CN114862884B - Three-dimensional contour information extraction method and device, electronic equipment and storage medium - Google Patents
Three-dimensional contour information extraction method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The present disclosure provides a three-dimensional contour information extraction method, comprising: preprocessing the obtained original point cloud data of the sole to obtain preprocessed point cloud data; dividing the preprocessed point cloud data based on the geometric features of the sole to obtain point cloud data of the sole plane; performing contour extraction on the point cloud data of the sole plane to obtain contour point cloud data of the sole; and performing curve fitting on the contour point cloud data of the sole to obtain three-dimensional contour information of the sole. The disclosure also provides a three-dimensional contour information extraction method, a three-dimensional contour information extraction device, electronic equipment and a readable storage medium.
Description
Technical Field
The disclosure relates to the technical field of intelligent manufacturing, and in particular relates to a three-dimensional contour information extraction method, a three-dimensional contour information extraction device, electronic equipment and a storage medium.
Background
Through decades of development, shoe making in China has become one of the most important industries in the traditional light industry. The last nineties of the last century, the international shoemaking industry gradually shifted from the west to the east, in which process china developed gradually into the world-wide largest shoemaking, consumption, trade center. At present, china has a relatively perfect shoe industry chain.
At present, the sole gluing process of small and medium shoe making enterprises in China is manually completed by workers, and the use of automatic equipment is not common. For small and medium-sized shoemaking enterprises, the gradual rise of labor cost brings great cost expenditure to the enterprises, and the randomness of manual gluing causes waste of a large amount of raw materials and has low working efficiency. Most of the automatic gluing equipment in the existing market comes from abroad, and has the problems of complex structure, difficult maintenance and the like. Most of domestic automatic sole gluing equipment is still in research and development stage, and mature technology popularization and application to shoemaking industry are not formed, so that the problems of high sole gluing cost, low efficiency, expensive equipment purchase and the like occur in medium and small shoemaking enterprises.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present disclosure provides a three-dimensional profile information extraction method, a three-dimensional profile information extraction device, an electronic device, and a storage medium.
The three-dimensional contour information extraction method, the three-dimensional contour information extraction device, the electronic equipment and the storage medium are realized through the following technical scheme.
According to one aspect of the present disclosure, there is provided a three-dimensional profile information extraction method including:
and preprocessing the obtained original point cloud data of the sole to obtain preprocessed point cloud data.
And dividing the preprocessed point cloud data based on the geometric features of the sole to obtain the point cloud data of the sole plane.
And carrying out contour extraction on the point cloud data of the sole plane to obtain contour point cloud data of the sole.
And performing curve fitting on the contour point cloud data of the sole to obtain three-dimensional contour information of the sole.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, the original point cloud data of the sole is obtained through a visual perception device.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, the preprocessing includes filtering the original point cloud data by a conditional filter of a preset constraint condition to prune the original point cloud data under an unconstrained condition.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, a statistical-based method is used to prune original point cloud data having a point cloud density smaller than a preset constraint condition by determining a point cloud density of sampling points of the original point cloud data.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, the demarcation of the point cloud density of the sampling point is based on a radius search method including determining the point cloud density of the sampling point by all neighboring points in a sphere centered on the sampling point and having d as a radius.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, the preprocessed point cloud data is subjected to segmentation processing by a point cloud data segmentation algorithm.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, the point cloud data segmentation algorithm includes setting different preset radii for sampling points in the preprocessed point cloud data, obtaining surface normal vectors corresponding to the different preset radii, and segmenting the preprocessed point cloud data based on differences of the surface normal vectors, so as to obtain the point cloud data of the sole plane.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, contour extraction is performed on point cloud data of the sole plane through a contour extraction algorithm.
