CN114858086A - Three-dimensional scanning system, method and device - Google Patents
Three-dimensional scanning system, method and device Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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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
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The present disclosure relates to a three-dimensional scanning system, method and apparatus. The three-dimensional scanning system comprises a three-dimensional scanner, a calculation module and a display module, wherein the three-dimensional scanner generates image data based on a plurality of installed image sensors and carries out three-dimensional reconstruction calculation based on the image data to determine target three-dimensional data, the calculation module is in communication connection with the three-dimensional scanner to obtain the target three-dimensional data generated by the three-dimensional scanner and carries out three-dimensional reconstruction calculation according to the target three-dimensional data to generate a first three-dimensional model, and the display module is in communication connection with the calculation module to obtain the first three-dimensional model generated by the calculation module and display the first three-dimensional model in real time. The three-dimensional scanning system provided by the disclosure can generate at least part of the first three-dimensional models corresponding to the object in the process of scanning the object, namely, the object scanning and the three-dimensional reconstruction calculation can be carried out simultaneously, the first three-dimensional models can also be displayed in real time, the scanning condition can be conveniently adjusted according to the displayed first three-dimensional models subsequently, and the operation is flexible.
Description
Technical Field
The present disclosure relates to the field of three-dimensional scanning technologies, and in particular, to a three-dimensional scanning system, method, and apparatus.
Background
Three-dimensional scanners are currently in widespread use in a number of industries. The three-dimensional scanner collects image data of an object through a configured three-dimensional scanning device, and transmits the collected image data to a computer in a wired connection mode for three-dimensional reconstruction calculation to obtain a first three-dimensional model of the scanned object.
However, the three-dimensional scanner needs to be connected with a computer by a wire, which is inconvenient to carry, has a large limitation on the operation range, and cannot adapt to a complex scene.
Disclosure of Invention
In order to solve the technical problem, the present disclosure provides a three-dimensional scanning system, which generates at least a part of a first three-dimensional model corresponding to an object in a process of scanning the object, and can also display the first three-dimensional model in real time, so that the scanning condition can be adjusted according to the displayed first three-dimensional model in a subsequent process, and the operation is flexible.
In a first aspect, an embodiment of the present disclosure provides a three-dimensional scanning system, which includes a three-dimensional scanner, a computing module, and a display module; the three-dimensional scanner generates image data based on a plurality of installed image sensors, and carries out three-dimensional reconstruction calculation based on the image data to determine target three-dimensional data; the calculation module is in communication connection with the three-dimensional scanner to acquire target three-dimensional data generated by the three-dimensional scanner and perform three-dimensional reconstruction calculation according to the three-dimensional data to generate a first three-dimensional model; the display module is in communication connection with the calculation module to acquire the first three-dimensional model generated by the calculation module and display the first three-dimensional model in real time.
In a second aspect, an embodiment of the present disclosure provides a three-dimensional scanning method applied to a three-dimensional scanner, where the three-dimensional scanner includes a plurality of image sensors, and the method includes:
acquiring image data generated by an image sensor based on an object to be scanned;
and performing three-dimensional reconstruction calculation according to the image data to determine target three-dimensional data, wherein the target three-dimensional data is used for generating a first three-dimensional model corresponding to the object to be scanned, and the target three-dimensional data comprises a laser line output by the three-dimensional scanner and three-dimensional data corresponding to at least one marking point on the object to be scanned.
In a third aspect, an embodiment of the present disclosure provides a three-dimensional scanning method applied to a terminal, where the method includes:
acquiring three-dimensional data of an object to be scanned, which is generated by a three-dimensional scanner;
and determining a target fusion mode according to the generation condition of a first three-dimensional model corresponding to the object to be scanned, and performing three-dimensional reconstruction calculation according to the three-dimensional data in the target fusion mode to generate the first three-dimensional model, wherein the target fusion mode is a global fusion mode or a real-time fusion mode.
In a fourth aspect, an embodiment of the present disclosure provides a three-dimensional scanning apparatus applied to a three-dimensional scanner, where the three-dimensional scanner includes a plurality of image sensors, and the apparatus includes:
an acquisition unit configured to acquire image data generated by an image sensor based on an object to be scanned;
the determining unit is used for performing three-dimensional reconstruction calculation according to image data to determine target three-dimensional data, wherein the target three-dimensional data is used for generating a first three-dimensional model corresponding to the object to be scanned, and the target three-dimensional data comprises a laser line output by the three-dimensional scanner and three-dimensional data corresponding to at least one marking point on the object to be scanned.
In a fifth aspect, an embodiment of the present disclosure provides a three-dimensional scanning device applied to a terminal, where the device includes:
the device comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring three-dimensional data of an object to be scanned, which is generated by a three-dimensional scanner;
and the generating unit is used for determining a target fusion mode according to the generation condition of the first three-dimensional model corresponding to the object to be scanned, and performing three-dimensional reconstruction calculation according to the three-dimensional data to generate the first three-dimensional model in the target fusion mode, wherein the target fusion mode is a global fusion mode and/or a real-time fusion mode.
In a sixth aspect, an embodiment of the present disclosure provides an electronic device, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the three-dimensional scanning method as described above.
In a seventh aspect, the disclosed embodiments provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the three-dimensional scanning method of the foregoing embodiments.
The embodiment of the disclosure provides a three-dimensional scanning system, which comprises a three-dimensional scanner, a calculation module and a display module, wherein the three-dimensional scanner generates image data based on a plurality of installed image sensors, three-dimensional reconstruction calculation is carried out based on the image data to determine target three-dimensional data, the calculation module is in communication connection with the three-dimensional scanner to acquire the target three-dimensional data generated by the three-dimensional scanner and carry out three-dimensional reconstruction calculation according to the target three-dimensional data to generate a first three-dimensional model, and the display module is in communication connection with the calculation module to acquire the first three-dimensional model generated by the calculation module and display the first three-dimensional model in real time. The three-dimensional scanning system provided by the disclosure can generate at least part of the first three-dimensional models corresponding to the object in the process of scanning the object, namely, the object scanning and the three-dimensional reconstruction calculation can be carried out simultaneously, the first three-dimensional models can also be displayed in real time, the scanning condition can be conveniently adjusted according to the displayed first three-dimensional models subsequently, the operation is more flexible, and the three-dimensional scanning system can be suitable for more complex application scenes.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a three-dimensional scanning system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of another three-dimensional scanning system provided in the embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a three-dimensional data generation method according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart of a first three-dimensional model generation method according to an embodiment of the present disclosure;
fig. 5 is a schematic flowchart of a three-dimensional scanning method according to an embodiment of the disclosure;
fig. 6 is a schematic flowchart of a three-dimensional scanning method according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a three-dimensional scanning apparatus according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a three-dimensional scanning apparatus according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
In view of the above technical problems, embodiments of the present disclosure provide a three-dimensional scanning system, which can generate at least a part of a first three-dimensional model corresponding to an object in a process of scanning the object, that is, scanning the object and performing three-dimensional reconstruction calculation simultaneously, and can also display the first three-dimensional model in real time, so that the scanning condition can be adjusted subsequently according to the displayed first three-dimensional model, the operation is flexible, and the three-dimensional scanning system can be applied to a complex application scenario, and is described in detail through one or more embodiments described below.
