CN112284291A - Three-dimensional scanning method and device capable of obtaining physical texture - Google Patents
Three-dimensional scanning method and device capable of obtaining physical texture Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- 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
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- G06T7/50—Depth or shape recovery
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- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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- G06T2207/10—Image acquisition modality
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- G06T2207/10024—Color image
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The invention provides a three-dimensional scanning method and a three-dimensional scanning device capable of acquiring object textures, wherein a camera is used for carrying out multi-dimensional image information acquisition on a scanned object; synchronizing the collected information of a plurality of cameras; reconstructing a plurality of collected image information into a three-dimensional model with texture information; carrying out three-dimensional point cloud processing on the reconstructed three-dimensional model with the texture information to obtain three-dimensional point cloud data; performing point cloud triangulation and rendering mapping; the three-dimensional model with the texture information is obtained, a large amount of time and operation resources consumed by calculating the depth are avoided, the hardware limit threshold is reduced, the reconstruction time is shortened to a great extent, the RGB-D camera has the three-dimensional information and the RGB color and texture information, and the fine and textured three-dimensional model reconstruction which cannot be realized by the traditional structured light type three-dimensional reconstruction method is realized. Therefore, the method can be used for application scenes of multimode fusion of medical images, human body modeling and the like which need fine and accurate models.
Description
Technical Field
The present invention relates to the field of scanning technologies, and in particular, to a three-dimensional scanning method and apparatus capable of obtaining physical textures.
Background
At present, the three-dimensional reconstruction technology is a mathematical model suitable for computer representation and processing established according to a three-dimensional object, is the basis for processing, operating and analyzing the properties of the three-dimensional object in a computer environment, is a key technology of virtual reality and augmented reality, and is also Computer Aided Geometric Design (CAGD), Computer Graphics (CG), computer animation and computer vision, the method is a mathematical process and a computer technology for recovering three-dimensional information (shape and the like) of an object by utilizing two-dimensional projection, and comprises the steps of data acquisition, preprocessing, point cloud splicing, characteristic analysis and the like.
The traditional method for acquiring three-dimensional data of an object mainly relies on three-dimensional reconstruction methods such as structured light or laser, but the methods need a lot of additional hardware equipment, and a reconstructed model does not have color and texture information.
Disclosure of Invention
The invention provides a three-dimensional scanning device and a three-dimensional scanning method capable of acquiring physical textures, which are used for acquiring three-dimensional data of an object and reserving color and texture information of the scanned object when reconstruction is carried out.
The invention provides a three-dimensional scanning method capable of obtaining object textures, which comprises the following steps:
controlling a camera to perform multi-dimensional motion through a motion control system of the three-dimensional scanning device, and acquiring multi-dimensional image information of a scanned object by using the camera;
synchronizing the collected information of the cameras, and transmitting the image information collected after the synchronization to a cloud server;
calling out a plurality of collected image information, and reconstructing the image information to obtain a three-dimensional model with texture information;
carrying out three-dimensional point cloud processing on the reconstructed three-dimensional model with the texture information to obtain three-dimensional point cloud data;
performing point cloud triangulation and rendering mapping on the obtained three-dimensional point cloud data;
a three-dimensional model with texture information is obtained.
Preferably, the controlling the camera to acquire the multi-dimensional image information of the scanned object by the motion control system of the three-dimensional scanning device further comprises:
the motion control system controls the camera to acquire information of multi-dimensional motion through the motor, and the multi-dimensional motion comprises circular motion and reciprocating motion in the vertical direction.
Preferably, the image information is RGB-D information, and the RGB-D information is an RGB image and a Depth image; the RGB image is color image information of the scanned object, and the Depth image is distance information of the scanned object.
