CN113534191A - 3d image scanning and repairing method, device and equipment of single photon laser radar - Google Patents
3d image scanning and repairing method, device and equipment of single photon laser radar Download PDFInfo
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- CN113534191A CN113534191A CN202110841499.9A CN202110841499A CN113534191A CN 113534191 A CN113534191 A CN 113534191A CN 202110841499 A CN202110841499 A CN 202110841499A CN 113534191 A CN113534191 A CN 113534191A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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Abstract
The invention provides a method, a device and equipment for scanning and repairing a 3d image of a single photon laser radar, which are used for controlling the single photon laser radar to carry out multiple times of rotary scanning on a target position by setting the rotating distance corresponding to each rotating angle of a mirror surface of the single photon laser radar to be smaller than the distance between any two adjacent initialized pixel points, superposing an initial image and each rotary scanning image, obtaining a target scanning image after processing, and carrying out position repairing and light intensity repairing on the target scanning image to finally obtain a target 3d image. The scheme realizes that the scanning density is increased in the existing scanning range under the condition of not changing the scanning range of the single-photon radar, thereby improving the imaging definition of the single-photon radar; and the pixel scanning and the corresponding repairing method can be improved while the high capital investment of the single-photon radar equipment is not required to be upgraded, so that the cost is greatly saved, and the use and the popularization of the single-photon equipment are facilitated.
Description
Technical Field
The invention relates to the technical field of single photon laser radar scanning, in particular to a method, a device and equipment for scanning and repairing a 3d image of a single photon laser radar.
Background
The single photon laser radar can accurately measure the position, size, shape and other attributes of a target under the condition of low micro-illumination, and can model a 3d model of the target through data analysis, but pixels are sacrificed by the equipment in order to reduce the requirement on illumination, so that the single photon imaging equipment is prone to imaging blurring. The defect greatly influences the application and popularization of the single photon imaging equipment.
Generally, the single photon radar is composed of two parts, namely a laser emission device and a single photon receiving array. Whether they are laser emitting devices or single photon receiving arrays, the emitting and receiving arrays must be enlarged as the number of photons they emit and receive increases. The difficulty in expanding the transmit and receive arrays is the need to simultaneously combat the increased internal instability. The enlarged receiving array can increase the difficulty of heat dissipation, thereby influencing the receiving efficiency of the single photon radar. In addition, the single photon radar equipment needs to increase the space resolution ratio and needs to increase the receiving array, but the acquisition cost of the large-array single photon detector is too high. Increasing the number of pixels by enlarging the transmit and receive arrays therefore requires significant time and money to improve and upgrade the device materials.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a method, an apparatus and a device for scanning and repairing a 3d image of a single photon laser radar.
A method of 3d image scanning and inpainting of a single photon lidar, the method comprising: scanning a target position through a single photon laser radar to obtain an initial image of the target position and initial positions and initial light intensities of initial pixel points; setting the rotating distance corresponding to each rotating angle of the single photon laser radar mirror surface to be smaller than the distance between any two adjacent initialization pixel points; controlling the single photon laser radar to perform multiple rotary scanning on the target position according to a preset rotating direction to obtain multiple rotary scanning images; overlapping and processing the plurality of rotary scanning images and the initial images to obtain target scanning images; based on the rotation direction and angle of scanning and the photon flight time, carrying out position restoration on the target scanning image to obtain an initial 3d image; setting a 3d grid, putting the initial 3d image into the 3d grid, and determining the target light intensity of the initial 3d image based on the initial light intensity to obtain a target 3d image.
In one embodiment, the preset rotation direction at least includes any three of the left direction, the right direction, the upward direction and the downward direction.
In one embodiment, the superimposing and processing the plurality of rotational scanning images and the initial image to obtain a target scanning image specifically includes: superposing the plurality of rotary scanning images and the initial image to obtain an image to be processed; and removing the part of the image to be processed, which exceeds the initial image, so as to obtain a target scanning image.