Fig. 1 is a schematic structural diagram of a three-dimensional scanning system provided in an embodiment of the present disclosure, which specifically includes a structure shown in fig. 1, where fig. 1 includes a three-dimensional scanner 110, a computing module 120, and a display module 130, where the three-dimensional scanner 110 generates image data based on a plurality of installed image sensors 111, and determines target three-dimensional data based on the image data; the calculation module 120 is in communication connection with the three-dimensional scanner 130 to obtain target three-dimensional data generated by the three-dimensional scanner 110, and performs three-dimensional reconstruction according to the target three-dimensional data to generate a first three-dimensional model; the display module 130 is communicatively connected to the calculation module 120 to obtain the first three-dimensional model generated by the calculation module 130 and display the first three-dimensional model in real time.
It is understood that the computing module 120 and the display module 130 can be disposed in the same portable device, and the portable device can be understood as a portable Personal Computer (PC), such as a notebook Computer, a tablet Computer, or an intelligent terminal. The following describes a three-dimensional scanning system by taking a portable device as a tablet computer as an example. The three-dimensional scanning system includes a three-dimensional scanner 110 and a portable device, where the three-dimensional scanner 110 and the portable device may be configured in an integrated manner or in a separated manner, that is, the three-dimensional scanner 110 is an independent module, and the portable device may be configured with different three-dimensional scanners 110 for scanning. The portable device comprises a computing module 120, a display module 130 and a communication module, wherein the computing module comprises an M1 chip or chips with above types, has a graphic processing technology, and can perform three-dimensional reconstruction calculation according to three-dimensional data in real time to generate a first three-dimensional model, the communication module can be a cellular communication module, cellular communication adopts a cellular wireless networking mode, the terminal and network equipment are connected through a wireless channel, namely, the three-dimensional scanner 110 and the portable device are connected through the wireless channel, so that the portable device and the three-dimensional scanner 110 are conveniently in communication connection for wireless transmission, specifically, three-dimensional scanning software is configured in the computing module 120, and provides algorithm service, hypertext Transfer Protocol (HTTP) service, rendering service and data transmission service for the portable device, that is, the portable device interacts with the three-dimensional scanner 110 through the three-dimensional scanning software and generates a first three-dimensional model; the display module 130 is a display screen of the portable device for displaying the first three-dimensional model constructed by the calculation module 120 in real time.
Exemplarily, referring to fig. 2, fig. 2 is a schematic structural diagram of another three-dimensional scanning system provided in an embodiment of the present disclosure, in fig. 2, a three-dimensional scanner 210 and a portable device 220 are included, the three-dimensional scanner 210 includes a three-dimensional scanning integrated component 211, a central processing unit 212, a communication component 213 and a power supply component 214, and the portable device 220 includes a computing module 221, a display module 222 and a communication module 223. When the three-dimensional scanner 210 is a laser scanner, the three-dimensional scanning integrated component 211 includes an image sensor and a projection device, the image sensor may be one or more, the projection device may include a laser device, the laser device is used for emitting laser lines to an object to be scanned, the image sensor is used for capturing images of the surface of the object to be scanned to generate image data, the laser device may be a laser projector, when the laser three-dimensional scanner scans the object, the laser projector of the laser three-dimensional scanner projects laser lines to the object and the image sensor of the three-dimensional scanner synchronously captures images of the surface of the object covered with the laser lines, the image data includes laser line characteristics, the projection device may include an LED flashing lamp, when the LED flashing lamp illuminates, the image sensor captures mark points pasted on the surface of the object, the image data includes mark point characteristics, the projection device may further include a speckle projector, the speckle projector can be a DLP projector, the three-dimensional scanner can scan an object in a speckle mode, the speckle projector of the three-dimensional scanner projects a speckle pattern on the surface of the object, an image sensor of the three-dimensional scanner synchronously captures an image of the object, the surface of the object is covered with the speckle pattern, at the moment, the image data comprises speckle characteristics, it needs to be explained that the projection device can also project other structured light patterns, of course, the three-dimensional scanner can only comprise one of the projection devices and also comprise a plurality of projection devices, the three-dimensional scanner can only comprise one of the scanning modes and also comprise a plurality of scanning modes, and in addition, the three-dimensional scanning integrated component and the central processing unit can be integrated or separately arranged; the communication component 213 is used for communication connection with the portable device 220, specifically wireless communication such as hot spot and WiFi, and the power supply component 214 is used for supplying power to the three-dimensional scanner 210 to supply power for the components running on the three-dimensional scanner 210, and when the communication component includes a wireless communication component, the power supply component includes a lithium battery. The computing module 221 in the portable device 220 provides computing power by using an M1 chip to complete real-time construction of the first three-dimensional model, the display module 220 is used for displaying the first three-dimensional model in real time, the communication module 223 is used for communicating with the three-dimensional scanner 210 based on the communication module 213 to complete data transmission, and the communication module 223 also provides http service to facilitate importing and exporting generated engineering documents.
Optionally, the three-dimensional scanner 210 generates image data based on a plurality of installed image sensors, and determines target three-dimensional data based on the image data, which specifically includes: the three-dimensional scanner 210 obtains an object to be scanned based on a plurality of installed image sensors to generate a plurality of image data, and performs three-dimensional reconstruction calculation according to the plurality of image data to determine target three-dimensional data output by the three-dimensional scanner 210, where the target three-dimensional data includes a laser line and three-dimensional data corresponding to at least one marker point on the object to be scanned.
Optionally, the three-dimensional scanning system includes a laser scanning mode, in the laser scanning mode, the image data includes laser line features and mark point features, three-dimensional reconstruction calculation is performed based on the laser line features in the image data to generate point cloud three-dimensional data, three-dimensional reconstruction calculation is performed based on the mark point features in the image data to generate mark point three-dimensional data, and the target three-dimensional data includes the point cloud three-dimensional data and the mark point three-dimensional data.
It can be understood that before scanning with the three-dimensional scanner, at least one marking point is pasted on the object to be scanned, and the marking point can be a striking point which is convenient for detection and identification. After the mark points are set, the three-dimensional scanner 210 scans the marked object, projects a structured light pattern onto the surface of the object to be scanned based on a projector, illuminates the mark points based on the flickering of an LED flashing light, and shoots the surface of the object to be scanned based on an image sensor to generate image data, wherein the image data includes structured light pattern information and mark point information, extracts the structured light pattern information and the mark point information based on the image data, performs three-dimensional reconstruction based on the structured light pattern information to obtain point cloud three-dimensional data, and performs three-dimensional reconstruction based on the mark point information to obtain mark point three-dimensional data, that is, the target three-dimensional data includes point cloud three-dimensional data and mark point three-dimensional data. The projector may also be a DLP, or may also be a laser projector, taking a laser three-dimensional scanner as an example, a laser device emits a laser line on the surface of an object, a plurality of image sensors installed to capture an image including at least one mark point and a plurality of laser lines to generate a plurality of image data, the laser device may emit a plurality of laser lines at the same time, such as 7 laser lines, 14 laser lines, or 48 laser lines, each laser line emitted by the laser device is composed of a plurality of laser points, such as two image sensors respectively included on the left and right sides of the three-dimensional scanner 210, the two image sensors capture the object at the same time to generate two image data, the two image data may be understood as two data corresponding to a frame of acquired image, the three-dimensional data obtained from the two image data may be recorded as three-dimensional data corresponding to a frame of image, each image data includes a plurality of laser lines and at least one mark point, both image data comprise at least one same mark point and also comprise a plurality of same laser lines; then, the central processor 212 in the three-dimensional scanner 210 determines three-dimensional data corresponding to the laser line and the mark point based on a binocular matching principle according to the laser line characteristic and the mark point characteristic in the two generated image data, that is, performs three-dimensional reconstruction of the laser line and the mark point, where the three-dimensional data includes three-dimensional coordinates of a plurality of laser points on the laser line, the number of the laser points, and three-dimensional coordinates of the mark point and the number of the mark point, and the three-dimensional coordinates of the plurality of laser points and the three-dimensional coordinates of the mark point are in the same coordinate system, and specifically, the three-dimensional scanner performs three-dimensional reconstruction calculation on the image data based on a Graphics Processing Unit (GPU) to determine target three-dimensional data.