According to a three-dimensional contour information extraction method of at least one embodiment of the present disclosure, the contour extraction algorithm includes: and judging whether each sampling point is contour point cloud data according to the vector included angle between each sampling point in the point cloud data of the sole plane and the projection of other point clouds in the neighborhood of the sampling point in the tangential plane.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, each sampling point in the point cloud data of the sole plane and the vector included angles projected by other point clouds in the neighborhood thereof in the tangential plane are ordered, the largest vector included angle is compared with a preset threshold value, and the sampling point with the vector included angle greater than the preset threshold value is extracted.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, the sampling points with vector included angles greater than a preset threshold are contour point cloud data of the sole.
According to the three-dimensional contour information extraction method of at least one embodiment of the present disclosure, curve fitting is performed on the contour point cloud data through a bezier curve fitting algorithm, so as to obtain three-dimensional contour information of a smooth sole.
According to another aspect of the present disclosure, there is provided another three-dimensional profile information extraction method including:
and acquiring original point cloud data of the sole through a visual perception device.
And preprocessing the original point cloud data of the sole to obtain preprocessed point cloud data.
And dividing the preprocessed point cloud data based on the geometric features of the sole to obtain the point cloud data of the sole plane.
And carrying out contour extraction on the point cloud data of the sole plane to obtain contour point cloud data of the sole.
And performing curve fitting on the contour point cloud data of the sole to obtain three-dimensional contour information of the sole.
According to another aspect of the present disclosure, there is provided a three-dimensional profile information extraction apparatus including:
the point cloud data preprocessing module is used for preprocessing the obtained original point cloud data of the sole to obtain preprocessed point cloud data.
And the point cloud data segmentation module is used for carrying out segmentation processing on the preprocessed point cloud data based on the geometric characteristics of the sole so as to obtain the point cloud data of the sole plane.
And the contour point cloud data extraction module is used for carrying out contour extraction on the point cloud data of the sole plane so as to obtain the contour point cloud data of the sole.
And the three-dimensional contour information acquisition module is used for performing curve fitting on the contour point cloud data of the sole so as to acquire the three-dimensional contour information of the sole.
According to still another aspect of the present disclosure, there is provided a three-dimensional profile information extraction system including:
the visual perception device is used for acquiring original point cloud data of the sole.
And the three-dimensional contour information extraction device is used for extracting information from the original point cloud data of the sole acquired by the visual perception device so as to acquire three-dimensional contour information of the sole.
The three-dimensional contour information extraction system according to at least one embodiment of the present disclosure further includes a signal transmission device for transmitting the original point cloud data of the sole to the three-dimensional contour information extraction device.
According to the three-dimensional contour information extraction system of at least one embodiment of the present disclosure, the visual perception device comprises an image acquisition device and a visual perception platform, the image acquisition device is arranged on the visual perception platform, and the sole is transmitted to a visual perception area of the image acquisition device on the visual perception platform so as to acquire original point cloud data of the sole.
According to still another aspect of the present disclosure, there is provided an electronic apparatus including:
a memory storing execution instructions; and a processor executing the memory-stored execution instructions, causing the processor to perform the method of any one of the above.
According to yet another aspect of the present disclosure, there is provided a readable storage medium having stored therein execution instructions which when executed by a processor are adapted to carry out the method of any one of the above.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a flow diagram of a three-dimensional profile information extraction method according to an embodiment of the present disclosure.
Fig. 2 is a flow chart illustrating a three-dimensional contour information extraction method according to another embodiment of the present disclosure.
Fig. 3 is a block diagram of a three-dimensional profile information extraction apparatus employing a hardware implementation of a processing system according to one embodiment of the present disclosure.
Fig. 4 is a schematic structural view of a three-dimensional profile information extraction system according to an embodiment of the present disclosure.
Fig. 5 is a schematic structural view of a visual perception device of one embodiment of the present disclosure.
Detailed Description
The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.
In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.
The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.
When an element is referred to as being "on" or "over", "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.
The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.
Fig. 1 is a flow diagram of a three-dimensional profile information extraction method according to one embodiment of the present disclosure.
