CN115435754A - Photogrammetry method, photogrammetry device, three-dimensional scanning method and three-dimensional scanning system - Google Patents
Photogrammetry method, photogrammetry device, three-dimensional scanning method and three-dimensional scanning system Download PDFInfo
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Abstract
The application relates to a photogrammetry method, a photogrammetry device, a three-dimensional scanning method and a three-dimensional scanning system, wherein the photogrammetry method comprises the following steps: in the process of carrying out global positioning on a scanned object by image acquisition equipment in a three-dimensional scanning system, judging whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement; under the condition that the current positioning mode does not meet the scanning requirement, switching the positioning mode of the three-dimensional scanning system; and under the switched positioning mode which meets the scanning requirement, acquiring a plurality of groups of two-dimensional images of the scanning object acquired by the image acquisition equipment, and performing three-dimensional reconstruction on the mark points of the scanning object based on the plurality of groups of two-dimensional images to complete the global positioning of the scanning object. Different positioning modes are used by switching in the global positioning process, so that photogrammetry under different scanning requirements is realized, and the method can be suitable for various different scanning requirements.
Description
Technical Field
The present application relates to the field of photogrammetry, and in particular, to a photogrammetry method, an apparatus, a three-dimensional scanning method, and a three-dimensional scanning system.
Background
Photogrammetry techniques are widely used in the three-dimensional metrology industry, particularly for obtaining marking point data of the surface of a scanned object before three-dimensional scanning for global positioning. In the existing photogrammetry technology, photogrammetry equipment can only perform global positioning in a long distance or in a short distance, cannot flexibly perform global positioning under different distances, and cannot adapt to photogrammetry with different scanning requirements.
Therefore, no effective solution is provided at present for the problem that the photogrammetry scheme in the related art is not flexible enough and can not be applied to various different scanning requirements.
Disclosure of Invention
The present embodiment provides a photogrammetry method, an apparatus, a three-dimensional scanning method and a three-dimensional scanning system, so as to solve the problem in the related art that photogrammetry cannot be applied to multiple different scanning requirements.
In a first aspect, in this embodiment, a photogrammetry method is provided for global positioning of a three-dimensional scanning system, and includes the following steps:
in the process of carrying out global positioning on a scanned object by image acquisition equipment in the three-dimensional scanning system, judging whether the current positioning mode of the three-dimensional scanning system meets a preset scanning requirement or not;
switching the positioning mode of the three-dimensional scanning system under the condition that the current positioning mode does not meet the scanning requirement;
and under the switched positioning mode which meets the scanning requirement, acquiring a plurality of groups of two-dimensional images of the scanning object acquired by the image acquisition equipment, and performing three-dimensional reconstruction on the mark points of the scanning object based on the plurality of groups of two-dimensional images to complete global positioning of the scanning object.
In some of these embodiments, the positioning mode includes at least two positioning modes.
In some of these embodiments, the method further comprises:
performing fusion calculation on the initial information acquired in the at least two positioning modes; wherein the initial information comprises an original image or marker point information extracted from the original image.
In some embodiments, the performing a fusion calculation on the initial information obtained in the at least two positioning modes includes:
respectively acquiring initial information under at least two positioning modes;
and performing light beam adjustment fusion calculation on the initial information acquired in the at least two positioning modes to acquire fused three-dimensional data of the mark point.
In some embodiments, when the positioning mode is distinguished according to a complementary wavelength band, the determining whether a current positioning mode of the three-dimensional scanning system meets a preset scanning requirement in a process of performing global positioning on a scanning object by an image acquisition device in the three-dimensional scanning system includes:
in the process that an image acquisition device in the three-dimensional scanning system carries out global positioning on the scanning object, determining the scanning distance between the image acquisition device and the scanning object based on a two-dimensional image acquired by the image acquisition device;
judging whether the scanning distance is matched with the distance limit of a current positioning mode corresponding to the current supplementary lighting wave band, and if so, scanning according to the current positioning mode; if not, the corresponding positioning mode is switched to manually or automatically.
In some embodiments, when the positioning mode is distinguished according to a complementary wavelength band, the determining whether a current positioning mode of the three-dimensional scanning system meets a preset scanning requirement in a process of performing global positioning on a scanning object by an image acquisition device in the three-dimensional scanning system further includes:
judging whether the predetermined scanning distance is matched with the distance limit of the current positioning mode corresponding to the current supplementary lighting waveband, and if so, scanning according to the current positioning mode; and if not, manually switching to the corresponding positioning mode.
In some of these embodiments, the positioning mode further comprises distinguishing according to the following parameters: camera resolution or type of the image acquisition device.
In some of these embodiments, the fill-in wavelength band includes at least two wavelength bands.
In some embodiments, the fill-in wavelength band comprises at least one of: a blue light band, an infrared band, and a red light band.