The calling out the collected image information and reconstructing the image information to obtain the three-dimensional model with the texture information further comprises:
aligning the RGB image with the Depth image, and determining Depth information corresponding to each pixel point in the image information;
calibrating the camera, and obtaining internal and external parameters of the camera;
converting a pixel coordinate system and a world coordinate system acquired by a camera according to internal and external parameters of the camera to obtain a calibration value;
and reconstructing the depth information and the calibration value to obtain a three-dimensional model with texture information.
Preferably, the three-dimensional point cloud processing includes smoothing and filtering noise points existing in the reconstructed three-dimensional point cloud data.
Preferably, the first and second electrodes are formed of a metal,
the point cloud triangulation is a greedy projection triangulation algorithm, which comprises the following steps:
projecting the directed point cloud into a certain local two-dimensional coordinate plane;
triangularization in a plane is carried out in the two-dimensional coordinate plane;
and obtaining a triangular mesh surface model according to the topological connection relation of three sites in the plane.
And rendering and mapping the obtained triangular mesh curved surface model to obtain a three-dimensional model with texture information.
The invention provides a three-dimensional scanning method capable of obtaining object textures, which is characterized in that a scanned object is subjected to multi-dimensional scanning by utilizing an RGB-D depth camera module in a three-dimensional scanning device; realizing the pairing between the depth and the color image pixels, and further outputting a corresponding color image and a corresponding depth image; reading image information and depth information of a scanned object at the same image position, calculating three-dimensional coordinates of pixels according to the image information and the depth information by a computer, and generating three-dimensional point cloud data; and further performing point cloud triangulation and rendering mapping by using the three-dimensional point cloud data to finally obtain a three-dimensional model with texture information. The method avoids a large amount of time and operation resources consumed by calculating the depth, not only reduces the hardware limit threshold, but also greatly shortens the reconstruction time, and the RGB-D camera not only has three-dimensional information, but also has RGB color and texture information, so that the fine and textured three-dimensional model reconstruction which cannot be realized by the traditional structured light type three-dimensional reconstruction method can be realized. Therefore, the method can be used for application scenes of multimode fusion of medical images, human body modeling and the like which need fine and accurate models.
The invention provides a three-dimensional scanning device capable of obtaining object textures, which is suitable for the three-dimensional scanning method capable of obtaining the object textures, and comprises the following steps: first support, first support rotates and is connected with the carousel and the drive that are used for fixed scanned object carousel pivoted first drive assembly, first support is close to and keeps away from carousel sliding connection has second support and drive the gliding second drive assembly of second support, the second support is equipped with and is used for the through-hole that is passed by the scanned object, the second support encircles a plurality of scanning modules are installed to the through-hole, the carousel pivot with second support sliding direction is parallel and passes the through-hole.
Preferably, the scanning module is a depth camera.
The second driving assembly comprises a screw rod which is rotatably connected with the first support, the screw rod is in threaded connection with a nut, the nut is fixedly connected with the second support, and the first support is provided with a motor which drives the screw rod to rotate.
Preferably, the second support encircles the through-hole is installed the annular rail, the annular rail cup joints the installation piece, the installation piece with the annular rail can fix and separate, scanning module fixed mounting in the installation piece.
Preferably, the bottom of the first bracket is provided with a roller which is contacted with the ground.
Preferably, a limit switch is arranged between the first bracket and the second bracket; the limit switch is a proximity switch.
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 drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a structural view of another perspective of an embodiment of the present invention;
FIG. 4 is a cross-sectional view of the A-A interface of an embodiment of the present invention;
FIG. 5 is a partial enlarged view of an embodiment of the present invention.
Reference numerals: 1. a first bracket; 2. a turntable; 3. a second bracket; 4. a through hole; 5. a scanning module; 6. a screw rod; 7. a nut; 8. an annular guide rail; 9. mounting blocks; 10. a roller; 11. a motor; 12. a proximity switch.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
According to fig. 1 to 5, the present invention provides a three-dimensional scanning method for obtaining object texture, comprising the following steps:
controlling a camera to perform multi-dimensional motion through a motion control system of the three-dimensional scanning device, and acquiring multi-dimensional image information of a scanned object by using the camera;
synchronizing the collected information of the cameras, and transmitting the image information collected after the synchronization to a cloud server;
calling out a plurality of collected image information, and reconstructing the image information to obtain a three-dimensional model with texture information;
carrying out three-dimensional point cloud processing on the reconstructed three-dimensional model with the texture information to obtain three-dimensional point cloud data;
performing point cloud triangulation and rendering mapping on the obtained three-dimensional point cloud data;
a three-dimensional model with texture information is obtained.