As shown in fig. 1, the three-dimensional contour information extraction method S100 according to the present embodiment includes:
s102, preprocessing the obtained original point cloud data of the sole to obtain preprocessed point cloud data.
S104, dividing the preprocessed point cloud data based on the geometric features of the sole to obtain the point cloud data of the sole plane.
S106, carrying out contour extraction on the point cloud data of the sole plane to obtain contour point cloud data of the sole.
S108, performing curve fitting on the contour point cloud data of the sole to obtain three-dimensional contour information of the sole.
The present disclosure obtains the original point cloud data of the sole through the image acquisition device of the visual perception device, and the visual perception device can include the image acquisition device, for example, an industrial camera, and a person skilled in the art can select/adjust the type of the visual perception device and the like under the teaching of the technical scheme of the present disclosure, which all fall into the protection scope of the present disclosure.
The original point cloud data acquired by the image acquisition device disclosed by the disclosure contains redundant data and noise-containing data due to the influence of equipment and external environment, and the redundant data and the noise-containing data in the original point cloud data are filtered through preprocessing.
Preferably, the present disclosure filters the original point cloud data through a conditional filter of a preset constraint condition, and prunes the original point cloud data under an unconstrained condition, so as to implement preprocessing of the original point cloud data.
According to a preferred embodiment of the present disclosure, the present disclosure defines a point cloud density range of sampling points based on a radius search method: sampling points are extracted from the original point cloud data, and the point cloud density of the sampling points is determined by taking the sampling points as centers and taking d as all adjacent points in the sphere with the radius. The distance between the sampling point 1 and the sampling point 2 in the original point cloud data is calculated by adopting a Euclidean distance formula:
wherein d represents a radius, x 1 ，y 1 ，z 1 Respectively represent sampling points 1 in original point cloud dataThree-dimensional coordinate values; x is x 2 ，y 2 ，z 2 Respectively representing three-dimensional coordinate values of the sampling points 2 in the original point cloud data.
And identifying redundant data and noise-containing data in the original point cloud data by judging the point cloud density of sampling points of the original point cloud data based on a statistical method, and deleting the original point cloud data with the point cloud density smaller than a preset constraint condition by a condition filter.
Preferably, the preprocessed point cloud original data is segmented through a point cloud data segmentation algorithm, so as to obtain the point cloud data of the sole plane. The point cloud data segmentation algorithm is based on the geometric features of the sole: and for the curved surface, obtaining the normal vector of the curved surface corresponding to different preset radiuses according to the different preset radiuses.
According to the point cloud segmentation algorithm, different preset radiuses are set for sampling points of the preprocessed point cloud data of the sole, so that surface normal vectors corresponding to the different preset radiuses of the sampling points are obtained. And dividing the preprocessed point cloud data based on the difference of the normal vectors of the surfaces corresponding to different preset radiuses to obtain the point cloud data of the sole plane.
Specifically, for each sampling point of the preprocessed point cloud data of the sole, a surface normal vector corresponding to the sampling point is calculated with a larger preset radius R1, and then a surface normal vector corresponding to the sampling point is calculated with a smaller preset radius R2. And dividing the point cloud data corresponding to the target size by unitizing the difference of the normal vectors of the surfaces corresponding to different preset radiuses of each sampling point so as to obtain the point cloud data of the sole plane.
According to a preferred embodiment of the present disclosure, the outline point cloud data of the sole is extracted from the point cloud data of the sole plane: and judging whether the sampling points are contour point cloud data or not according to the vector included angles between each sampling point in the point cloud data of the sole plane and the projection of other point clouds in the neighborhood of the sampling points in the tangential plane, and extracting the sampling points which are the contour point cloud data.
Preferably, the plane equation of the sole plane is:
A*x+B*y+C*z+D＝0(C≠0)；
wherein x, y, z represent three-dimensional coordinate values of point cloud data of the sole plane, and A, B, C, D represent various constants of an expression of the plane equation.