Optionally, the display module 222 further includes an editing component, and the editing component is configured to edit the first three-dimensional model displayed by the display module 222.
It can be understood that, after receiving the three-dimensional data sent by the three-dimensional scanner 210, the computing module 221 performs three-dimensional reconstruction computation according to the three-dimensional data to generate a first three-dimensional model, where the first three-dimensional model is at least a part of the first three-dimensional model of the object to be scanned, the three-dimensional scanner 210 transmits target three-dimensional data corresponding to each frame of image to the computing module 221, the computing module 221 splices and fuses multiple frames of received target three-dimensional data, the computing module 221 renders incremental data in the target three-dimensional data corresponding to each frame of image to generate the first three-dimensional model, and displays the first three-dimensional model through the display module, for example, the display module 222 may display 1/3 the first three-dimensional model corresponding to the object or 1/2 the first three-dimensional model corresponding to the object along with the scanning process of the scanner, that is, the first three-dimensional model is displayed in real time, and at time, the first three-dimensional model displayed by the display module only includes model a, at the moment of T +1, a model B obtained by rendering incremental data is generated, the model A and the model B are used for generating a first three-dimensional model to be displayed at the moment of T +1, then the model A and the model B are displayed by the display module at the same time, and a user can conveniently determine whether scanned data are accurate or not by means of displaying the first three-dimensional model, if the first three-dimensional model and an object have differences, namely the scanned data are possibly inaccurate, the scanning mode can be adjusted in time on a scanning site. The display module 222 further includes an editing component, which is configured to edit the displayed first three-dimensional model when the display module 222 displays the first three-dimensional model in real time, for example, adjust, delete or modify the first three-dimensional model, so as to obtain an effective first three-dimensional model.
Optionally, after the calculation module 221 generates the first three-dimensional model, the engineering file is generated and stored according to the set configuration file, the target three-dimensional data, and the first three-dimensional model, where the engineering file is used to generate a second three-dimensional model at another terminal, and the second three-dimensional model is the first three-dimensional model or a three-dimensional model generated by performing three-dimensional reconstruction calculation according to the target three-dimensional data and a second preset fusion parameter.
In an understandable manner, after the calculation module 221 generates the first three-dimensional model, the calculation module 221 generates the project file according to the project configuration file, the stored target three-dimensional data corresponding to each frame of image, and the determined valid first three-dimensional model. The engineering file may be exported, stored, and sent to other terminal devices for accurate calculation, the other terminal devices may be computers with higher calculation ratio, and the other terminals generate a second three-dimensional model according to the engineering file, where the second three-dimensional model may be the first three-dimensional model or may be a more accurate three-dimensional model obtained by three-dimensional reconstruction calculation performed by the other terminals according to the target three-dimensional data and a second preset fusion parameter, the second preset fusion parameter includes a second point distance, and the second point distance is smaller than the first point distance in the first preset fusion parameter.
Optionally, if the precision of the first three-dimensional model needs to be further improved, after the terminal receives the engineering file, the following operations may be performed: generating global point cloud three-dimensional data according to the second preset fusion parameter and the target three-dimensional data in the engineering file; rendering the global point cloud three-dimensional data to generate a second three-dimensional model.
It can be understood that the portable device 220 establishes an http service, an ip address and a port number corresponding to the http service are input at a computer terminal, an engineering file to be exported is selected, the engineering file is downloaded to the computer terminal, after the engineering file is downloaded at the computer terminal, if a first three-dimensional model in the engineering file does not meet the precision requirement, a second three-dimensional model with higher precision is reconstructed according to three-dimensional data corresponding to each frame of image in the engineering file and a second preset fusion parameter, it can be understood that the precision of three-dimensional models corresponding to point cloud three-dimensional data optimized at different point distances is different, for example, a computing module in the portable device can select global point cloud three-dimensional data optimized at a large point distance to obtain the first three-dimensional model, the large point distance refers to a first point distance in the first preset fusion parameter, so as to reduce the computation amount and the memory occupation amount of the computing module, and achieve the purpose of displaying the first three-dimensional model in real time, the method can also be used for scanning larger objects, but the precision of a first three-dimensional model constructed by global point cloud three-dimensional data obtained by large-point-distance optimization is lower, and subsequently, according to the user requirements, the optimization and fusion can be carried out by a computer according to the three-dimensional data corresponding to each frame of image in the engineering file by adopting small-point distances, and a second three-dimensional model with higher precision is reconstructed, wherein the small-point distances refer to second point distances in second preset fusion parameters, the large-point distances (the first point distances) refer to point cloud distances of 0.3 millimeter (mm) or more, and the small-point distances (the second point distances) refer to point cloud distances of less than 0.3 millimeter (mm). It can be understood that after the three-dimensional data is rendered by the rendering module, the computer displays the rendered second three-dimensional model on the computer display screen, and the second three-dimensional model can be adjusted by the editing button to obtain a more accurate second three-dimensional model.
Optionally, the three-dimensional scanner is separately arranged from the portable device, the three-dimensional scanner is configured with a processing module, a projector and an image sensor, and the processing module is in communication connection with the projector, the image sensor and the portable device respectively; the portable device includes a housing, and components of the portable device are disposed in the housing.
Optionally, the three-dimensional scanner and the portable device are integrated, the three-dimensional scanner is configured with a projector and an image sensor, and the portable device is respectively in communication connection with the projector and the image sensor.
The embodiments provided by the present disclosure also include the following:
the three-dimensional scanning system comprises a three-dimensional scanner and a portable computer, wherein the three-dimensional scanner comprises a scanning module and a first calculating module, the portable computer comprises a second calculating module and a display module, and the three-dimensional scanner is in communication connection with the portable computer.
The scanning module comprises a projector and an image sensor, the projector projects light towards a measured object, the image sensor acquires a surface image of the measured object to generate image data, the image data is transmitted to the first computing module through the image sensor, and the first computing module carries out three-dimensional reconstruction computation on the image data to generate target three-dimensional data.
The projector comprises a laser projector, the scanning module comprises a laser scanning mode, for example, the projector projects laser lines to the surface of the object to be measured, the image sensor acquires the surface image of the object to be measured to generate image data, and the image data comprises laser line characteristics; the projector comprises an LED flashing lamp, a mark point is pasted on the surface of a measured object, the LED flashes and illuminates the mark point, an image sensor acquires an image of the surface of the measured object to generate image data, and the image data comprises mark point characteristics; the projector can comprise a laser projector and an LED flashing light, and the laser projector and the LED flashing light can synchronously work, so that the image data acquired by the image sensor comprises laser line characteristics and mark point characteristics; of course, the projector may also include other types of projectors such as a DLP projector, which can project a speckle pattern, and the scanning module includes a speckle scanning mode, and the DLP projector can project a fringe pattern, and the scanning module includes a fringe scanning mode. The projectors in various forms can be configured individually or in combination, the scanning module can only comprise a single scanning mode, and can also comprise a plurality of scanning modes, and when the scanning module comprises the plurality of scanning modes, the scanning mode can be switched to carry out scanning. It should be noted that the LED blinking lamp is generally configured in combination with a laser projector.