The invention provides a three-dimensional scanning method capable of obtaining object textures, which is characterized in that a scanned object is subjected to multi-dimensional scanning by utilizing an RGB-D depth camera module in a three-dimensional scanning device; realizing the pairing between the depth and the color image pixels, and further outputting a corresponding color image and a corresponding depth image; reading image information and depth information of a scanned object at the same image position, calculating three-dimensional coordinates of pixels according to the image information and the depth information by a computer, and generating three-dimensional point cloud data; and further performing point cloud triangulation and rendering mapping by using the three-dimensional point cloud data to finally obtain a three-dimensional model with texture information. The method avoids a large amount of time and operation resources consumed by calculating the depth, not only reduces the hardware limit threshold, but also greatly shortens the reconstruction time, and the RGB-D camera not only has three-dimensional information, but also has RGB color and texture information, so that the fine and textured three-dimensional model reconstruction which cannot be realized by the traditional structured light type three-dimensional reconstruction method can be realized. Therefore, the method can be used for application scenes of multimode fusion of medical images, human body modeling and the like which need fine and accurate models.
The synchronization of multiple cameras is realized through software and hardware programming, the simultaneity of image acquisition is ensured, and when the multi-camera cooperative processing is carried out, because the processing process involves image buffering, mutual operation and the like, and the comparison is very important, the synchronization of the cameras can not only save resources, but also increase the reliability.
In one embodiment of the present invention,
the multi-dimensional image information acquisition of the scanned object by the camera controlled by the motion control system of the three-dimensional scanning device further comprises:
the motion control system controls the camera to acquire information of multi-dimensional motion through the motor, and the multi-dimensional motion comprises circular motion and reciprocating motion in the vertical direction.
In this embodiment, the motion control system controls the camera to acquire image information from different angles, and the servo motor controls the camera module to move circumferentially and move up and down axially mainly through motion control interface programming and corresponding hardware design
In one embodiment of the present invention,
the image information is RGB-D information, and the RGB-D information is an RGB image and a Depth image; the RGB image is color image information of the scanned object, and the Depth image is distance information of the scanned object.
The calling out the collected image information and reconstructing the image information to obtain the three-dimensional model with the texture information further comprises:
aligning the RGB image with the Depth image, and determining Depth information corresponding to each pixel point in the image information;
calibrating the camera, and obtaining internal and external parameters of the camera;
converting a pixel coordinate system and a world coordinate system acquired by a camera according to internal and external parameters of the camera to obtain a calibration value;
and reconstructing the depth information and the calibration value to obtain a three-dimensional model with texture information.
In this embodiment, for image processing (camera calibration, image alignment, and three-dimensional model reconstruction), alignment between the RGB image and the Depth image is required to be performed for the acquired RGB-D information, and only this operation is performed, the Depth information corresponding to each pixel point can be known. Meanwhile, the conversion between the pixel coordinate system and the world coordinate system can be completed only by knowing the internal and external parameters of the camera, so that the internal and external parameters are obtained by calibrating the camera; and reconstructing the RGB-D image into a three-dimensional model with texture information through a reconstruction algorithm.
In one embodiment of the present invention,
the three-dimensional point cloud processing comprises smoothing and filtering noise points existing in the reconstructed three-dimensional point cloud data.