Preferably, the matrix form of the plane equation of the sole plane is:
wherein x, y and z respectively represent three-dimensional coordinate values of a sampling point i in the point cloud data.
Preferably, a calculation formula of a vector included angle between each sampling point in the point cloud data of the sole plane and projection of other point clouds in the neighborhood thereof in the tangential plane is as follows:
wherein alpha is i Vector included angle alpha representing projection of sampling point i in tangential plane i-1 Representing the vector included angle theta of the projection of the point cloud i-1 in the tangential plane i Representing the vector included angle between the sampling point i and the projection of the point cloud i-1 in the tangential plane.
And (3) carrying out ascending order sequencing on each sampling point in the point cloud data of the sole plane and the vector included angles projected by other point clouds in the neighborhood of the sampling points in the tangential plane, comparing the largest vector included angle with a preset threshold value, and taking out the sampling points with the vector included angles larger than the preset threshold value, namely the contour point cloud data of the sole.
According to the preferred embodiment of the disclosure, the extracted contour point cloud data of the sole is subjected to curve fitting through a Bezier curve fitting algorithm so as to obtain three-dimensional contour information of the smooth sole.
The three-dimensional contour information extraction method provided by the disclosure can accurately extract the three-dimensional contour information of the sole in real time in the sole gluing process, so as to solve the intelligent sole gluing problem.
Fig. 2 is a flow diagram of a three-dimensional profile information extraction method according to another embodiment of the present disclosure.
As shown in fig. 2, the three-dimensional contour information extraction method S200 of the present embodiment includes:
s202, acquiring original point cloud data of the sole through a visual perception device;
s204, preprocessing original point cloud data of the sole to obtain preprocessed point cloud data;
s206, dividing the preprocessed point cloud data based on the geometric features of the sole to obtain point cloud data of the sole plane;
s208, carrying out contour extraction on the point cloud data of the sole plane to obtain contour point cloud data of the sole; and
s210, performing curve fitting on the contour point cloud data of the sole to obtain three-dimensional contour information of the sole.
FIG. 3 shows a block diagram of the architecture of a three-dimensional profile information extraction apparatus employing a hardware implementation of a processing system, according to one embodiment.
As shown in fig. 3, a three-dimensional profile information extraction apparatus according to an embodiment of the present disclosure includes:
the point cloud data preprocessing module is used for preprocessing the acquired original point cloud data of the sole to acquire preprocessed point cloud data;
the point cloud data segmentation module is used for carrying out segmentation processing on the preprocessed point cloud data based on the geometric characteristics of the sole so as to obtain point cloud data of the sole plane;
the contour point cloud data extraction module performs contour extraction on the point cloud data of the sole plane to obtain contour point cloud data of the sole; and
the three-dimensional contour information acquisition module performs curve fitting on the contour point cloud data of the sole to acquire three-dimensional contour information of the sole.
The apparatus may include corresponding modules that perform the steps of the flowcharts described above. Thus, each step or several steps in the flowcharts described above may be performed by respective modules, and the apparatus may include one or more of these modules. A module may be one or more hardware modules specifically configured to perform the respective steps, or be implemented by a processor configured to perform the respective steps, or be stored within a computer-readable medium for implementation by a processor, or be implemented by some combination.
The hardware architecture may be implemented using a bus architecture. The bus architecture may include any number of interconnecting buses and bridges depending on the specific application of the hardware and the overall design constraints. Bus 1100 connects together various circuits including one or more processors 1200, memory 1300, and/or hardware modules. Bus 1100 may also connect various other circuits 1400, such as peripherals, voltage regulators, power management circuits, external antennas, and the like.
