the embodiment of the invention, the three-dimensional scanning sensor is controlled to perform 360-degree annular movement around the target object through the cooperation of the motion control system and the three-dimensional scanning sensor, the 360-degree annular scanning is performed on the target object, the integrity of three-dimensional reconstruction of the target object is improved, and the reconstruction quality of three-dimensional reconstruction of the curved surface of the target object is improved.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction method, which processes the depth image to obtain point cloud data of the target object, and comprises the following steps:
and processing the depth image by adopting a preset reconstruction algorithm to obtain the point cloud data of the target object.
The working principle of the technical scheme is as follows:
the depth image comprises three-dimensional coordinates of all points on the surface of the target object in space;
the reconstruction algorithm specifically comprises the following steps: and constructing point cloud data of the target object in a preset three-dimensional coordinate system based on the three-dimensional coordinates of all points on the surface of the target object in space.
The beneficial effects of the technical scheme are as follows: according to the embodiment of the invention, the three-dimensional coordinates of all points on the surface of the target object in the depth image in the space are used for constructing the point cloud data corresponding to the target object in the three-dimensional coordinate system, so that the integrity of three-dimensional reconstruction of the target object is improved.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction method, which is characterized in that in the motion process of a three-dimensional scanning sensor, point cloud data of a target object under different angles are obtained and processed to obtain and output a three-dimensional model of the target object, and comprises the following steps:
analyzing the depth images of the target object under different angles to obtain displacement information;
ordering and combining the point cloud data of the target object under different angles according to the displacement information to obtain an initial model;
inputting the initial model into a three-dimensional engine to perform point cloud triangularization to obtain a three-dimensional model of the target object;
outputting the three-dimensional model.
The working principle of the technical scheme is as follows:
the three-dimensional scanning sensor acquires a depth image of a target object by adopting a laser triangulation method, irradiates the surface of the object to be detected after being regulated by an optical system to form a small light spot, and focuses and images the small light spot on a receiving surface of the photoelectric detector through a receiving objective lens after being scattered by the surface of the object to be detected; the displacement information of the measured point is determined by the position of an image point formed by the light spot on the light receiving surface of the detector; when the measured object moves, the position of the light spot relative to the receiving objective lens changes, the position of the corresponding image point on the receiving surface of the light detector also changes, and the displacement information of the measured point can be obtained according to the change of the position of the image point and the structural parameters of the measuring system; the reconstruction algorithm is specifically that the initial model can be obtained by arranging and combining the point cloud data according to the displacement information of the measured points; then, the three-dimensional model of the target object can be obtained by inputting the three-dimensional model into a three-dimensional engine and carrying out point cloud triangularization on the three-dimensional model.
The beneficial effects of the technical scheme are as follows: according to the embodiment of the invention, the point cloud data of the target object under different angles are ordered and combined according to the displacement information, so that the fineness of three-dimensional reconstruction of the target object is improved, and the integrity of three-dimensional reconstruction is greatly improved.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction device, which comprises:
the device comprises an upper computer, a motion control system and a three-dimensional scanning sensor, wherein the motion control system and the three-dimensional scanning sensor are electrically connected with the upper computer;
the motion control system includes: a servo motor and a motion control card; the three-dimensional scanning sensor includes: line laser scanners and industrial cameras;
the upper computer controls the three-dimensional scanning sensor to circularly move around the target object through the motion control system, controls the three-dimensional scanning sensor to acquire a depth image of the target object, processes the depth image to obtain point cloud data of the target object, and obtains and processes the point cloud data of the target object under different angles in the motion process of the three-dimensional scanning sensor to obtain and output a three-dimensional model of the target object.