The image sensor can only be set up one, also can set up a plurality ofly, and when image sensor set up one, the scanning module is monocular scanning module, and when image sensor set up a plurality ofly, the scanning module can include monocular scanning unit or many eyes scanning unit, also can include a plurality of scanning units, for example including monocular scanning unit and two mesh scanning unit. When the scanning module acquires image data based on the monocular scanning module or the monocular scanning unit, the first calculation module three-dimensionally reconstructs target three-dimensional data based on a monocular reconstruction principle, and when the scanning module acquires image data based on the binocular scanning module/the binocular scanning unit, the first calculation module three-dimensionally reconstructs target three-dimensional data based on a binocular reconstruction principle.
The scanning module and the first computing module can be configured integrally and arranged in a single three-dimensional scanner shell, the scanning module and the first computing module can also be configured separately, the scanning module is configured with an independent shell, and the first computer module is configured with an independent shell.
The first computing module is preferably a GPU computing module and performs parallel computation on the image data.
The three-dimensional scanner comprises a power module used for supplying power to all components in the three-dimensional scanner. The power module comprises a battery, preferably a lithium battery, so that the three-dimensional scanner is free from the constraint of a power line.
The three-dimensional scanner comprises a first communication module, and the three-dimensional scanner is in communication connection with the portable computer through the first communication module. The first communication module comprises a wired communication unit and/or a wireless communication unit. The three-dimensional scanner can swing off the constraint of the cable under the support of the lithium battery and the wireless communication unit, and the scanning is more free.
The portable computer comprises a second communication module which is in communication connection with the first communication module. The second communication module comprises a wired communication unit and/or a wireless communication unit. In the disclosed embodiment, the wireless communication unit is preferably a cellular communication module.
The portable computer is configured with a real-time fusion mode, under the real-time fusion mode, the second computing module carries out real-time fusion through the real-time computing unit, and the display screen carries out incremental rendering display through the real-time rendering unit.
The real-time calculation unit obtains current frame target three-dimensional data and previous frame target three-dimensional data generated by the three-dimensional scanner, determines a first rotation and translation relation between the current frame target three-dimensional data and a reference coordinate system based on common characteristics of the current frame target three-dimensional data and the previous frame target three-dimensional data, fuses the current frame target three-dimensional data into a previous first three-dimensional model according to the first rotation and translation relation and first preset fusion parameters, and generates a current first three-dimensional model, wherein the reference coordinate system is a coordinate system where the first three-dimensional model is located.
And the real-time computing unit transmits the incremental first three-dimensional model to the real-time display unit, and the real-time display unit renders and displays the incremental first three-dimensional model.
The portable computer is configured with a global fusion mode, the second computing module carries out global fusion through the global computing unit in the global fusion mode, and the display screen carries out rendering display through the global rendering unit.
The global calculation unit is used for acquiring all frame target three-dimensional data generated by the three-dimensional scanner, determining a second rotation and translation relation between all frame target three-dimensional data and a reference coordinate system based on the common characteristics of all frame target three-dimensional data, and fusing all frame target three-dimensional data according to the second rotation and translation relation and first preset fusion parameters to generate a first three-dimensional model, wherein the reference coordinate system is a coordinate system where the first three-dimensional model is located.
And the global computing unit transmits the first three-dimensional model to a display, and the display renders and displays the first three-dimensional model.
In the embodiment of the disclosure, the second computing module synchronously operates the real-time fusion mode during the real-time scanning process of the three-dimensional scanner, and the second computing module operates the global fusion mode after the three-dimensional scanner completes scanning. And the computing module acquires a signal for completing scanning of the three-dimensional scanner and enters a global fusion mode based on the signal. The second computing module is preferably a CPU computing module.
The portable computer comprises a storage module, target three-dimensional data generated by the three-dimensional scanner is transmitted to the portable computer and stored in the storage module, and the second computing module acquires the target three-dimensional data from the storage module to be fused.
The following is further detailed in conjunction with the laser scanning mode:
a laser projector of a scanning module projects laser lines towards the surface of a measured object stuck with mark points and LED flashing lamps work synchronously, two image sensors of the scanning module synchronously acquire images on the surface of the measured object to generate image data, the image data comprises laser line characteristics and mark point characteristics, the scanning module transmits the image data to a first computing module, the first computing module extracts the laser line characteristics and the mark point characteristics in the image data, the first computing module matches the laser line characteristics and the mark point characteristics in the two image sensors, binocular stereoscopic reconstruction is carried out on the basis of the matched laser line characteristics to generate point cloud three-dimensional data, binocular stereoscopic reconstruction is carried out on the basis of the matched mark point characteristics to generate mark point three-dimensional data, target three-dimensional data comprises point cloud three-dimensional data and mark point three-dimensional data, and each frame of image data is generated by the scanning module (the image data synchronously acquired by the multi-objective scanning module is counted as one frame of image data), the first calculation module generates a frame of target three-dimensional data based on a frame of image data, and the frame of target three-dimensional data comprises a frame of point cloud three-dimensional data and a frame of mark point three-dimensional data.
The first calculation module transmits the target three-dimensional data to the portable computer, and the portable computer acquires and stores one frame of target three-dimensional data to the storage module.
The method comprises the steps that a real-time computing unit of a portable computer obtains current frame target three-dimensional data and previous frame target three-dimensional data, tracking and splicing are carried out through common mark point characteristics of the current frame mark point three-dimensional data and the previous frame mark point three-dimensional data, a first rotation and translation relation between the current frame mark point three-dimensional data and a reference coordinate system is determined, the current frame point cloud three-dimensional data is spliced and fused into a previous first three-dimensional model according to the first rotation and translation relation and first preset fusion parameters, and the current first three-dimensional model is generated. The previous frame target three-dimensional data refers to one or more frames of three-dimensional data acquired by a three-dimensional scanner before the current frame three-dimensional data is acquired, and the previous first three-dimensional model refers to a first three-dimensional model obtained by splicing and fusing the previous frame target three-dimensional data in real time through a real-time computing unit.
And the real-time computing unit transmits the incremental first three-dimensional model to the real-time display unit, and the real-time display unit renders and displays the incremental first three-dimensional model.
After the scanner finishes scanning, the global computing unit of the portable computer obtains all frame target three-dimensional data generated by the three-dimensional scanner, determines a second rotation and translation relation between all frame mark point three-dimensional data and a reference coordinate system based on the common mark point characteristics of all frame mark point three-dimensional data, and splices and fuses all frame point cloud three-dimensional data according to the second rotation and translation relation and a first preset fusion parameter to generate a first three-dimensional model. Of course, if the first three-dimensional model obtained by the real-time calculation unit meets the requirement, the global optimization calculation can be performed without the global calculation unit.
The embodiment of the disclosure provides a three-dimensional scanning system, which comprises a three-dimensional scanner, a calculation module and a display module, wherein the three-dimensional scanner generates image data based on a plurality of installed image sensors, three-dimensional reconstruction calculation is carried out based on the image data to determine the three-dimensional data, the calculation module is in communication connection with the three-dimensional scanner to acquire the three-dimensional data generated by the three-dimensional scanner and carries out the three-dimensional reconstruction calculation according to the three-dimensional data to generate a first three-dimensional model, and the display module is in communication connection with the calculation module to acquire the first three-dimensional model generated by the calculation module and display the first three-dimensional model in real time. The three-dimensional scanning system provided by the disclosure can generate at least part of the first three-dimensional models corresponding to the object in the process of scanning the object, namely, the object scanning and the three-dimensional reconstruction calculation can be carried out simultaneously, the first three-dimensional models can also be displayed in real time, the scanning condition can be conveniently adjusted according to the displayed first three-dimensional models subsequently, the operation is more flexible, and the three-dimensional scanning system can be suitable for more complex application scenes.