Bus 1100 may be an industry standard architecture (ISA, industry Standard Architecture) bus, a peripheral component interconnect (PCI, peripheral Component) bus, or an extended industry standard architecture (EISA, extended Industry Standard Component) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one connection line is shown in the figure, but not only one bus or one type of bus.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure. The processor performs the various methods and processes described above. For example, method embodiments in the present disclosure may be implemented as a software program tangibly embodied on a machine-readable medium, such as a memory. In some embodiments, part or all of the software program may be loaded and/or installed via memory and/or a communication interface. One or more of the steps of the methods described above may be performed when a software program is loaded into memory and executed by a processor. Alternatively, in other embodiments, the processor may be configured to perform one of the methods described above in any other suitable manner (e.g., by means of firmware).
Logic and/or steps represented in the flowcharts or otherwise described herein may be embodied in any readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
For the purposes of this description, a "readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). In addition, the readable storage medium may even be paper or other suitable medium on which the program can be printed, as the program can be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner if necessary, and then stored in a memory.
It should be understood that portions of the present disclosure may be implemented in hardware, software, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or part of the steps implementing the method of the above embodiments may be implemented by a program to instruct related hardware, and the program may be stored in a readable storage medium, where the program when executed includes one or a combination of the steps of the method embodiments.
Furthermore, each functional unit in each embodiment of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. The storage medium may be a read-only memory, a magnetic disk or optical disk, etc.
Fig. 4 is a schematic structural view of a three-dimensional profile information extraction system according to an embodiment of the present disclosure.
As shown in fig. 4, the present disclosure further provides a three-dimensional profile information extraction system, including:
the visual perception device 2000, the visual perception device 2000 is used for obtaining the original point cloud data of the sole; and
the three-dimensional contour information extraction device 1000, the three-dimensional contour information extraction device 1000 performs information extraction on the original point cloud data of the sole acquired by the visual perception device 2000 to obtain three-dimensional contour information of the sole.
According to a preferred embodiment of the present disclosure, the three-dimensional profile information extraction system of the present disclosure further includes a signal transmission device 3000, and the signal transmission device 3000 is used for transmitting the original point cloud data of the sole to the three-dimensional profile information extraction device 1000.
Fig. 5 is a schematic structural diagram of a visual perception device 2000 according to an embodiment of the present disclosure.
Preferably, the visual perception device 2000 comprises an image acquisition device and a visual perception platform, and the image acquisition device is arranged on the visual perception platform.
As shown in fig. 5, the image pickup device includes an image pickup 2100 and a mounting fixture 2200, and the image pickup 2100 may employ a visual sensing device such as an industrial camera; the visual perception platform includes an encoder 2300, a conveyor belt 2400, and a sole 2500. The image pickup 2100 is fixed to the belt 2400 by the mounting and fixing portion 2200, and the encoder 2300 is connected to the belt 2400.
Preferably, the visual perception device 2000 is connected to the three-dimensional contour information extraction device 1000 through the signal transmission device 3000. The conveyor belt 2400 of the visual perception platform automatically adjusts the current motion parameters according to the parameter adjustment values sent by the three-dimensional contour information extraction device 1000, so that the sole 2500 is conveyed to the visual perception area of the image acquisition device through the conveyor belt 2400.
Preferably, the image acquisition device performs visual perception on the sole 2500 and acquires original point cloud data of the sole, and the image acquisition device transmits the acquired original point cloud data of the sole 2500 to the three-dimensional contour information extraction device 1000 through the signal transmission device 3000. The three-dimensional contour information extraction device 1000 performs preprocessing, point cloud data segmentation, and extraction of contour point cloud data of a sole plane on original point cloud data of the sole 2500, and generates three-dimensional contour information of the sole.
The original point cloud data of the sole 2500 acquired by the image acquisition device contains redundant data and data containing noise due to the influence of various reasons such as equipment and external environment, and the redundant data and the data containing noise in the original point cloud data are filtered by preprocessing of the three-dimensional contour information extraction device 1000, so that preprocessed point cloud data are obtained.
The three-dimensional contour information extraction device 1000 segments the preprocessed point cloud data by using a point cloud data segmentation method based on geometric features to obtain the point cloud data of the sole plane.