In one embodiment, the position of the target scan image is repaired based on the rotation direction and angle of the scan and the photon flight time to obtain an initial 3d image, specifically: establishing a digital matrix according to a target scanning image, setting an initial angle to be 0, wherein the matrix is at least provided with three dimensions of a scanning rotation direction, a scanning angle and a photon flight time; calculating a target direction and a target distance corresponding to each pixel point on the target scanning image based on the digital matrix; and connecting each pixel point and two pixel points with the shortest distance to form a surface based on the target direction and the target distance to obtain an initial 3d image.
In one embodiment, the setting of the 3d grid, placing the initial 3d image into the 3d grid, and determining the target light intensity of the initial 3d image based on the initial light intensity to obtain the target 3d image specifically includes: setting a 3d grid, putting the initial 3d image into the 3d grid, and judging the grid position corresponding to each pixel point; and determining the target light intensity of the initial 3d image according to the initial position and the initial light intensity of the initial pixel point and the grid position corresponding to each pixel point to obtain the target 3d image.
The utility model provides a single photon laser radar's 3d image scanning and prosthetic devices, includes initial scanning module, interval setting module, rotatory scanning module, image processing module, position repair module and light intensity repair module, wherein: the initial scanning module is used for scanning the target position through the single photon laser radar to obtain an initial image of the target position and initial positions and initial light intensities of all initial pixel points; the interval setting module is used for setting the rotating distance corresponding to each rotating angle of the single photon laser radar mirror surface to be smaller than the interval between any two adjacent initialization pixel points; the rotary scanning module is used for controlling the single photon laser radar to carry out multiple rotary scanning on a target position according to a preset rotating direction to obtain multiple rotary scanning images; the image processing module is used for overlapping the plurality of rotary scanning images and the initial image and processing the images to obtain a target scanning image; the position repairing module is used for performing position repairing on the target scanning image based on the scanning rotation direction and angle and the photon flight time to obtain an initial 3d image; the light intensity restoration module is used for setting a 3d grid, putting the initial 3d image into the 3d grid, and determining the target light intensity of the initial 3d image based on the initial light intensity to obtain a target 3d image.
In one embodiment, the image processing module includes an image superimposing unit and an excess removal unit, wherein: the image superposition unit is used for superposing the plurality of rotary scanning images and the initial image to obtain an image to be processed; the excess removing unit is used for removing the part which exceeds the initial image in the image to be processed to obtain a target scanning image.
In one embodiment, the location repairing module includes a matrix establishing unit, a location calculating unit, and a pixel point connecting unit, wherein: the matrix establishing unit is used for establishing a digital matrix according to the target scanning image, setting an initial angle to be 0, and setting the matrix at least with three dimensions of a scanning rotation direction, a scanning angle and a photon flight time; the position calculation unit is used for calculating a target direction and a target distance corresponding to each pixel point on the target scanning image based on the digital matrix; and the pixel point connecting unit is also used for connecting each pixel point and two pixel points closest to the pixel point into a surface based on the target direction and the target distance to obtain an initial 3d image.
In one embodiment, the light intensity restoration module includes a mesh establishment unit and a light intensity determination unit, wherein: the grid establishing unit is used for setting a 3d grid, putting the initial 3d image into the 3d grid and judging the grid position corresponding to each pixel point; and the light intensity determining unit is used for determining the target light intensity of the initial 3d image according to the initial position and the initial light intensity of the initial pixel point and the grid position corresponding to each pixel point to obtain the target 3d image.
An apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of a method for 3d image scanning and repair of a single photon lidar as described in the various embodiments above when the program is executed.