In this embodiment, due to the influence of factors such as illumination and environment, noise points exist in the reconstructed three-dimensional point cloud data in actual situations, and the three-dimensional point cloud data needs to be smoothed and filtered, so that the noise points can be significantly reduced or eliminated
In one embodiment of the present invention,
the point cloud triangulation is a greedy projection triangulation algorithm, which comprises the following steps:
projecting the directed point cloud into a certain local two-dimensional coordinate plane;
triangularization in a plane is carried out in the two-dimensional coordinate plane;
and obtaining a triangular mesh surface model according to the topological connection relation of three sites in the plane.
And rendering and mapping the obtained triangular mesh curved surface model to obtain a three-dimensional model with texture information.
In the embodiment, a greedy projection triangulation algorithm is used for triangularizing the directed point cloud, and the specific method comprises the steps of firstly projecting the directed point cloud into a certain local two-dimensional coordinate plane, then carrying out in-plane triangulation in the coordinate plane, and then obtaining a triangular mesh curved surface model according to the topological connection relation of three points in the plane; and rendering the map at the same time to enable the model to have texture information.
In the invention, the motion control system realizes the motion of the sensor and is responsible for the motion control of the scanning process, including the up-and-down axial motion and the 360-degree circular motion; the sensor is a depth camera module and is mainly responsible for collecting images, RGB color texture information is provided, and depth information of specific pixels is obtained through the obtained depth images, so that three-dimensional position information is obtained; and transmitting the acquired image to an upper computer, finishing operations such as image processing, point cloud model construction and the like on a cloud server, obtaining a camera motion track and a measured object point cloud picture by using a reconstruction algorithm, transmitting point cloud data to a three-dimensional engine to realize point cloud triangulation and texture mapping, and outputting a complete three-dimensional model.
According to fig. 2 to 5, the present invention provides a three-dimensional scanning apparatus capable of obtaining object texture, which is suitable for the three-dimensional scanning method capable of obtaining object texture, and includes: first support 1, first support 1 rotates and is connected with 2 and the drive of carousel that are used for the fixed scanned object 2 first drive assembly of pivoted of carousel, first support 1 is close to and keeps away from 2 sliding connection of carousel has second support 3 and drive 3 gliding second drive assembly of second support, second support 3 is equipped with the through-hole 4 that is used for being scanned the object and passes, second support 3 encircles a plurality of scanning modules 5 are installed to through-hole 4, 2 pivots of carousel with 3 sliding direction of second support are parallel and pass through-hole 4.
The working principle of the technical scheme is as follows: when the object needs to be scanned in three dimensions, the object is fixed on the turntable 2, the second driving part drives the turntable 2 to rotate, the turntable 2 drives the object to rotate, meanwhile, the second driving component drives the second support 3 to move close to and far away from the turntable 2, and the scanning module 5 on the second support 3 scans the surface of the object.
The beneficial effects of the above technical scheme are: because the scanning module 5 moves relative to the surface of the object, the surface of the object can be scanned comprehensively, and therefore, a lot of additional hardware equipment is not needed.
In one embodiment, the scanning module is a depth camera.
The working principle of the technical scheme is as follows: the shape and distance of the object can be acquired simultaneously using the depth camera.
The beneficial effects of the above technical scheme are: three-dimensional data of the scanned object can be obtained quickly.
The second driving assembly comprises a screw rod 6 which is rotatably connected with the first support 1, the screw rod 6 is in threaded connection with a nut 7, the nut 7 is fixedly connected with the second support 3, and the first support 1 is provided with a motor 11 which drives the screw rod 6 to rotate.
The working principle of the technical scheme is as follows: the motor 11 drives the screw rod 6 to rotate, the screw rod 6 drives the nut 7 to slide, the nut 7 drives the second support 3 to slide, and the scanning module 5 on the second support 3 and the object slide relatively.
The beneficial effects of the above technical scheme are: the motor 11 can control the rotation speed to control the sliding speed, so that the scanning module 5 can scan the object more finely.