Fig. 3 is a schematic flow chart of a three-dimensional data generating method provided in an embodiment of the present disclosure, which illustrates a flow of a three-dimensional scanner in a three-dimensional scanning system performing three-dimensional reconstruction calculation according to scanned image data to generate target three-dimensional data, and specifically includes the following steps S310 to S330 shown in fig. 3:
s310, determining a target coordinate system and three-dimensional coordinates of the mark points in the target coordinate system according to data corresponding to the same mark point on the object to be scanned in the plurality of image data.
It can be understood that, after the image sensors in the three-dimensional scanning integrated component of the three-dimensional scanner generate image data, taking the two image sensors each generate two image data as an example, a target coordinate system is determined according to data corresponding to the same mark point in the two image data, for example, an object to be scanned includes 3 mark points, the two image data each include data corresponding to a first mark point, the target coordinate system is determined according to related data of the first mark point in the image data captured at different angles, that is, the mark point is used as a standard reference point, and then, the three-dimensional coordinate of the first mark point in the target coordinate system is determined.
And S320, determining the three-dimensional coordinates of the laser points on the laser line in the target coordinate system according to the data corresponding to the laser line output by the three-dimensional scanner in the image data.
It can be understood that, on the basis of the above S310, each laser line output by the three-dimensional scanner is composed of a plurality of laser points, and according to data corresponding to the same laser point in the plurality of image data, the three-dimensional coordinate of each laser point in the target coordinate system is determined, and all the laser points are integrated into the same coordinate system, that is, the three-dimensional coordinate of the same laser point in the target coordinate system included in the two image data is determined according to the difference of the image imaging positions, so as to facilitate the subsequent construction of the first three-dimensional model.
S330, obtaining target three-dimensional data according to point cloud three-dimensional data consisting of the number of the laser points and the three-dimensional coordinates of the laser points in the target coordinate system and marking point three-dimensional data consisting of the number of the marking points and the three-dimensional coordinates of the marking points in the target coordinate system.
Understandably, on the basis of the S320, the respective numbers of the laser points and the mark points for determining the three-dimensional coordinates are obtained, the three-dimensional coordinates of the multiple laser points in the target coordinate system are integrated into one laser point set, the three-dimensional coordinates of the mark points in the target coordinate system are integrated into one mark point set, and three-dimensional data is generated according to point cloud three-dimensional data formed by the numbers of the multiple laser points and the three-dimensional coordinates of the multiple laser points in the target coordinate system and mark point three-dimensional data formed by the numbers of the mark points and the three-dimensional coordinates of the mark points in the target coordinate system, wherein the three-dimensional data refers to data corresponding to one frame of image acquired by the multiple image sensors at the same time.
The embodiment of the disclosure provides a three-dimensional data generation method, which is a method for generating three-dimensional data by performing three-dimensional reconstruction calculation according to image data by a three-dimensional scanner, and specifically comprises the following steps: scanning an object by a plurality of image sensors arranged on a three-dimensional scanner to obtain a plurality of image data, determining a target coordinate system according to data corresponding to at least one same mark point in the plurality of image data, determining three-dimensional coordinates of the same mark point under the target coordinate system, determining three-dimensional coordinates of a plurality of laser points on a laser line under the target coordinate system according to data corresponding to laser lines output by the three-dimensional scanner in the plurality of image data after determining the target coordinate system, namely unifying the plurality of laser points under the same coordinate system, and finally obtaining target three-dimensional data according to the number of the plurality of laser points, the three-dimensional coordinates of the plurality of laser points under the target coordinate system, the number of the mark points and the three-dimensional coordinates of the mark points under the target coordinate system, namely obtaining the three-dimensional data after unifying the coordinates, so as to be conveniently fused into point cloud three-dimensional data in a computing module, meanwhile, the data volume of the transmitted three-dimensional data is smaller, the transmission bandwidth is effectively reduced, and the speed of constructing the first three-dimensional model is further accelerated.
Fig. 4 is a schematic flow diagram of a first three-dimensional model generation method provided in the embodiment of the present disclosure, and optionally, the method includes obtaining target three-dimensional data generated by a three-dimensional scanner, and performing three-dimensional reconstruction calculation according to the target three-dimensional data to generate a first three-dimensional model, that is, after a calculation module receives the target three-dimensional data transmitted by the three-dimensional scanner, a flow of the calculation module generating the first three-dimensional model according to the target three-dimensional data includes the following steps S410 to S440 shown in fig. 4:
it can be understood that after the calculation module receives the target three-dimensional data, a target fusion mode for fusion based on the three-dimensional data needs to be determined according to the generation condition of the current first three-dimensional model, and the target fusion mode is a global fusion mode and/or a real-time fusion mode.
Optionally, target three-dimensional data generated by the three-dimensional scanner is acquired, and the target three-dimensional data is stored in a pre-constructed database, wherein the database comprises at least one piece of three-dimensional data; judging whether the three-dimensional scanner finishes scanning the object to be scanned, if so, determining that the target fusion mode is a global fusion mode; if not, determining that the target fusion mode is the real-time fusion mode.
Optionally, determining whether the three-dimensional scanner completes scanning of the object to be scanned includes: and if the computing module detects the trigger operation aiming at the first identifier, determining that the three-dimensional scanner finishes scanning the object to be scanned.
Understandably, the calculation module acquires the three-dimensional data of the target generated by the three-dimensional scanner and stores the three-dimensional data of the target into a pre-constructed database, and the database is used for storing all three-dimensional data generated in the process of scanning the object to be scanned by the three-dimensional scanner. The three-dimensional scanner scans an object in real time, generates corresponding target three-dimensional data after scanning one frame of image every time, and as the scanning progresses, a first three-dimensional model corresponding to the object is more improved, meanwhile, a user can view the whole first three-dimensional model on the display module, at the moment, whether the scanning of the object to be scanned by the three-dimensional scanner is completed or not can be determined by viewing the first three-dimensional model displayed in the display module, if the user determines that the scanning of the object to be scanned is completed, a first identifier (determination identifier) in the display module can be triggered or a determination button configured on the display module is pressed to obtain a determination signal, if the calculation module detects or receives the determination signal, the three-dimensional scanner is determined to complete the scanning of the object to be scanned, the target fusion mode is determined to be the global fusion mode, otherwise, the three-dimensional scanner is determined not to complete the scanning of the object to be scanned, and determining the target fusion mode as a real-time fusion mode.
Understandably, there are two modes of the computing module that can generate the first three-dimensional model: the first method is to directly perform three-dimensional reconstruction calculation to generate at least part of a first three-dimensional model after acquiring target three-dimensional data corresponding to a single-frame image, namely a real-time fusion mode, and the second method is to acquire all three-dimensional data and then perform three-dimensional reconstruction calculation to generate a complete first three-dimensional model, namely a global fusion mode. It can be understood that the first case specifically includes the following steps S410 to S430:
and S410, acquiring current frame target three-dimensional data generated by the three-dimensional scanner and acquiring stored previous frame target three-dimensional data in a real-time fusion mode.
And S420, determining a first rotation and translation relation between the current frame target three-dimensional data and the reference coordinate system based on the common characteristics of the current frame target three-dimensional data and the previous frame target three-dimensional data.