In some of these embodiments, after three-dimensional reconstruction of the marker points of the scanned object based on the plurality of sets of two-dimensional images, the method further comprises:
reconstructing the mark points of the scanned object after three-dimensional reconstruction, performing re-projection to obtain re-projected mark points, and calculating mark point difference values between the re-projected mark points and the mark points in the two-dimensional image;
and optimizing the reconstructed marking point based on the marking point difference under the condition that the marking point difference does not meet the preset error requirement until the marking point difference obtained by recalculation meets the preset error requirement according to the optimized reconstructed marking point.
In some of these embodiments, the method further comprises:
and optimizing the reconstruction mark point by taking the reference size of the reference piece as a constraint condition.
In some of these embodiments, the method further comprises:
acquiring reference piece information of the same reference piece at different positions, and coding the reference piece at each position to obtain coding values of the reference piece at different positions;
and performing precision optimization on the marking points based on the coding values of the reference pieces and the information of the reference pieces.
In a second aspect, there is provided in this embodiment a three-dimensional scanning method for use in a three-dimensional scanning system, the method comprising:
based on the photogrammetry method of the first aspect, global positioning is carried out on a scanned object to obtain a global positioning result;
and performing three-dimensional scanning based on the global positioning result.
In a third aspect, there is provided a photogrammetric apparatus for global localization by a three-dimensional scanning system, comprising:
a judging module: the system is used for judging whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement or not in the process of carrying out global positioning on a scanning object by image acquisition equipment in the three-dimensional scanning system;
a switching module: the positioning mode switching unit is used for switching the positioning mode of the three-dimensional scanning system under the condition that the current positioning mode does not meet the scanning requirement;
a positioning module: and the three-dimensional reconstruction module is used for acquiring a plurality of groups of two-dimensional images of the scanning object acquired by the image acquisition equipment in the switched positioning mode which meets the scanning requirement, and performing three-dimensional reconstruction on the mark points of the scanning object based on the plurality of groups of two-dimensional images so as to complete global positioning of the scanning object.
In some of these embodiments, the photogrammetric device further comprises:
a fusion module: the system is used for carrying out fusion calculation on initial information acquired in at least two positioning modes; wherein the initial information includes an original image or marker point information extracted from the original image.
In a fourth aspect, there is provided in this embodiment a three-dimensional scanning system, comprising: the device comprises image acquisition equipment and processing equipment, wherein the image acquisition equipment comprises at least 1 camera device and is used for acquiring mark points of a scanned object in the global positioning process;
the processing device is configured to perform the photogrammetry method of the first aspect and the three-dimensional scanning method of the second aspect.
In a fifth aspect, in the present embodiment, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the photogrammetric method of the first aspect described above.
Compared with the related art, the photogrammetry method, the photogrammetry device, the three-dimensional scanning method and the three-dimensional scanning system provided in the embodiment judge whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement or not in the process of carrying out global positioning on a scanned object by image acquisition equipment in the three-dimensional scanning system; switching the positioning mode of the three-dimensional scanning system under the condition that the current positioning mode does not meet the scanning requirement; and under the switched positioning mode which meets the scanning requirement, acquiring a plurality of groups of two-dimensional images of the scanning object acquired by the image acquisition equipment, and performing three-dimensional reconstruction on the mark points of the scanning object based on the plurality of groups of two-dimensional images to complete the global positioning of the scanning object. Different positioning modes are used by switching in the global positioning process, so that photogrammetry under different scanning requirements is realized, and the method can be suitable for various different scanning requirements. The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more concise and understandable description of the application, and features, objects, and advantages of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a hardware configuration of a terminal of the photogrammetry method of the present embodiment;
FIG. 2 is a flowchart of a photogrammetry method of the present embodiment;
fig. 3 is a flowchart of a three-dimensional scanning method of the present embodiment;
FIG. 4 is a flow chart of the photogrammetry method of the preferred embodiment;
FIG. 5 is a block diagram showing the structure of the photogrammetric apparatus of the present embodiment;
fig. 6 is a schematic structural diagram of the three-dimensional scanning system of the present embodiment.
Detailed Description
For a clearer understanding of the objects, aspects and advantages of the present application, reference is made to the following description and accompanying drawings.
Unless defined otherwise, technical or scientific terms referred to herein shall have the same general meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of this application do not denote a limitation of quantity, either in the singular or the plural. The terms "comprises," "comprising," "has," "having," and any variations thereof, as referred to in this application, are intended to cover non-exclusive inclusions; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or modules, but may include other steps or modules (elements) not listed or inherent to such process, method, article, or apparatus. Reference in this application to "connected," "coupled," and the like is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference to "a plurality" in this application means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. In general, the character "/" indicates a relationship in which the objects associated before and after are an "or". The terms "first," "second," "third," and the like in this application are used for distinguishing between similar items and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the present embodiment may be executed in a terminal, a computer, or a similar computing device. For example, the present invention is executed on a terminal, and fig. 1 is a block diagram of a hardware configuration of the terminal according to the photogrammetry method of the present embodiment. As shown in fig. 1, the terminal may include one or more processors 102 (only one shown in fig. 1) and a memory 104 for storing data, wherein the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those of ordinary skill in the art that the structure shown in fig. 1 is merely an illustration and is not intended to limit the structure of the terminal described above. For example, the terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to the photogrammetry method in the present embodiment, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. The network described above includes a wireless network provided by a communication provider of the terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In the present embodiment, a photogrammetry method is provided, and fig. 2 is a flowchart of the photogrammetry method of the present embodiment, as shown in fig. 2, the flowchart includes the following steps:
step S210, during the process of global positioning of the scanned object by the image acquisition device in the three-dimensional scanning system, determining whether the current positioning mode of the three-dimensional scanning system meets a preset scanning requirement.