In one embodiment, the second bracket 3 is provided with an annular guide rail 8 surrounding the through hole 4, the annular guide rail 8 is sleeved with a mounting block 9, the mounting block 9 and the annular guide rail 8 can be fixed and separated, and the scanning module 5 is fixedly arranged on the mounting block 9.
The working principle of the technical scheme is as follows: when the scanning module 5 needs to be adjusted, the mounting blocks 9 are separated from the annular guide rail 8, and the positions of the mounting blocks 9 and the angles of the mounting blocks 9 are adjusted among a plurality of mounting blocks.
The beneficial effects of the above technical scheme are: achieving better scanning effect.
In one embodiment, the bottom of the first bracket 1 is provided with a roller 10 for contacting the ground.
The working principle of the technical scheme is as follows: the device is moved using the roller 10.
The beneficial effects of the above technical scheme are: the device is convenient to move.
In one embodiment, a limit switch is installed between the first bracket 1 and the second bracket 3; the limit switch is a proximity switch 12.
The working principle of the technical scheme is as follows: the proximity switch adjusts the formation of the second support 3 according to the position of the switch adjusted by the length of the scanned object. A proximity switch is a limit switch that can be operated without mechanical direct contact with moving parts.
The beneficial effects of the above technical scheme are: the proximity switch prevents the scanning module 5 from moving in the area where the object cannot be scanned, and reduces the waste of energy consumption.
The proximity switch can also prevent the collision of the limit switch from moving the scanning module, so that the scanning precision of the device is improved.
The invention provides a three-dimensional scanning device capable of obtaining object textures, which is realized by the following technical scheme: fixing the scanned object on the turntable;
rotating and scanning: the first driving component drives the rotary table to rotate, and the rotary table drives the scanned object to rotate relative to the scanning module;
scanning up and down: the second driving component drives the second bracket to slide, and the scanned object passes through the through hole and moves linearly relative to the scanning module;
image acquisition: integrating the images acquired by the plurality of scanning modules;
image processing: the processor performs data operation on the integrated image to obtain a three-dimensional model;
eliminating the influence: the processor excludes noise points existing in the three-dimensional model modeling;
and (3) final rendering: the processor triangulates the three-dimensional model and renders texture on the surface of the three-dimensional model.
Preferably, the scanned object is fixed on the turntable;
rotating and scanning: the first driving component drives the rotary table to rotate, and the rotary table drives the scanned object to rotate relative to the depth camera;
scanning up and down: the second driving assembly drives the second support to slide, and the scanned object passes through the through hole and moves linearly relative to the depth camera;
image acquisition: integrating the images collected by the plurality of depth cameras with each other;
image processing: the processor performs data operation on the integrated image to obtain a three-dimensional model;
eliminating the influence: the processor excludes noise points existing in the three-dimensional model modeling;
and (3) final rendering: the processor triangulates the three-dimensional model and renders textures on the surface of the three-dimensional model
Electrifying the motor; rotating and scanning: the positive and negative rotation of the motor drives the screw rod to rotate positively and negatively, the driving nut of the screw rod slides, the nut drives, the second support slides, and the scanned object passes through the through hole and moves linearly relative to the scanning module.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A three-dimensional scanning method capable of obtaining object textures is characterized by comprising the following steps:
controlling a camera to perform multi-dimensional motion through a motion control system of the three-dimensional scanning device, and acquiring multi-dimensional image information of a scanned object by using the camera;
synchronizing the collected information of the cameras, and transmitting the image information collected after the synchronization to a cloud server;
calling out a plurality of collected image information, and reconstructing the image information to obtain a three-dimensional model with texture information;
carrying out three-dimensional point cloud processing on the reconstructed three-dimensional model with the texture information to obtain three-dimensional point cloud data;
performing point cloud triangulation and rendering mapping on the obtained three-dimensional point cloud data;
a three-dimensional model with texture information is obtained.