And S430, incrementally fusing the current frame target three-dimensional data into a stored previous first three-dimensional model according to the first rotation-translation relation and a first preset fusion parameter to generate a current first three-dimensional model, wherein the reference coordinate system is a coordinate system where the first three-dimensional model is located.
Optionally, in the global fusion mode, acquiring all frame target three-dimensional data generated by the three-dimensional scanner; determining a second rotation translation relation between the three-dimensional data of all the frame targets and the reference coordinate system based on the common characteristics of the three-dimensional data of all the frame targets; and fusing all the stored frame target three-dimensional data according to the second rotation-translation relation and the first preset fusion parameter to generate a first three-dimensional model, wherein the reference coordinate system is the coordinate system where the first three-dimensional model is located, and the first preset fusion parameter comprises a first point distance.
It can be understood that, in the real-time fusion mode, the computation module obtains the current frame target three-dimensional data generated by the three-dimensional scanner and the stored previous frame target three-dimensional data, and computes the first rotation translation relationship according to the data corresponding to the same mark point (common feature) included in the current frame target three-dimensional data generated by the three-dimensional scanner and the stored previous frame target three-dimensional data and the reference coordinate system until the scanning is completed, for example, 10 three-dimensional data are generated after the scanning is completed by the three-dimensional scanner, the 10 three-dimensional data are sequentially sent to the computation module after being generated, the computation module builds a first three-dimensional model according to the increment data of the received current frame target three-dimensional data and the previous frame target three-dimensional data after receiving one three-dimensional data, until the whole first three-dimensional model corresponding to the object to be scanned is generated according to the 10 three-dimensional data, in this case, it can be determined that the scan is complete. In the second case, it can be understood that, after the three-dimensional scanner is determined to complete scanning of the object to be scanned, the computing module, based on the stored common features (mark points) of all three-dimensional data and the reference coordinate system, calculating the rotation amount and the translation amount between the three-dimensional data corresponding to each two adjacent frames of images through the pose difference, wherein the reference coordinate system is the coordinate system where the first three-dimensional model is located, then obtaining a second rotation-translation relationship according to the rotation amount and the translation amount, the rotation-translation relationship can be understood as the rotation-translation relationship, the three-dimensional data corresponding to each two adjacent frames of images comprises at least one same mark point, for example, after the three-dimensional scanner finishes scanning, 10 three-dimensional data are generated, the rotation and translation relations between the second three-dimensional data and the first three-dimensional data and between the second three-dimensional data and the third three-dimensional data are calculated respectively, and so on until the 10 three-dimensional data are traversed. The calculation module calculates the second rotation translation relation according to the 10 three-dimensional data and the whole mark points, so that the data corresponding to all laser lines can be fused conveniently in the follow-up process, the optimized point cloud three-dimensional data can be obtained, the position of the laser point in the obtained point cloud three-dimensional data is more accurate, and the precision and the effect of the obtained first three-dimensional model are better.
Understandably, after the object scanning is determined to be completed, in a global fusion mode, directly fusing data corresponding to laser lines in all three-dimensional data in a database according to a second rotation-translation relation obtained through calculation and a first preset fusion parameter to obtain optimized first global point cloud three-dimensional data, namely performing large-point-distance full-amount point cloud fusion optimization, wherein the first point distance in the first preset fusion parameter can be 0.3mm or more. Or if the object is not scanned completely, that is, in the real-time fusion mode, the fusion is performed according to the first rotational-translational relationship determined by the two adjacent three-dimensional data with the same mark point, for example, after 5 three-dimensional data are fused and second global point cloud three-dimensional data are generated, the 6 th three-dimensional data are acquired, calculating a first rotation-translation relation according to the 6 th three-dimensional data and the 5 th three-dimensional data, fusing the 6 th three-dimensional data into the global point cloud three-dimensional data (second global point cloud three-dimensional data) through the first rotation-translation relation and a first preset fusion parameter, it can be understood that data corresponding to the laser lines in the three-dimensional data are fused each time, and at this time, the second global point cloud three-dimensional data includes 6 fused three-dimensional data, that is, single-frame large-point-distance incremental fusion optimization is performed. It can be understood that the first point distances in the first preset fusion parameters involved in the global fusion mode and the real-time fusion mode may be the same, and the first point distances are fused by using a large point distance of 0.3mm or more.
Optionally, the incremental data of the current first three-dimensional model is acquired, the incremental data is rendered, and the first three-dimensional model corresponding to the rendered incremental data is sent to the display module.
It can be understood that if the whole three-dimensional data is fused to generate the first global point cloud three-dimensional data, the first global point cloud three-dimensional data is rendered through a rendering module in the computing module to directly generate a complete first three-dimensional model corresponding to the object to be scanned, and the rendering module can be composed of an algorithm with a rendering function. Or, if the three-dimensional data corresponding to the single-frame image is fused into the second global point cloud three-dimensional data, rendering the incremental data in the second global point cloud three-dimensional data, rendering the second global point cloud three-dimensional data before fusion and generating a corresponding first three-dimensional model, therefore, only the incremental data in the fused second global point cloud three-dimensional data needs to be rendered, and then the first three-dimensional model corresponding to the fused second global point cloud three-dimensional data is displayed, to realize the function of displaying the first three-dimensional model in real time, so that the user can know the scanning process conveniently, for example, at the moment T, the first three-dimensional model displayed by the display module only comprises a model A, at the moment T +1, incremental data are rendered to obtain a model B, the model B is fused into the model A to obtain the first three-dimensional model to be displayed at the moment, and the display module directly displays the fused first three-dimensional model at the moment.
The embodiment of the disclosure provides a first three-dimensional model generation method, wherein a first three-dimensional model displayed by a display module can automatically determine whether a three-dimensional scanner finishes scanning an object to be scanned, if the scanning is finished, namely in a global fusion mode, a calculation component calculates a second rotation and translation relation according to all acquired three-dimensional data, fuses all three-dimensional data in a database according to the second rotation and translation relation and a first preset fusion parameter array to generate first global point cloud three-dimensional data, and then renders the first global point cloud three-dimensional data to obtain an integral first three-dimensional model. If the scanning is not finished, namely in a real-time fusion mode, calculating a first rotation and translation relation according to the historical frame target three-dimensional data and the current frame target three-dimensional data, fusing the target three-dimensional data into the previously generated second global point cloud three-dimensional data according to the first rotation and translation relation and a first preset fusion parameter, namely updating the second global point cloud three-dimensional data, and then rendering incremental data in the updated second global point cloud three-dimensional data to generate a first three-dimensional model, wherein the first three-dimensional model at this moment may not be a complete first three-dimensional model. The method provided by the disclosure can display at least part of the first three-dimensional model corresponding to the object in real time in the scanning process, so that the over-scanning mode can be conveniently adjusted subsequently, and the scanning error is avoided.
Fig. 5 is a schematic flowchart of a three-dimensional scanning method provided in an embodiment of the present disclosure, which is applied to a three-dimensional scanner, that is, a process for generating three-dimensional data by scanning an image at a three-dimensional scanner end, and specifically includes the following steps S510 to S520 shown in fig. 5:
and S510, acquiring image data generated by the image sensor based on the object to be scanned.