The positioning mode of the three-dimensional scanning system may be determined by one or more factors of the available shooting distance of the three-dimensional scanning system, the resolution of the image acquisition device, and the device type of the image acquisition device. For example, the positioning mode of the three-dimensional scanning system may be determined by its photographable distance, with different photographable distances corresponding to different positioning modes. In addition, the preset scanning requirement is specifically a scanning requirement determined in advance according to an application scenario. For example, the scanning requirement of the application scene can be predetermined by integrating information such as the size of the scanning object, the scanning distance from the image acquisition device, and the structure of the scanning object. Further, when the scanning object is a relatively large object such as an airplane, a ship and the like, the scanning requirement can be to acquire the image information of the scanning object from a long distance; when the scanning object is a local structure such as an automobile engine hood, an automobile body and the like, the scanning requirement can be to finely acquire the image information of the scanning object at a short distance.
Step S220, under the condition that the current positioning mode does not meet the scanning requirement, the positioning mode of the three-dimensional scanning system is switched.
In order to adapt the photogrammetry in different application scenarios, a positioning mode meeting the scanning requirement needs to be selected. In the case that the current positioning mode does not meet the scanning requirements, the positioning mode of the three-dimensional scanning system may be switched based on a determining factor of the positioning mode. For example, when the positioning mode is distinguished by a photographable distance of the three-dimensional scanning system, the positioning mode may be switched by changing the photographable distance of the three-dimensional scanning system. Preferably, the switching of the shooting distance can be realized by switching the supplementary lighting waveband of the three-dimensional scanning system, so as to switch the positioning mode of the three-dimensional scanning system. For another example, in the case where the positioning modes are distinguished based on the resolution of the image capturing apparatus, the positioning mode that meets the scanning requirements can be switched by adjusting the resolution of the image capturing apparatus. Similarly, in the case where the positioning modes are distinguished based on the types or specifications of the image capturing apparatuses, it is possible to switch to obtain a positioning mode that meets the scanning requirements by switching to use an image capturing apparatus of the corresponding type or specification.
Next, switching of the positioning mode will be specifically explained by the following example. And setting different positioning modes with shooting distances, wherein the positioning modes with different shooting distances correspond to light supplementing wave bands with different wavelengths. The light supplement waveband with the shortest wavelength is correspondingly used for a first positioning mode of short-distance work, the light supplement waveband with the middle wavelength is correspondingly used for a second positioning mode of conventional distance work, and the light supplement waveband with the longest wavelength is correspondingly used for a third positioning mode of long-distance work. In the global positioning process, the photogrammetry in the corresponding scene can be realized by randomly combining the three different positioning modes. In addition, when a specific positioning mode is selected, the corresponding positioning mode can be predetermined based on scanning requirements, and the corresponding positioning mode can be adaptively adjusted by measuring the scanning distance between the scanning object and the image acquisition device in real time in the global positioning process. In addition, in the process of switching the positioning mode, automatic switching can be realized through the control component, and manual switching can also be performed according to requirements. It should be understood by those skilled in the art that the above examples are only for illustrating the switching of the positioning mode, and do not constitute a specific limitation on the positioning mode switching manner.
Step S230, acquiring multiple sets of two-dimensional images of the scanned object acquired by the image acquisition device in the switched positioning mode meeting the scanning requirement, and performing three-dimensional reconstruction on the mark points of the scanned object based on the multiple sets of two-dimensional images to complete global positioning of the scanned object.
Specifically, the multiple sets of two-dimensional images may be obtained by synchronously capturing images of the scanned object at different positions by multiple image capturing devices in the image capturing apparatus. Then, the marking point data of the surface of the scanning object can be extracted from the multiple groups of two-dimensional images and three-dimensionally reconstructed to realize global positioning of the scanning object. Further, the two-dimensional marking point data in the two-dimensional image may be three-dimensionally reconstructed based on a preset reconstruction algorithm, such as binocular vision, multi-view vision, and the like, so as to obtain three-dimensional marking point data. Additionally, after the reconstructed marker point data is obtained, it can be further subjected to precision optimization.
Preferably, the reconstructed marker point data may be precision optimized based on the principle of reprojection error. For another example, when the image capturing device captures a two-dimensional image in a local range, a standard ruler may be placed in the local range, so that the image capturing device can capture information related to the length of the standard ruler on the standard ruler at the same time. After the three-dimensional reconstruction is performed on the mark points, the precision of the mark point data can be optimized based on the relevant information of the standard ruler. Additionally, in the process of shooting a plurality of groups of two-dimensional images at different positions of a scanned object by the image collector, the same standard ruler can be moved to different positions for shooting, so that the precision optimization of the marking points is realized.