The invention has the beneficial effects that: according to the method, the device and the equipment for scanning and repairing the 3d image of the single photon laser radar, the rotating distance corresponding to each rotating angle of the mirror surface of the single photon laser radar is smaller than the distance between any two adjacent initialization pixel points, so that the single photon laser radar is controlled to carry out multiple times of rotating scanning on the target position in the preset rotating direction to obtain multiple rotating scanning images, the initial images are overlapped to obtain the target scanning image after processing, the position of the target scanning image is repaired based on the rotating direction and angle of scanning and the photon flight time to obtain the initial 3d image, then the light intensity is repaired by setting the 3d grid, and finally the target 3d image is obtained. Under the condition of not changing the scanning range of the single-photon radar, the scanning density is increased in the existing scanning range, so that the imaging definition of the single-photon radar is improved; and the pixel scanning and the corresponding repairing method can be improved while the high capital investment of the single-photon radar equipment is not required to be upgraded, so that the cost is greatly saved, and the use and the popularization of the single-photon equipment are facilitated.
Drawings
FIG. 1 is a schematic flow chart of a 3d image scanning and repairing method of a single photon lidar in one embodiment;
FIG. 2 is a diagram illustrating a 3d image scanning process of a single photon lidar in one embodiment;
FIG. 3 is a schematic view of a connecting triangular face in one embodiment;
FIG. 4 is a block diagram of a 3d image scanning and repair apparatus for a single photon lidar in one embodiment;
FIG. 5 is a block diagram showing the structure of an image processing module according to an embodiment;
FIG. 6 is a block diagram of the structure of a location fix module in one embodiment;
FIG. 7 is a block diagram of an embodiment of a light intensity restoration module;
fig. 8 is an internal structural diagram of the device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings by way of specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In one embodiment, as shown in fig. 1, there is provided a 3d image scanning and repairing method of a single photon lidar, comprising the steps of:
s110, scanning the target position through the single-photon laser radar to obtain an initial image of the target position and initial positions and initial light intensities of initial pixel points.
Specifically, the target position is normally scanned by the single photon laser radar, and an initial image of the target position, and initial positions and initial light intensities of initial pixel points can be obtained.
S120, setting the rotating distance corresponding to each rotating angle of the mirror surface of the single photon laser radar to be smaller than the distance between any two adjacent initialized pixels.
Specifically, the interval of each rotation angle smaller than the angle formed by each pixel and the corresponding target position is controlled, so that an additional pixel can be inserted into the existing pixel to improve the imaging definition.
S130, controlling the single-photon laser radar to perform multiple times of rotary scanning on the target position according to a preset rotating direction to obtain multiple rotary scanning images.
Specifically, the single photon lidar scanning can be performed at any angle, but in order to ensure convenience of operation and accuracy of calculation, it will be defaulted to uniform scanning in the horizontal and vertical directions. If other scanning requirements exist, the setting is needed separately.
In one embodiment, the rotation directions preset in step S130 include at least any three of the four directions of left, right, up, and down. Specifically, three directions are selected, and three times of rotation scanning is performed, so that pixel addition to the initial image of the target position can be completed.
And S140, overlapping the plurality of rotary scanning images and the initial image, and processing to obtain a target scanning image.
In one embodiment, step S140 specifically includes: superposing the plurality of rotary scanning images and the initial image to obtain an image to be processed; and removing the part of the image to be processed, which exceeds the initial image, so as to obtain a target scanning image.
Specifically, each of the rotational scanning images and the initial image are superimposed together, and a part of the obtained image to be processed exceeds the range of the target position, and the exceeding part needs to be removed, so that the target scanning image is obtained.
In one embodiment, as shown in fig. 2, according to the above steps S110 to S140, a 2 × 2 grid is used for demonstration, and the points in the grid are pixels, i.e., the demonstration is essentially performed by 3 × 3 pixels; (a) for the first scanning, the initial image of the target position, the initial position and the initial light intensity of each initial pixel point are obtained. (b) If the moving angle is controlled to be half of the pixel interval angle, the moving angle is controlled to move rightwards for the second scanning, a new pixel point is inserted between every two initial pixel points in the whole 3 x 3 pixel points in the horizontal rightwards direction, so that 3 x 6 pixel points are obtained, and the rightmost pixel points are beyond the range. (c) And (c) controlling the movement angle to be half of the pixel interval angle to move downwards for the third scanning, and performing vertical downward scanning on the basis of the step (b), wherein the rightmost column and the downmost row are pixels beyond the range. (d) The moving angle is controlled to be half of the pixel interval angle, the left moving is carried out for the fourth scanning, 6 x 6 pixel points are formed, the rightmost column and the bottommost column are pixel points beyond the range, the pixel points need to be removed, the original 3 x 3 graph is finally processed to obtain 5 x 5, and new pixel points are respectively inserted between every two initial pixel points.