The working principle of the technical scheme is as follows:
the motion control system consists of a servo motor, a motion control card and the like; the three-dimensional scanning sensor consists of a line laser scanner and an industrial camera; the motion control system can control the three-dimensional scanning sensor or the target object to move; the line laser scanner is matched with the industrial camera to work; the line laser scanner is responsible for projecting structured light to a target object, and the industrial camera acquires a video depth image of the target object; the three-dimensional scanning sensor can be controlled to perform 360-degree circular movement around the target object through the movement control system; controlling a three-dimensional scanning sensor to acquire a depth image of the target object every time an angle is switched; the acquired depth image of the target object is processed to obtain point cloud data of the target object; then processing the point cloud data to obtain a complete three-dimensional model of the target object; finally, outputting the three-dimensional model; in the three-dimensional reconstruction process, CUDA (unified computing device architecture) acceleration is added, so that the reconstruction time can be shortened.
The beneficial effects of the technical scheme are as follows: the motion system of the embodiment of the invention not only can realize the translation between the three-dimensional scanning sensor and the target object, but also can realize the rotation motion of the target object, realize 360-degree annular scanning of the target object, and promote the flexibility and the integrity of three-dimensional reconstruction.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction device, wherein an upper computer controls a three-dimensional scanning sensor to perform annular movement around a target object through a motion control system, and the device comprises the following components:
the three-dimensional scanning sensor is controlled by the motion control system to perform annular motions with different angles of 360 degrees around the target object.
The working principle of the technical scheme is as follows:
the motion control system can control the three-dimensional scanning sensor to perform 360-degree annular motion around the target object at different angles without dead angles, and perform annular scanning on the target object, so that depth images of each angle of the target object can be acquired; in addition, 360-degree annular scanning can be carried out on the target object, so that the reconstruction quality of the curved surface of the target object can be improved to the greatest extent.
The beneficial effects of the technical scheme are as follows: according to the embodiment of the invention, the three-dimensional scanning sensor is controlled to perform 360-degree annular movement around the target object through the cooperation of the motion control system and the three-dimensional scanning sensor, the 360-degree annular scanning is performed on the target object, the integrity of three-dimensional reconstruction of the target object is improved, and the reconstruction quality of three-dimensional reconstruction of the curved surface of the target object is improved.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction device, wherein the upper computer processes the depth image to obtain point cloud data of the target object, and the device comprises the following components:
and processing the depth image by adopting a preset reconstruction algorithm to obtain the point cloud data of the target object.
The working principle of the technical scheme is as follows:
the depth image comprises three-dimensional coordinates of all points on the surface of the target object in space;
the reconstruction algorithm specifically comprises the following steps: and constructing point cloud data of the target object in a preset three-dimensional coordinate system based on the three-dimensional coordinates of all points on the surface of the target object in space.
The beneficial effects of the technical scheme are as follows: according to the embodiment of the invention, the three-dimensional coordinates of all points on the surface of the target object in the depth image in the space are used for constructing the point cloud data corresponding to the target object in the three-dimensional coordinate system, so that the integrity of three-dimensional reconstruction of the target object is improved.
The embodiment of the invention provides a flexible and multifunctional three-dimensional reconstruction device, wherein the upper computer obtains and processes point cloud data of a target object under different angles in the motion process of a three-dimensional scanning sensor to obtain and output a three-dimensional model of the target object, and the device comprises the following steps:
analyzing the depth images of the target object under different angles to obtain displacement information;
ordering and combining the point cloud data of the target object under different angles according to the displacement information to obtain an initial model;
inputting the initial model into a three-dimensional engine to perform point cloud triangularization to obtain a three-dimensional model of the target object;
outputting the three-dimensional model.
The working principle of the technical scheme is as follows:
the three-dimensional scanning sensor acquires a depth image of a target object by adopting a laser triangulation method, irradiates the surface of the object to be detected after being regulated by an optical system to form a small light spot, and focuses and images the small light spot on a receiving surface of the photoelectric detector through a receiving objective lens after being scattered by the surface of the object to be detected; the displacement information of the measured point is determined by the position of an image point formed by the light spot on the light receiving surface of the detector; when the measured object moves, the position of the light spot relative to the receiving objective lens changes, the position of the corresponding image point on the receiving surface of the light detector also changes, and the displacement information of the measured point can be obtained according to the change of the position of the image point and the structural parameters of the measuring system; the reconstruction algorithm is specifically that the initial model can be obtained by arranging and combining the point cloud data according to the displacement information of the measured points; then, the three-dimensional model of the target object can be obtained by inputting the three-dimensional model into a three-dimensional engine and carrying out point cloud triangularization on the three-dimensional model.