For example, in the case that the positioning mode is distinguished according to the fill-in wavelength band, the photogrammetry process of this embodiment may specifically be: in the process that image acquisition equipment in a three-dimensional scanning system carries out global positioning on a scanning object, judging whether a current positioning mode corresponding to a current light supplementing wave band of the three-dimensional scanning system meets a preset scanning requirement or not based on a scanning distance between the image acquisition equipment and the scanning object; and under the condition that the current positioning mode does not meet the scanning requirement, the measurement range of the three-dimensional scanning system is adjusted by switching the supplementary lighting wave band of the three-dimensional scanning system, so that the positioning mode of the three-dimensional scanning system is switched. And under the switched positioning mode which meets the scanning requirement, acquiring a plurality of groups of two-dimensional images of the scanning object acquired by the image acquisition equipment, and performing three-dimensional reconstruction on the mark points of the scanning object based on the plurality of groups of two-dimensional images to complete the global positioning of the scanning object.
In the above steps S210 to S230, in the process of global positioning of the scanned object by the image acquisition device in the three-dimensional scanning system, it is determined whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement; under the condition that the current positioning mode does not meet the scanning requirement, switching the positioning mode of the three-dimensional scanning system; and under the switched positioning mode which meets the scanning requirement, acquiring a plurality of groups of two-dimensional images of the scanning object acquired by the image acquisition equipment, and performing three-dimensional reconstruction on the mark points of the scanning object based on the plurality of groups of two-dimensional images to complete the global positioning of the scanning object. Different positioning modes are used by switching in the global positioning process, so that photogrammetry under different scanning requirements is realized, and the method can be suitable for various different scanning requirements.
In one embodiment, the positioning modes include at least two positioning modes. For example, the positioning mode is divided into a long-distance positioning mode, a standard-distance positioning mode, and a short-distance positioning mode according to a photographable distance.
Further, in an embodiment, the photogrammetry method may further include the steps of:
step S240, performing fusion calculation on the initial information acquired in at least two positioning modes; wherein the initial information includes an original image or marker point information extracted from the original image. For example, the marker point information extracted in different positioning modes may be fused. By fusing the initial information acquired in at least two positioning modes, the global positioning precision can be improved.
Further, in an embodiment, based on the step S240, performing fusion calculation on the initial information acquired in at least two positioning modes may specifically include the following steps:
step S241, respectively obtaining initial information under at least two positioning modes;
step S242, performing beam adjustment fusion calculation on the initial information obtained in at least two positioning modes, and obtaining three-dimensional data of the fused mark points. For example, the initial information acquired by the image acquisition device in the standard distance positioning mode and the initial information acquired by the image acquisition device in the remote positioning mode may be acquired based on different fill-in light bands. The initial information under the two positioning modes is subjected to beam adjustment fusion calculation, so that fused three-dimensional data of the mark points is obtained, and the precision of the mark point data is improved. For example: when a large airplane is scanned, firstly, global optimization is carried out by using an infrared band positioning mode, and first mark point data under the infrared band positioning mode are obtained, wherein the first mark point data comprise a mark point radius r1, a mark point central coordinate O1 (x 1, y1, z 1) and the like; when other small parts with small sizes near the scanning device are scanned, the blue light wave band positioning mode is required to be used for global optimization, second mark point data under the blue light wave band positioning mode is obtained, the second mark point data comprise radius r2, mark point central coordinates O2 (x 2, y2, z 2) and the like, the first mark point data and the second mark point data can be subjected to beam adjustment fusion integrally, optimized high-precision mark point data are obtained, and a mark point database is formed. Of course, the present application is not limited to the fusion of the initial information in the two positioning modes, and the initial information in the different positioning modes may be fused according to the actual global optimization requirement to obtain high-precision mark point data, which is not described herein again.
Additionally, in an embodiment, based on the step S210, when the positioning mode is distinguished according to the complementary light band, in the process that the image capturing device in the three-dimensional scanning system performs global positioning on the scanning object, it is determined whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement, which specifically includes the following steps:
step S211, in the process that the image capturing device in the three-dimensional scanning system performs global positioning on the scanned object, based on the two-dimensional image captured by the image capturing device, determining a scanning distance between the image capturing device and the scanned object.
When the positioning mode is distinguished according to the supplementary lighting waveband, the shooting distance of the three-dimensional scanning system can be controlled by switching and using wavebands with different wavelengths, namely the measurement range of the three-dimensional scanning system is adjusted, and then the switching of different positioning modes is realized. In the global positioning process, a positioning mode may be selected at first for shooting, for example, shooting may be performed according to a preset default positioning mode, and then, under a current supplementary lighting waveband corresponding to the positioning mode, an actual scanning distance between the image acquisition device and the scanned object is measured and obtained according to a two-dimensional image acquired by the image acquisition device.
Step S212, judging whether the scanning distance is matched with the distance limit of the current positioning mode corresponding to the current supplementary lighting wave band, and if so, scanning according to the current positioning mode; if not, the corresponding positioning mode is switched to manually or automatically.