The three-dimensional contour information extraction device 1000 extracts the contour point cloud data of the sole through a contour extraction algorithm, and performs curve fitting on the contour point cloud data of the sole through a Bezier curve fitting algorithm, so that the three-dimensional contour information of the smooth sole is finally obtained.
After the three-dimensional profile information extraction device 1000 completes the data processing and generates the three-dimensional profile information of the sole, the three-dimensional profile information extraction device 1000 transmits a control signal to the conveyor belt so that the conveyor belt removes the sole.
The three-dimensional visual information sensing method is oriented to the intelligent and automatic requirements and application characteristics of the shoe manufacturing industry, achieves three-dimensional visual information sensing, solves the defect of inaccurate two-dimensional visual information, and effectively reduces cost.
The present disclosure also provides an electronic device, including: a memory storing execution instructions; and a processor or other hardware module that executes the memory-stored execution instructions, causing the processor or other hardware module to perform the method described above.
The present disclosure also provides a readable storage medium having stored therein execution instructions which when executed by a processor are adapted to carry out the above-described method.
In the description of the present specification, reference to the terms "one embodiment/mode," "some embodiments/modes," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the present application. In this specification, the schematic representations of the above terms are not necessarily the same embodiments/modes or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/implementations or examples described in this specification and the features of the various embodiments/implementations or examples may be combined and combined by persons skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.
Claims (1)
1. A three-dimensional contour information extraction method, characterized by comprising:
preprocessing the obtained original point cloud data of the sole to obtain preprocessed point cloud data; the original point cloud data of the sole are obtained through a visual perception device; the preprocessing comprises the steps of filtering the original point cloud data through a conditional filter of a preset constraint condition so as to prune the original point cloud data under an unconstrained condition;
dividing the preprocessed point cloud data based on the geometric features of the sole to obtain point cloud data of the sole plane;
performing contour extraction on the point cloud data of the sole plane to obtain contour point cloud data of the sole; and
performing curve fitting on the contour point cloud data of the sole to obtain three-dimensional contour information of the sole;
the statistical method is used for deleting the original point cloud data with the point cloud density smaller than a preset constraint condition through the condition filter by judging the point cloud density of the sampling points of the original point cloud data; the range definition of the point cloud density of the sampling point is based on a radius searching method, and the radius searching method comprises the steps of determining the point cloud density of the sampling point by taking the sampling point as a center and taking d as all adjacent points in a sphere with a radius;
the preprocessed point cloud data are subjected to segmentation processing through a point cloud data segmentation algorithm; the point cloud data segmentation algorithm comprises the steps of setting different preset radiuses for sampling points in the preprocessed point cloud data, obtaining surface normal vectors corresponding to the different preset radiuses, and segmenting the preprocessed point cloud data based on the difference of the surface normal vectors to obtain the point cloud data of the sole plane;
the method comprises the steps of carrying out contour extraction on point cloud data of a sole plane through a contour extraction algorithm; the contour extraction algorithm comprises the following steps: according to the vector included angles between each sampling point in the point cloud data of the sole plane and the projection of other point clouds in the neighborhood of the sampling points in the tangential plane, judging whether each sampling point is outline point cloud data or not;
sequencing the vector included angles of the projections of each sampling point in the point cloud data of the sole plane and other point clouds in the neighborhood of the sampling points in the tangential plane, comparing the largest vector included angle with a preset threshold value, and taking out the sampling points with the vector included angles larger than the preset threshold value; the sampling points with vector included angles larger than a preset threshold value are contour point cloud data of the sole;
and performing curve fitting on the contour point cloud data through a Bezier curve fitting algorithm to obtain three-dimensional contour information of the smooth sole.
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| CN110390237A (en) * | 2018-04-23 | 2019-10-29 | 北京京东尚科信息技术有限公司 | Processing Method of Point-clouds and system |
| CN111932688A (en) * | 2020-09-10 | 2020-11-13 | 深圳大学 | Indoor plane element extraction method, system and equipment based on three-dimensional point cloud |
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