2. The method as claimed in claim 1, wherein the controlling the camera to acquire the multi-dimensional image information of the scanned object by the motion control system of the three-dimensional scanning device further comprises:
the motion control system controls the camera to acquire information of multi-dimensional motion through the motor, and the multi-dimensional motion comprises circular motion and reciprocating motion in the vertical direction.
3. The three-dimensional scanning method for obtaining object texture according to claim 1,
the image information is RGB-D information, and the RGB-D information is an RGB image and a Depth image; the RGB image is color image information of the scanned object, and the Depth image is distance information of the scanned object.
The calling out the collected image information and reconstructing the image information to obtain the three-dimensional model with the texture information further comprises:
aligning the RGB image with the Depth image, and determining Depth information corresponding to each pixel point in the image information;
calibrating the camera, and obtaining internal and external parameters of the camera;
converting a pixel coordinate system and a world coordinate system acquired by a camera according to internal and external parameters of the camera to obtain a calibration value;
and reconstructing the depth information and the calibration value to obtain a three-dimensional model with texture information.
4. The method as claimed in claim 1, wherein the three-dimensional point cloud processing comprises smoothing and filtering noise points existing in the reconstructed three-dimensional point cloud data.
5. The three-dimensional scanning method for obtaining object texture according to claim 1,
the point cloud triangulation is a greedy projection triangulation algorithm, which comprises the following steps:
projecting the directed point cloud into a certain local two-dimensional coordinate plane;
triangularization in a plane is carried out in the two-dimensional coordinate plane;
and obtaining a triangular mesh surface model according to the topological connection relation of three sites in the plane.
And rendering and mapping the obtained triangular mesh curved surface model to obtain a three-dimensional model with texture information.
6. A three-dimensional scanning device for obtaining object texture, which is applied to the three-dimensional scanning method for obtaining object texture according to any one of claims 1-5, and comprises: first support (1), first support (1) rotate and be connected with carousel (2) and the drive that is used for the fixed scanned object carousel (2) pivoted first drive assembly, first support (1) is close to and keeps away from carousel (2) sliding connection has second support (3) and drive the gliding second drive assembly of second support (3), second support (3) are equipped with through-hole (4) that are used for being scanned the object and pass, second support (3) encircle through-hole (4) are installed a plurality of scanning module (5), carousel (2) pivot with second support (3) sliding direction is parallel and pass through-hole (4).
7. The apparatus according to claim 6, wherein the scanning module is a depth camera.
The second driving assembly comprises a screw rod (6) which is rotatably connected with the first support (1), the screw rod (6) is in threaded connection with a nut (7), the nut (7) is fixedly connected with the second support (3), and the first support (1) is provided with a motor (11) which drives the screw rod (6) to rotate.
8. The three-dimensional scanning device capable of obtaining the texture of the object according to claim 6, wherein the second bracket (3) is provided with a circular guide rail (8) around the through hole (4), the circular guide rail (8) is sleeved with a mounting block (9), the mounting block (9) is fixable and separable with the circular guide rail (8), and the scanning module (5) is fixedly arranged on the mounting block (9).
9. The three-dimensional scanning device for obtaining the texture of the object as claimed in claim 6, wherein the bottom of the first bracket (1) is provided with a roller (10) which is contacted with the ground.
10. The three-dimensional scanning device for obtaining the texture of the object according to claim 1, wherein a limit switch is installed between the first bracket (1) and the second bracket (3); the limit switch is a proximity switch (12).
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| CN115546379A (en) * | 2022-11-29 | 2022-12-30 | 思看科技(杭州)股份有限公司 | Data processing method and device and computer equipment |
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| CN117274527A (en) * | 2023-08-24 | 2023-12-22 | 东方电气集团科学技术研究院有限公司 | Method for constructing three-dimensional visualization model data set of generator equipment |
| CN117579753A (en) * | 2024-01-16 | 2024-02-20 | 思看科技(杭州)股份有限公司 | Three-dimensional scanning method, three-dimensional scanning device, computer equipment and storage medium |
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