It will be appreciated that the range limits of the current positioning mode may include both minimum and maximum range limits. Judging whether the scanning distance is matched with the distance limit of the current positioning mode corresponding to the current supplementary lighting waveband, specifically judging whether the scanning distance is larger than the minimum distance limit and smaller than the maximum distance limit, if so, determining that the scanning distance is matched with the distance limit of the current positioning mode, otherwise, determining that the scanning distance is not matched with the distance limit of the current positioning mode. For example, the current wavelength band is 450nm (nanometers, which is a measure of length), and the corresponding positioning mode of the wavelength band is suitable for scanning an object at a close distance. If the detected scanning distance exceeds the maximum distance limit of the wave band, the current wave band is continuously used for light supplement, the definition of the mark point data obtained by the image acquisition equipment is affected, and therefore the light supplement wave band of the three-dimensional scanning system needs to be switched to the wave band adaptive to the scanning distance. For example, the fill-in wavelength band may be switched to 638nm to fill in light. At this time, after the switching of the supplementary lighting band is completed, the positioning mode is also changed correspondingly.
It can be understood that, in this embodiment, after the positioning mode is determined according to the scanning distance, global positioning is completed based on the same positioning mode, or whether the scanning distance matches the positioning mode is detected in real time in the global positioning process, and once it is detected that the scanning distance is changed, the current positioning mode is no longer matched, the positioning mode is manually or automatically switched. When the positioning mode is distinguished according to the supplementary lighting waveband, the switching of the supplementary lighting waveband can be completed by controlling supplementary lighting equipment arranged in the three-dimensional scanning system. The fill-in light device has at least two different wave bands.
In the above steps S211 to S212, based on the fill-in light band distinguishing and positioning mode, global positioning of different measurement ranges of the three-dimensional scanning system is achieved by switching different fill-in light bands, so that global positioning meeting requirements of different measurement ranges can be achieved, and further, applicability of the photogrammetry in scenes of different measurement ranges is improved.
Additionally, in an embodiment, based on the step S210, when the positioning mode is distinguished according to the complementary light band, in the process that the image capturing device in the three-dimensional scanning system performs global positioning on the scanning object, it is determined whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement, and the method may further include the following steps:
step S213, judging whether the predetermined scanning distance is matched with the distance limit of the current positioning mode corresponding to the current supplementary lighting wave band, if so, scanning according to the current positioning mode; and if not, manually switching to the corresponding positioning mode.
Specifically, the scanning distance between the image acquisition device and the scanned object in the current scanning scene may be predetermined according to actual experience or priori knowledge of a person skilled in the art, and it is determined whether the scanning distance matches the distance limit of the current positioning mode corresponding to the current fill-in light band.
Additionally, in one embodiment, the above positioning modes may be further distinguished according to the following parameters: camera resolution or type of image acquisition device. When the positioning modes are distinguished according to the camera resolution, the camera resolution can be switched, so that the photogrammetry meeting different resolution requirements can be met, and the applicability of the photogrammetry to scenes with different resolution requirements can be improved. When the positioning modes are distinguished according to the types of the image acquisition devices, the positioning modes can be switched by switching the types of the image acquisition devices, for example, at least two different types of image acquisition devices can be preset in a three-dimensional scanning system, and the photogrammetry required by the corresponding device type is completed by switching the different types of image acquisition devices, so that the applicability of the photogrammetry to different scenes is improved.
Additionally, in an embodiment, the fill-in light band includes at least two fill-in light bands. Through switching in two at least light filling wave bands, can realize the photogrammetry of two at least different measuring ranges to promote the suitability of photogrammetry to different scenes.
Further, in an embodiment, the fill-in light band includes at least one of the following bands: a blue band, an infrared band, and a red band. The blue light band of 450nm can be used to complete close-range fine scanning, so that the blue light band can correspond to a close-range positioning mode of a three-dimensional scanning system; the 638nm red band is suitable for conventional range scanning, so the red band may correspond to the standard range-finding mode of a three-dimensional scanning system; the 850nm infrared band is suitable for remote scanning, and thus the infrared band may correspond to a remote positioning mode of a three-dimensional scanning system. In addition, the skilled person can also perform global localization based on other bands, including but not limited to green band, violet band, etc.
In practical applications, the three different positioning modes may be combined in the three-dimensional scanning system based on requirements of application scenarios, for example, the positioning modes in the three-dimensional scanning system may include the three positioning modes, and the fine scanning, the conventional distance scanning, and the long-distance scanning are respectively completed by switching to use the different positioning modes. For another example, the positioning mode in the three-dimensional scanning system may also include only the short-range positioning mode and the standard-range positioning mode, or only include the standard-range positioning mode and the long-range positioning mode, so as to realize global positioning of two different measurement ranges. The specific selection manner of the positioning mode may be set according to the actual application requirement, and the embodiment is not specifically limited herein.