S150, based on the rotation direction and angle of scanning and the photon flight time, the position of the target scanning image is restored to obtain an initial 3d image.
In one embodiment, step S150 specifically includes: establishing a digital matrix according to a target scanning image, setting an initial angle to be 0, wherein the matrix is at least provided with three dimensions of a scanning rotation direction, a scanning angle and a photon flight time; calculating a target direction and a target distance corresponding to each pixel point on a target scanning image based on the digital matrix; and based on the target direction and the target distance, connecting each pixel point and two pixel points with the shortest distance to form a surface to obtain an initial 3d image.
Specifically, the data obtained through steps S110-S140 are stored as a digital matrix recording the horizontal and vertical angles of the scan, the time of flight of the photons, and the initial light intensity, and then the data are used to calculate the target direction and distance for each pixel. Obtaining the direction and distance of the target can connect each point with the two points nearest to it to form a surface, and thus an undulating 3d surface can be obtained, as shown in fig. 3.
S160, setting a 3d grid, putting the initial 3d image into the 3d grid, and determining the target light intensity of the initial 3d image based on the initial light intensity to obtain the target 3d image.
In one embodiment, step S160 specifically includes: setting a 3d grid, putting the initial 3d image into the 3d grid, and judging the grid position corresponding to each pixel point; and determining the target light intensity of the initial 3d image according to the initial position and the initial light intensity of the initial pixel point and the grid position corresponding to each pixel point to obtain the target 3d image.
Specifically, the pixel points include two elements, namely, a position and a light intensity, and the position of each pixel point is obtained in step S150, so that the light intensity needs to be determined. For a 3d image, the image can be made smoother by interpolation similar to the process of processing two-dimensional pixels. And (5) putting the pictures into a 3d grid, and judging the grid position corresponding to each point. In order to keep all points within a single grid as much as possible, the unit grid size should be less than or equal to the distance between the two closest points. This can be considered as a 3d scalar field with respect to light intensity, the light intensity of the grid occupied by the original data is unchanged, and the light intensities of other grids need to be determined separately. First, the mesh on each triangular face in FIG. 3 should take the intensity of the mesh with the vertex and calculate the average based on the distance from the center of gravity of the triangle as the weighted average as the intensity of the mesh intersecting only with this one triangular face; then, the grid intersecting the multiple planes, i.e. the grid on each edge in fig. 3, should take the arithmetic average of the intensities of the intersected multiple planes as the intensity.
In the above embodiment, the rotation distance corresponding to each rotation angle of the mirror surface of the single photon laser radar is set to be smaller than the distance between any two adjacent initialization pixel points, so that the single photon laser radar is controlled to perform multiple times of rotation scanning on the target position in the preset rotation direction to obtain multiple rotation scanning images, the initial images are superposed, the target scanning images are obtained after processing, the position of the target scanning images is restored based on the rotation direction and angle of scanning and the photon flight time to obtain initial 3d images, and then the light intensity is restored by setting the 3d grids to finally obtain the target 3d images. Under the condition of not changing the scanning range of the single-photon radar, the scanning density is increased in the existing scanning range, so that the imaging definition of the single-photon radar is improved; and the pixel scanning and the corresponding repairing method can be improved while the high capital investment of the single-photon radar equipment is not required to be upgraded, so that the cost is greatly saved, and the use and the popularization of the single-photon equipment are facilitated.