The beneficial effects of the technical scheme are as follows: according to the embodiment of the invention, the point cloud data of the target object under different angles are ordered and combined according to the displacement information, so that the fineness of three-dimensional reconstruction of the target object is improved, and the integrity of three-dimensional reconstruction is greatly improved.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. A flexible, multi-functional three-dimensional reconstruction method, comprising:
the three-dimensional scanning sensor is controlled by the motion control system to perform annular motion around the target object;
controlling the three-dimensional scanning sensor to acquire a depth image of the target object;
processing the depth image to obtain point cloud data of the target object;
in the motion process of the three-dimensional scanning sensor, point cloud data of the target object under different angles are obtained, processed to obtain a three-dimensional model of the target object and output;
in the motion process of the three-dimensional scanning sensor, obtaining point cloud data of the target object under different angles, processing the point cloud data to obtain a three-dimensional model of the target object, and outputting the three-dimensional model, wherein the three-dimensional model comprises the following steps:
analyzing the depth images of the target object under different angles to obtain displacement information;
ordering and combining the point cloud data of the target object under different angles according to the displacement information to obtain an initial model;
inputting the initial model into a three-dimensional engine to perform point cloud triangularization to obtain a three-dimensional model of the target object;
outputting the three-dimensional model;
in the three-dimensional reconstruction process, CUDA acceleration is also added.
2. A flexible, multi-functional three-dimensional reconstruction method as defined in claim 1, wherein said controlling, by the motion control system, the three-dimensional scanning sensor to perform a circular motion around the target object comprises:
the three-dimensional scanning sensor is controlled by the motion control system to perform annular motions with different angles of 360 degrees around the target object.
3. The flexible, multifunctional three-dimensional reconstruction method of claim 1, wherein said processing said depth image to obtain point cloud data of said target object comprises:
and processing the depth image by adopting a preset reconstruction algorithm to obtain the point cloud data of the target object.
4. A flexible, multi-functional three-dimensional reconstruction device, comprising:
the device comprises an upper computer, a motion control system and a three-dimensional scanning sensor, wherein the motion control system and the three-dimensional scanning sensor are electrically connected with the upper computer;
the motion control system includes: a servo motor and a motion control card; the three-dimensional scanning sensor includes: line laser scanners and industrial cameras;
the upper computer controls the three-dimensional scanning sensor to circularly move around the target object through the motion control system, controls the three-dimensional scanning sensor to acquire a depth image of the target object, processes the depth image to obtain point cloud data of the target object, and obtains and processes the point cloud data of the target object under different angles in the motion process of the three-dimensional scanning sensor to obtain and output a three-dimensional model of the target object;
the upper computer obtains and processes point cloud data of the target object under different angles in the motion process of the three-dimensional scanning sensor to obtain and output a three-dimensional model of the target object, and the method comprises the following steps:
analyzing the depth images of the target object under different angles to obtain displacement information;
ordering and combining the point cloud data of the target object under different angles according to the displacement information to obtain an initial model;
inputting the initial model into a three-dimensional engine to perform point cloud triangularization to obtain a three-dimensional model of the target object;
outputting the three-dimensional model;
in the three-dimensional reconstruction process, CUDA acceleration is also added.
5. The flexible, multi-functional three-dimensional reconstruction device of claim 4, wherein the host computer controls the three-dimensional scanning sensor to perform circular motion around the target object through the motion control system, comprising:
the three-dimensional scanning sensor is controlled by the motion control system to perform annular motions with different angles of 360 degrees around the target object.
6. The flexible, multi-functional three-dimensional reconstruction apparatus of claim 4, wherein said processing said depth image by said host computer to obtain point cloud data of said target object comprises:
and processing the depth image by adopting a preset reconstruction algorithm to obtain the point cloud data of the target object.
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