It will be appreciated that prior to scanning using the three-dimensional scanner, at least one marking point, which may be a conspicuous, readily detectable and identifiable point, such as a black dot, is affixed to the object to be scanned. After the mark point is set, taking the three-dimensional scanner as a laser scanner as an example, the three-dimensional scanning integrated component includes a plurality of image sensors and a plurality of laser devices, the image sensors are used for generating image data based on an object to be scanned, the laser devices are used for emitting laser lines to the object to be scanned, the laser devices can be laser projectors, when the laser three-dimensional scanner scans the object, the laser projectors of the laser three-dimensional scanner project the laser lines to the object, the camera device (image sensors) of the three-dimensional scanner synchronously captures images of the object surface covered with the laser lines, and the image data includes laser line features and mark point features. For example, the left side and the right side of the three-dimensional scanner each include two camera apparatuses, the two camera apparatuses simultaneously shoot an object to generate two image data, the two image data may be understood as two data corresponding to one frame of acquired image, the three-dimensional data obtained from the two image data may be marked as three-dimensional data corresponding to one frame of image, each image data includes a plurality of laser lines and at least one marker point, and the two image data both include at least one same marker point and also include a plurality of same laser lines.
S520, performing three-dimensional reconstruction calculation according to the image data to determine target three-dimensional data, wherein the target three-dimensional data is used for generating a first three-dimensional model corresponding to the object to be scanned, and the target three-dimensional data comprises point cloud three-dimensional data corresponding to a laser line output by a three-dimensional scanner and mark point three-dimensional data corresponding to at least one mark point on the object to be scanned.
Understandably, on the basis of the above S510, the central processing unit in the three-dimensional scanner determines target three-dimensional data according to data corresponding to the laser line and data corresponding to the mark point in the two generated image data, where the target three-dimensional data includes point cloud three-dimensional data corresponding to the laser line and mark point three-dimensional data corresponding to the mark point, that is, laser line extraction and mark point reconstruction are performed, the target three-dimensional data includes three-dimensional coordinates of a plurality of laser points on the laser line, the number of laser points, three-dimensional coordinates of the mark points, and the number of mark points, and the three-dimensional coordinates of the plurality of laser points and the three-dimensional coordinates of the mark points are in the same coordinate system.
Optionally, the three-dimensional reconstruction calculation is performed according to the image data to determine target three-dimensional data, where the target three-dimensional data is used to generate a first three-dimensional model corresponding to the object to be scanned, and the method specifically includes: determining a target coordinate system and three-dimensional coordinates of the mark points under the target coordinate system according to data corresponding to the same mark point on the object to be scanned in the plurality of image data; determining three-dimensional coordinates of a plurality of laser points on the laser line in a target coordinate system according to data corresponding to the laser line output by the three-dimensional scanner in the plurality of image data; and obtaining target three-dimensional data according to the number of the laser points, the three-dimensional coordinates of the laser points in the target coordinate system, the number of the mark points and the three-dimensional coordinates of the mark points in the target coordinate system.
Optionally, after the three-dimensional scanner generates target three-dimensional data, the target three-dimensional data is sent to the portable device, the portable device includes a calculation module and a display module, the calculation module is used for obtaining the target three-dimensional data generated by the three-dimensional scanner and performing three-dimensional reconstruction calculation according to the target three-dimensional data to generate a first three-dimensional model; the display module is used for displaying the first three-dimensional model generated by the calculation module.
It can be understood that the process of generating the first three-dimensional model by the computation module in the personal computer performing the three-dimensional reconstruction computation according to the target three-dimensional data is as above, which is not described herein again.
The three-dimensional scanning method provided by the embodiment of the disclosure is applied to a three-dimensional scanner, wherein a plurality of image sensors installed on the three-dimensional scanner simultaneously generate a plurality of image data based on an object to be scanned, then a central processing unit in the three-dimensional scanner determines target three-dimensional data according to the image data, the target three-dimensional data comprises point cloud three-dimensional data corresponding to a laser line output by the three-dimensional scanner and mark point three-dimensional data corresponding to at least one mark point on the object to be scanned, and the three-dimensional scanner can convert the scanned image data into the three-dimensional data in a self-performing manner, so that the transmission bandwidth of the data is reduced, the transmission speed is increased, and a first three-dimensional model can be conveniently constructed by a subsequent portable device according to the three-dimensional data.
On the basis of the foregoing embodiment, fig. 6 is a three-dimensional scanning method provided by the embodiment of the present disclosure, which is applied to a terminal, and the method specifically includes the following steps S610 to S620 as shown in fig. 6:
and S610, acquiring three-dimensional data of the object to be scanned, which is generated by the three-dimensional scanner.
S620, determining a target fusion mode according to the generation condition of the first three-dimensional model corresponding to the object to be scanned, and performing three-dimensional reconstruction calculation according to three-dimensional data to generate the first three-dimensional model in the target fusion mode, wherein the target fusion mode is a global fusion mode and/or a real-time fusion mode.
It can be understood that the terminal includes a computing module and a display module, the terminal is the portable device 220 in fig. 2, such as a personal mobile terminal with computing capability like ipad, the computing module executes the steps from S610 to S620, and the specific execution manner refers to the execution manner and execution steps related to the computing module 120 in the three-dimensional scanning system, which are not described herein; after the calculation module generates the first three-dimensional model, the first three-dimensional model is sent to the display module, and the display module displays the first three-dimensional model in real time.
According to the three-dimensional scanning method, the first three-dimensional model can be constructed according to the three-dimensional data received in real time, the three-dimensional data is displayed on the screen of the terminal in real time based on the display module, the scanning condition can be known through the displayed first three-dimensional model, and then the terminal is convenient to write and carry, can be applied to complex scenes, and can further improve the scanning precision.
Fig. 7 is a schematic structural diagram of a three-dimensional scanning apparatus according to an embodiment of the present disclosure. The three-dimensional scanning apparatus provided in the embodiment of the present disclosure may execute the processing procedure provided in the embodiment of the three-dimensional scanning method, as shown in fig. 7, the three-dimensional scanning apparatus 700 includes:
an acquisition unit 710 configured to acquire image data generated by an image sensor based on an object to be scanned;
the determining unit 720 is configured to perform three-dimensional reconstruction calculation according to the image data to determine target three-dimensional data, where the target three-dimensional data is used to generate a first three-dimensional model corresponding to the object to be scanned, and the target three-dimensional data includes point cloud three-dimensional data corresponding to a laser line output by the three-dimensional scanner and mark point three-dimensional data corresponding to at least one mark point on the object to be scanned.
Optionally, the determining unit 720 performs three-dimensional reconstruction calculation according to the image data to determine target three-dimensional data, where the target three-dimensional data includes point cloud three-dimensional data corresponding to a laser line output by the three-dimensional scanner and marker point three-dimensional data corresponding to at least one marker point on the object to be scanned, and is specifically configured to:
determining a target coordinate system and three-dimensional coordinates of the mark points under the target coordinate system according to data corresponding to the same mark point on the object to be scanned in the plurality of image data;
determining three-dimensional coordinates of a plurality of laser points on the laser line in a target coordinate system according to data corresponding to the laser line output by the three-dimensional scanner in the plurality of image data;
and obtaining target three-dimensional data according to point cloud three-dimensional data consisting of the number of the laser points and the three-dimensional coordinates of the laser points in the target coordinate system and marking point three-dimensional coordinates consisting of the number of the marking points and the three-dimensional coordinates of the marking points in the target coordinate system.
Optionally, the apparatus 700 further includes a sending unit, where the sending unit is configured to send the three-dimensional scanning data to the portable device after the three-dimensional scanner generates the three-dimensional data, and the portable device includes a calculation module and a display module, where the calculation module is configured to obtain the three-dimensional data generated by the three-dimensional scanner, and perform three-dimensional reconstruction calculation according to the three-dimensional data to generate a first three-dimensional model; the display module is used for displaying the first three-dimensional model generated by the calculation module.