In one embodiment, as shown in fig. 4, there is provided a 3d image scanning and repairing apparatus 200 of single photon lidar, the apparatus comprising an initial scanning module 210, a spacing setting module 220, a rotational scanning module 230, an image processing module 240, a position repairing module 250, and an optical intensity repairing module 260, wherein:
the initial scanning module 210 is configured to scan a target position through a single photon laser radar to obtain an initial image of the target position and initial positions and initial light intensities of initial pixel points;
the interval setting module 220 is configured to set a rotation distance corresponding to each rotation angle of the single photon laser radar mirror to be smaller than an interval between any two adjacent initialization pixel points;
the rotary scanning module 230 is configured to control the single photon laser radar to perform multiple rotary scanning on the target position according to a preset rotation direction, so as to obtain multiple rotary scanning images;
the image processing module 240 is configured to superimpose the multiple rotational scanning images and the initial image, and perform processing to obtain a target scanning image;
the position repairing module 250 is configured to perform position repairing on the target scanned image based on the scanned rotation direction and angle and the photon flight time to obtain an initial 3d image;
the light intensity restoration module 260 is configured to set a 3d grid, put the initial 3d image into the 3d grid, and determine the target light intensity of the initial 3d image based on the initial light intensity to obtain the target 3d image.
In one embodiment, as shown in fig. 5, the image processing module 240 includes an image superimposing unit 241 and an excess removal unit 242, wherein: the image overlapping unit 241 is configured to overlap the multiple rotational scanning images and the initial image to obtain an image to be processed; the excess removing unit 242 is configured to remove a portion of the image to be processed that exceeds the initial image, so as to obtain a target scanning image.
In one embodiment, as shown in fig. 6, the position repairing module 250 includes a matrix establishing unit 251, a position calculating unit 252, and a pixel connecting unit 253, where: the matrix establishing unit 251 is used for establishing a digital matrix according to the target scanning image, and setting an initial angle to be 0, wherein the matrix is at least provided with three dimensions of a scanning rotation direction, a scanning angle and a photon flight time; the position calculating unit 252 is configured to calculate a target direction and a target distance corresponding to each pixel point on the target scanned image based on the digital matrix; the pixel linking unit 253 is further configured to link each pixel with two pixels closest to the pixel into a plane based on the target direction and the target distance, so as to obtain an initial 3d image.
In one embodiment, as shown in fig. 7, the light intensity restoration module 260 includes a mesh establishment unit 261 and a light intensity determination unit 262, wherein: the grid establishing unit 261 is configured to set a 3d grid, put the initial 3d image into the 3d grid, and determine a grid position corresponding to each pixel point; the light intensity determining unit 262 is configured to determine a target light intensity of the initial 3d image according to the initial position and the initial light intensity of the initial pixel point and the grid position corresponding to each pixel point, so as to obtain the target 3d image.
In one embodiment, a device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 8. The device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the device is configured to provide computing and control capabilities. The memory of the device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the device is used for storing configuration templates and also can be used for storing target webpage data. The network interface of the device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of 3d image scanning and repair for a single photon lidar.
Those skilled in the art will appreciate that the configuration shown in fig. 8 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the devices to which the present application applies, and that a particular device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It will be apparent to those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented in program code executable by a computing device, such that they may be stored on a computer storage medium (ROM/RAM, magnetic disks, optical disks) and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A3 d image scanning and repairing method of a single photon laser radar is characterized by comprising the following steps:
scanning a target position through a single photon laser radar to obtain an initial image of the target position and initial positions and initial light intensities of initial pixel points;
setting the rotating distance corresponding to each rotating angle of the single photon laser radar mirror surface to be smaller than the distance between any two adjacent initialization pixel points;
controlling the single photon laser radar to perform multiple rotary scanning on the target position according to a preset rotating direction to obtain multiple rotary scanning images;
overlapping and processing the plurality of rotary scanning images and the initial images to obtain target scanning images;
based on the rotation direction and angle of scanning and the photon flight time, carrying out position restoration on the target scanning image to obtain an initial 3d image;
setting a 3d grid, putting the initial 3d image into the 3d grid, and determining the target light intensity of the initial 3d image based on the initial light intensity to obtain a target 3d image.
2. The method of claim 1, wherein the predetermined rotation direction includes at least any three of a left direction, a right direction, an up direction, and a down direction.