Additionally, in an embodiment, after three-dimensional reconstruction of the marker points of the scanning object based on the plurality of sets of two-dimensional images, the photogrammetry method may further include the steps of:
and step S251, reconstructing the mark points after three-dimensional reconstruction is carried out on the mark points of the scanning object, carrying out re-projection to obtain re-projection mark points, and calculating the mark point difference between the re-projection mark points and the mark points in the two-dimensional image.
And the reconstructed marking point obtained after the three-dimensional reconstruction of the marking point is the three-dimensional marking point obtained by calculation. In order to perform precision optimization on the reconstruction mark point, the precision optimization can be completed by repeatedly performing reprojection on the reconstruction mark point. In each re-projection process, the reconstruction mark points can be re-projected to obtain two-dimensional re-projection mark points. Comparing the re-projection mark point with the two-dimensional mark point in the two-dimensional image collected by the image collecting device, calculating the difference value, and obtaining the re-projection error, namely the mark point difference value.
Step S252, when the difference value of the mark point does not meet the preset error requirement, the reconstructed mark point is optimized based on the difference value of the mark point until the difference value of the mark point obtained by recalculation meets the preset error requirement according to the reconstructed mark point after optimization.
Whether the difference value of the mark point meets the preset error requirement can be judged by judging whether the difference value of the mark point is within the preset error allowable range. And when the difference value of the mark points is out of the preset error allowable range, determining that the difference value of the mark points does not meet the error requirement, optimizing the reconstructed mark points, re-projecting the reconstructed mark points again, and calculating the difference value of the mark points until the obtained difference value of the mark points meets the preset error requirement, and determining that the precision optimization of the reconstructed mark points is finished.
Further, in an embodiment, the photogrammetry method may further include the steps of:
and step S254, optimizing the reconstruction mark points by using the reference dimension of the reference piece as a constraint condition.
Specifically, in the process of performing precision optimization on the reconstruction mark point, the reference size of the reference piece may be used as a constraint condition of the optimization process. The reference member may be a standard ruler, and the reference dimension of the reference member may be a standard length predetermined by the standard ruler. Therefore, the standard length of the standard ruler can be used as a constraint condition in the optimization process to perform precision optimization on the marking points.
Additionally, in one embodiment, the photogrammetry method may further comprise the steps of:
step S261, obtaining reference information of the same reference at different positions, and encoding the reference at each position to obtain encoded values of the reference at different positions.
In the photogrammetry process, reference pieces are often used to improve the precision, and both ends of each reference piece are provided with mark points/coding points and also provided with numbers, namely the coding values. If the number of the mark point/coding point at one end of one reference piece is the same as that of the mark point/coding point at one end of the other reference piece, the system can be identified by mistake, and the mark points with the same number are considered as the same mark point. According to the scheme, only one reference piece is used, the positions of the reference pieces are changed, and the reference pieces at different positions are numbered, so that the problem that mark points with the same number are mistakenly identified is solved. For example, when the reference piece is placed at position 1, the two ends are numbered 1001 and 1002; when the reference is placed at position 2, the reference is numbered 2001 and 2002, respectively, so that the system can easily recognize that the reference is the same but is not located at the same position when calculating.
And step S262, optimizing the precision of the mark points based on the coding values of the reference pieces and the information of the reference pieces.
And determining the position of the reference piece based on the coded value of the reference piece, and performing precision optimization on the reconstructed marking point based on the reference piece information at the position, so as to improve the precision of the reconstructed marking point, wherein the reference piece information can be the reference length of the reference piece.
The embodiment also provides a three-dimensional scanning method. Fig. 3 is a flowchart of the three-dimensional scanning method of the present embodiment, and as shown in fig. 3, the flowchart includes the following steps:
step S310, based on the photogrammetry method provided in any of the above embodiments, performs global positioning on the scanned object to obtain a global positioning result.
And step S320, performing three-dimensional scanning based on the global positioning result. Specifically, based on the global positioning result, the scanning object is scanned in three dimensions, so that the three-dimensional reconstruction of the scanning object is completed. It can be understood that, during the three-dimensional scanning of the scanning object, the scanning requirements of the scanning scene can also be adapted by switching different positioning modes. For example, when the scanning object needs to be scanned three-dimensionally in a short distance, a laser of the three-dimensional scanning system can be controlled to emit blue laser, and a light supplement lamp with the wavelength of 450nm is controlled to supplement light; when the scanning object needs to be subjected to three-dimensional scanning at a standard distance, the laser can be controlled to emit red laser, and a 638nm light supplement lamp is controlled to supplement light.
In the above steps S310 to S320, different positioning modes can be switched to use in the global positioning process, so that photogrammetry under different scanning requirements can be realized, and the method can be further applied to various application scenarios with different scanning requirements.
The present embodiment is described and illustrated below by means of preferred embodiments.