The three-dimensional scanning apparatus in the embodiment shown in fig. 7 can be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, and are not described herein again.
Fig. 8 is a schematic structural diagram of a three-dimensional scanning apparatus according to an embodiment of the present disclosure. The three-dimensional scanning apparatus provided in the embodiment of the present disclosure may execute the processing procedure provided in the embodiment of the three-dimensional scanning method, as shown in fig. 8, the three-dimensional scanning apparatus 800 includes:
an obtaining unit 810, configured to obtain three-dimensional data of an object to be scanned, where the three-dimensional data is generated by a three-dimensional scanner;
the generating unit 820 is configured to determine a target fusion mode according to a generation condition of a first three-dimensional model corresponding to an object to be scanned, and perform three-dimensional reconstruction calculation according to three-dimensional data in the target fusion mode to generate the first three-dimensional model, where the target fusion mode includes a global fusion mode and/or a real-time fusion mode.
The three-dimensional scanning apparatus in the embodiment shown in fig. 8 can be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, and are not described herein again.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. The electronic device provided in the embodiment of the present disclosure may execute the processing procedure provided in the above embodiment, as shown in fig. 9, the electronic device 900 includes: a processor 910, a communication interface 920, and a memory 930; wherein a computer program is stored in the memory 930 and configured to be executed by the processor 910 for the three-dimensional scanning method as described above.
In addition, the embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the three-dimensional scanning method described in the above embodiment.
Furthermore, the embodiments of the present disclosure also provide a computer program product, which includes a computer program or instructions, when executed by a processor, implement the three-dimensional scanning method as described above.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description is only for the purpose of describing particular embodiments of the present disclosure, so as to enable those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A three-dimensional scanning system is characterized by comprising a three-dimensional scanner, a calculation module and a display module; the three-dimensional scanner generates image data based on an image sensor and carries out three-dimensional reconstruction calculation based on the image data to determine target three-dimensional data; the calculation module is in communication connection with the three-dimensional scanner to acquire target three-dimensional data generated by the three-dimensional scanner and perform three-dimensional reconstruction calculation according to the target three-dimensional data to generate a first three-dimensional model; the display module is in communication connection with the calculation module to acquire the first three-dimensional model generated by the calculation module and display the first three-dimensional model in real time.
2. The system of claim 1, wherein the obtaining of the target three-dimensional data generated by the three-dimensional scanner and the calculation of the three-dimensional reconstruction from the target three-dimensional data to generate the first three-dimensional model comprises:
acquiring current frame target three-dimensional data generated by the three-dimensional scanner and acquiring stored previous frame target three-dimensional data in a real-time fusion mode;
determining a first rotation and translation relation between the current frame target three-dimensional data and a reference coordinate system based on common features of the current frame target three-dimensional data and the previous frame target three-dimensional data;
and fusing the current frame target three-dimensional data increment into a stored previous first three-dimensional model according to the first rotation-translation relation and a first preset fusion parameter to generate a current first three-dimensional model, wherein the reference coordinate system is a coordinate system where the first three-dimensional model is located.
3. The system of claim 1, wherein the obtaining of the target three-dimensional data generated by the three-dimensional scanner and the calculation of the three-dimensional reconstruction from the target three-dimensional data to generate the first three-dimensional model comprises:
acquiring all frame target three-dimensional data generated by the three-dimensional scanner in a global fusion mode;
determining a second rotation translation relation between the three-dimensional data of all the frame targets and the reference coordinate system based on the common characteristics of the three-dimensional data of all the frame targets;
and fusing all the stored frame target three-dimensional data according to the second rotation-translation relation and a first preset fusion parameter to generate a first three-dimensional model, wherein the reference coordinate system is a coordinate system where the first three-dimensional model is located, and the first preset fusion parameter comprises a first point distance.
4. The system of claim 3, wherein the computing module obtains a signal of completion of scanning of the three-dimensional scanner and enters a global optimization mode based on the signal.
5. The system according to claim 2, wherein incremental data of the current first three-dimensional model are acquired, the incremental data are rendered, and the first three-dimensional model corresponding to the rendered incremental data is sent to the display module.
6. The system of claim 1, wherein the display module further comprises an editing component for editing the first three-dimensional model displayed by the display module.
7. The system of claim 1, wherein after the computing module generates the first three-dimensional model, generating and storing a project file according to a set configuration file, the target three-dimensional data and the first three-dimensional model; the engineering file is used for generating a second three-dimensional model at other terminals, and the second three-dimensional model is the first three-dimensional model or a three-dimensional model generated by performing three-dimensional reconstruction calculation according to the target three-dimensional data and a second preset fusion parameter.
8. The system of claim 1, wherein the three-dimensional scanning system comprises a laser scanning mode in which the image data comprises laser line features and landmark point features, wherein the three-dimensional reconstruction calculations based on the laser line features in the image data generate point cloud three-dimensional data, wherein the three-dimensional reconstruction calculations based on the landmark point features in the image data generate landmark point three-dimensional data, and wherein the target three-dimensional data comprises the point cloud three-dimensional data and the landmark point three-dimensional data.
9. A three-dimensional scanning method applied to a three-dimensional scanner including a plurality of image sensors, the method comprising:
acquiring image data generated by the image sensor based on an object to be scanned;
and performing three-dimensional reconstruction calculation according to the image data to determine target three-dimensional data, wherein the target three-dimensional data is used for generating a first three-dimensional model corresponding to the object to be scanned, and the target three-dimensional data comprises point cloud three-dimensional data corresponding to a laser line output by the three-dimensional scanner and mark point three-dimensional data corresponding to at least one mark point on the object to be scanned.
10. A three-dimensional scanning method is applied to a terminal, and the method comprises the following steps:
acquiring three-dimensional data of an object to be scanned, which is generated by a three-dimensional scanner;
and determining a target fusion mode according to the generation condition of a first three-dimensional model corresponding to the object to be scanned, and performing three-dimensional reconstruction calculation according to the three-dimensional data in the target fusion mode to generate the first three-dimensional model, wherein the target fusion mode comprises a global fusion mode and/or a real-time fusion mode.
11. A three-dimensional scanning apparatus applied to a three-dimensional scanner including a plurality of image sensors, the apparatus comprising:
the acquisition unit is used for acquiring image data generated by the image sensor based on an object to be scanned;
and the determining unit is used for performing three-dimensional reconstruction calculation according to the image data to determine target three-dimensional data, wherein the target three-dimensional data is used for generating a first three-dimensional model corresponding to the object to be scanned, and the target three-dimensional data comprises a laser line output by the three-dimensional scanner and three-dimensional data corresponding to at least one marking point on the object to be scanned.
12. A three-dimensional scanning device, applied to a terminal, the device comprising:
the device comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring three-dimensional data of an object to be scanned, which is generated by a three-dimensional scanner;
and the generating unit is used for determining a target fusion mode according to the generation condition of a first three-dimensional model corresponding to the object to be scanned, and performing three-dimensional reconstruction calculation according to the three-dimensional data to generate the first three-dimensional model in the target fusion mode, wherein the target fusion mode comprises a global fusion mode and/or a real-time fusion mode.
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| CN202210306518.2A CN114858086A (en) | 2022-03-25 | 2022-03-25 | Three-dimensional scanning system, method and device |
| PCT/CN2023/083867 WO2023179782A1 (en) | 2022-03-25 | 2023-03-24 | Three-dimensional scanning system, method and apparatus, and mobile computing module |
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