3. The method according to claim 1, wherein the plurality of rotated scan images and the initial image are superimposed and processed to obtain a target scan image, specifically:
superposing the plurality of rotary scanning images and the initial image to obtain an image to be processed;
and removing the part of the image to be processed, which exceeds the initial image, so as to obtain a target scanning image.
4. The method according to claim 1, wherein the target scan image is subjected to position restoration based on the rotation direction and angle of the scan and the photon flight time to obtain an initial 3d image, specifically:
establishing a digital matrix according to a target scanning image, setting an initial angle to be 0, wherein the matrix is at least provided with three dimensions of a scanning rotation direction, a scanning angle and a photon flight time;
calculating a target direction and a target distance corresponding to each pixel point on the target scanning image based on the digital matrix;
and connecting each pixel point and two pixel points with the shortest distance to form a surface based on the target direction and the target distance to obtain an initial 3d image.
5. The method according to claim 4, wherein the 3d grid is set, the initial 3d image is placed in the 3d grid, and the target light intensity of the initial 3d image is determined based on the initial light intensity to obtain the target 3d image, specifically:
setting a 3d grid, putting the initial 3d image into the 3d grid, and judging the grid position corresponding to each pixel point;
and determining the target light intensity of the initial 3d image according to the initial position and the initial light intensity of the initial pixel point and the grid position corresponding to each pixel point to obtain the target 3d image.
6. The utility model provides a single photon laser radar's 3d image scanning and prosthetic devices, its characterized in that sets up module, rotatory scanning module, image processing module, position repair module and light intensity repair module including initial scanning module, interval, wherein:
the initial scanning module is used for scanning the target position through the single photon laser radar to obtain an initial image of the target position and initial positions and initial light intensities of all initial pixel points;
the interval setting module is used for setting the rotating distance corresponding to each rotating angle of the single photon laser radar mirror surface to be smaller than the interval between any two adjacent initialization pixel points;
the rotary scanning module is used for controlling the single photon laser radar to carry out multiple rotary scanning on a target position according to a preset rotating direction to obtain multiple rotary scanning images;
the image processing module is used for overlapping the plurality of rotary scanning images and the initial image and processing the images to obtain a target scanning image;
the position repairing module is used for performing position repairing on the target scanning image based on the scanning rotation direction and angle and the photon flight time to obtain an initial 3d image;
the light intensity restoration module is used for setting a 3d grid, putting the initial 3d image into the 3d grid, and determining the target light intensity of the initial 3d image based on the initial light intensity to obtain a target 3d image.
7. The apparatus of claim 6, wherein the image processing module comprises an image overlay unit and an excess removal unit, wherein:
the image superposition unit is used for superposing the plurality of rotary scanning images and the initial image to obtain an image to be processed;
the excess removing unit is used for removing the part which exceeds the initial image in the image to be processed to obtain a target scanning image.
8. The apparatus of claim 6, wherein the location fix module comprises a matrix building unit, a location calculation unit, and a pixel interface unit, wherein:
the matrix establishing unit is used for establishing a digital matrix according to the target scanning image, setting an initial angle to be 0, and setting the matrix at least with three dimensions of a scanning rotation direction, a scanning angle and a photon flight time;
the position calculation unit is used for calculating a target direction and a target distance corresponding to each pixel point on the target scanning image based on the digital matrix;
and the pixel point connecting unit is also used for connecting each pixel point and two pixel points closest to the pixel point into a surface based on the target direction and the target distance to obtain an initial 3d image.
9. The apparatus of claim 6, wherein the light intensity restoration module comprises a mesh establishment unit and a light intensity determination unit, wherein:
the grid establishing unit is used for setting a 3d grid, putting the initial 3d image into the 3d grid and judging the grid position corresponding to each pixel point;
and the light intensity determining unit is used for determining the target light intensity of the initial 3d image according to the initial position and the initial light intensity of the initial pixel point and the grid position corresponding to each pixel point to obtain the target 3d image.
10. An apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 5 are implemented when the computer program is executed by the processor.
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