Fig. 4 is a flowchart of the photogrammetry method of the preferred embodiment, which, as shown in fig. 4, includes the following steps:
s401, integrating the size and the scanning distance of a scanned object, and selecting a global positioning mode;
step S402, in the global positioning process, the actual scanning distance between the image acquisition equipment and the scanned object is measured and calculated based on the image acquired in real time, whether the selected global positioning mode is appropriate or not is judged, if not, the step S403 is executed, and if so, the step S404 is executed;
step S403, switching to a corresponding global positioning mode to continue to execute global positioning;
s404, placing a standard ruler in a local shooting range, and acquiring a plurality of groups of two-dimensional images of a scanned object through at least two camera devices; the plurality of sets of two-dimensional images comprise standard ruler images;
step S405, respectively extracting mark point data and standard ruler images in a plurality of groups of two-dimensional images;
step S406, reconstructing mark point data;
step S407, carrying out reprojection on the reconstructed mark point data to obtain reprojection mark points;
step S408, calculating a distance difference between the re-projection mark point and a mark point in the two-dimensional image to obtain a mark point difference;
step S409, if the difference value of the mark points is not within the error allowable range, optimizing the reconstructed mark points, and repeating the steps S407 to S408 until the difference value of the mark points is within the error allowable range, and confirming that the precision optimization of the mark points is finished;
step S410, in the process of optimizing the reconstruction mark points, based on the standard length of the standard ruler and the extracted standard ruler image, determining the constraint conditions of the optimization process.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here. For example, step S402 and step S405.
In this embodiment, a photogrammetric apparatus is further provided, and the apparatus is used to implement the above embodiments and preferred embodiments, and the description of the apparatus is omitted. The terms "module," "unit," "subunit," and the like as used below may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram of a configuration of a photogrammetric apparatus 50 of the present embodiment, and as shown in fig. 5, the photogrammetric apparatus 50 includes:
the judging module 52: the system is used for judging whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement or not in the process of carrying out global positioning on a scanning object by image acquisition equipment in the three-dimensional scanning system;
the switching module 54: the positioning mode switching device is used for switching the positioning mode of the three-dimensional scanning system under the condition that the current positioning mode does not meet the scanning requirement; and the number of the first and second groups,
the positioning module 56: and the three-dimensional reconstruction module is used for acquiring a plurality of groups of two-dimensional images of the scanned object acquired by the image acquisition equipment in the switched positioning mode which meets the scanning requirement, and performing three-dimensional reconstruction on the mark points of the scanned object based on the plurality of groups of two-dimensional images so as to complete global positioning of the scanned object.
The photogrammetric apparatus 50 determines whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement in the process of global positioning of the scanned object by the image acquisition device in the three-dimensional scanning system; switching the positioning mode of the three-dimensional scanning system under the condition that the current positioning mode does not meet the scanning requirement; and under the switched positioning mode which meets the scanning requirement, acquiring a plurality of groups of two-dimensional images of the scanning object acquired by the image acquisition equipment, and performing three-dimensional reconstruction on the mark points of the scanning object based on the plurality of groups of two-dimensional images to complete the global positioning of the scanning object. Different positioning modes are used by switching in the global positioning process, so that photogrammetry under different scanning requirements is realized, and the method can be suitable for various different scanning requirements.
Further, in an embodiment, the photogrammetric apparatus 50 further includes a fusion module, configured to perform fusion calculation on the initial information obtained in at least two positioning modes; wherein the initial information includes an original image or marker point information extracted from the original image.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules may be located in different processors in any combination.
In this embodiment, a three-dimensional scanning system 60 is further provided, and fig. 6 is a schematic structural diagram of the three-dimensional scanning system 60 of this embodiment. As shown in fig. 6, the three-dimensional scanning system 60 includes: the system comprises an image acquisition device 62 and a processing device 64, wherein the image acquisition device 62 comprises at least 1 camera device, and the image acquisition device 62 is used for acquiring mark points of a scanning object in the global positioning process; in this application, the number of the image capturing devices is not limited, and the above embodiments are mainly explained based on the case of multiple image capturing devices (including two image capturing devices), and actually, the principle that a single image capturing device realizes flexible global positioning is the same as the principle that multiple image capturing devices realize, which is not described herein again.
The processing device 64 is configured to execute the photogrammetry method provided by any of the above embodiments, and the three-dimensional scanning method provided by the above embodiments.
The three-dimensional scanning system 60 uses different positioning modes by switching in the global positioning process, thereby realizing photogrammetry under different scanning requirements, and further being capable of being suitable for various different scanning requirements.
In addition, in combination with the photogrammetry method provided in the above embodiment, a storage medium may also be provided to implement in the present embodiment. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any of the photogrammetry methods in the above embodiments.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
The term "embodiment" is used herein to mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly or implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent protection. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (17)
1. A photogrammetry method is used for global positioning of a three-dimensional scanning system, and is characterized by comprising the following steps:
in the process of carrying out global positioning on a scanned object by image acquisition equipment in the three-dimensional scanning system, judging whether a current positioning mode of the three-dimensional scanning system meets a preset scanning requirement;
switching the positioning mode of the three-dimensional scanning system under the condition that the current positioning mode does not meet the scanning requirement;
and under the switched positioning mode which meets the scanning requirement, acquiring a plurality of groups of two-dimensional images of the scanning object acquired by the image acquisition equipment, and performing three-dimensional reconstruction on the mark points of the scanning object based on the plurality of groups of two-dimensional images to complete global positioning of the scanning object.
2. The photogrammetric method of claim 1, wherein the positioning mode comprises at least two positioning modes.
3. The photogrammetry method of claim 2, further comprising:
performing fusion calculation on the initial information acquired in the at least two positioning modes; wherein the initial information includes an original image or marker point information extracted from the original image.
4. The photogrammetric method of claim 3, wherein the performing a fusion calculation on the initial information obtained in the at least two positioning modes comprises:
respectively acquiring initial information under at least two positioning modes;
and performing light beam adjustment fusion calculation on the initial information acquired in the at least two positioning modes to acquire fused three-dimensional data of the mark point.
5. The photogrammetry method of claim 1, wherein when the positioning mode is distinguished according to complementary wavelength bands, the determining whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement during the global positioning of the scanning object by the image acquisition device in the three-dimensional scanning system comprises:
in the process that an image acquisition device in the three-dimensional scanning system carries out global positioning on the scanning object, determining the scanning distance between the image acquisition device and the scanning object based on a two-dimensional image acquired by the image acquisition device;
judging whether the scanning distance is matched with the distance limit of a current positioning mode corresponding to the current supplementary lighting wave band, and if so, scanning according to the current positioning mode; if not, the corresponding positioning mode is switched to manually or automatically.
6. The photogrammetry method of claim 1, wherein when the positioning mode is distinguished according to complementary bands, the determining whether the current positioning mode of the three-dimensional scanning system meets a preset scanning requirement during the global positioning of the scanning object by the image acquisition device in the three-dimensional scanning system further comprises:
judging whether the predetermined scanning distance is matched with the distance limit of the current positioning mode corresponding to the current supplementary lighting waveband, and if so, scanning according to the current positioning mode; and if not, manually switching to the corresponding positioning mode.
7. The photogrammetry method of claim 2 wherein the locate mode further comprises differentiating between: camera resolution or type of the image acquisition device.
8. The photogrammetry method of claim 5, wherein the fill-in wavelength band comprises at least two wavelength bands.
9. The photogrammetry method of claim 5, wherein the fill-in light band comprises at least one of the following bands: a blue light band, an infrared band, and a red light band.
10. The photogrammetry method of claim 1, wherein after three-dimensional reconstruction of the marker points of the scanned object based on the plurality of sets of two-dimensional images, the method further comprises:
carrying out re-projection on the reconstructed mark points after three-dimensional reconstruction on the mark points of the scanning object to obtain re-projected mark points, and calculating mark point difference values between the re-projected mark points and the mark points in the two-dimensional image;
and optimizing the reconstruction mark point based on the mark point difference value under the condition that the mark point difference value does not meet the preset error requirement until the mark point difference value obtained by recalculating according to the optimized reconstruction mark point meets the preset error requirement.
11. The photogrammetry method of claim 10, further comprising:
and optimizing the reconstruction mark point by taking the reference size of the reference piece as a constraint condition.
12. The photogrammetry method of claim 1, further comprising:
acquiring reference piece information of the same reference piece at different positions, and coding the reference piece at each position to obtain coding values of the reference piece at different positions;
and performing precision optimization on the marking points based on the coding values of the reference pieces and the information of the reference pieces.
13. A three-dimensional scanning method for a three-dimensional scanning system, the method comprising:
based on the photogrammetry method of any of claims 1 to 12, global positioning is performed on a scanned object to obtain a global positioning result;
and performing three-dimensional scanning based on the global positioning result.
14. A photogrammetric apparatus for global positioning of a three-dimensional scanning system, comprising:
a judging module: the system is used for judging whether the current positioning mode of the three-dimensional scanning system meets the preset scanning requirement or not in the process of carrying out global positioning on a scanning object by image acquisition equipment in the three-dimensional scanning system;
a switching module: the positioning mode switching unit is used for switching the positioning mode of the three-dimensional scanning system under the condition that the current positioning mode does not meet the scanning requirement;
a positioning module: and the three-dimensional reconstruction module is used for acquiring a plurality of groups of two-dimensional images of the scanning object acquired by the image acquisition equipment in the switched positioning mode which meets the scanning requirement, and performing three-dimensional reconstruction on the mark points of the scanning object based on the plurality of groups of two-dimensional images so as to complete global positioning of the scanning object.
15. The photogrammetric apparatus of claim 14, further comprising:
a fusion module: the system is used for carrying out fusion calculation on initial information acquired in at least two positioning modes; wherein the initial information includes an original image or marker point information extracted from the original image.
16. A three-dimensional scanning system, comprising: the device comprises image acquisition equipment and processing equipment, wherein the image acquisition equipment comprises at least 1 camera device and is used for acquiring mark points of a scanned object in the global positioning process;
the processing device is configured to perform the photogrammetry method of any of claims 1 to 12, and the three-dimensional scanning method of claim 13.
17. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a photogrammetry method as claimed in any one of claims 1 to 12.
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