CN115512045B - Three-dimensional model construction method and device and intraoral scanner - Google Patents
Three-dimensional model construction method and device and intraoral scanner Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/20—Processor architectures; Processor configuration, e.g. pipelining
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2209/00—Indexing scheme relating to G06F9/00
- G06F2209/50—Indexing scheme relating to G06F9/50
- G06F2209/5018—Thread allocation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
Abstract
The application discloses a three-dimensional model construction method and device and an intraoral scanner. Wherein the method comprises the following steps: triggering a first creation instruction under the condition that a target processor is arranged in the intraoral scanner; responding to a first creating instruction, creating a plurality of sub-threads, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using a target processor, and the third sub-thread is used for fusing the cleaned point cloud data to construct a three-dimensional model; the plurality of sub-threads are executed in sequence to build a three-dimensional model. The application solves the technical problem of low scanning efficiency of the intraoral scanner.
Description
Technical Field
The application relates to the technical field of three-dimensional reconstruction, in particular to a three-dimensional model construction method and device and an intraoral scanner.
Background
At present, in the scanning process, besides the tooth gingival information, the intraoral scanner can also acquire redundant information such as mucous membrane around the tooth gingival and tongue, and the like, and usually can remove unnecessary information of the mucous membrane through an AI (Artificial Intelligence ) technology. However, both reconstruction and AI are hardware resource dependent, the reconstruction must be processed by using a GPU (Graphics process unit, graphics processor), and AI technology may also be implemented by using GPU resources.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a three-dimensional model construction method and device and an intraoral scanner, which are used for at least solving the technical problem of low scanning efficiency of the intraoral scanner.
According to an aspect of an embodiment of the present application, there is provided a three-dimensional model construction method including: an intraoral scanner, comprising: triggering a first creation instruction under the condition that a target processor is arranged in the intraoral scanner; responding to a first creating instruction, creating a plurality of sub-threads, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using a target processor, and the third sub-thread is used for fusing the cleaned point cloud data to construct a three-dimensional model; the plurality of sub-threads are executed in sequence to build a three-dimensional model.
Optionally, executing the plurality of sub-threads to build the three-dimensional model includes: executing a first sub-thread, controlling a first processor to acquire pictures of a plurality of target positions in an oral cavity, and converting the pictures of the plurality of target positions into point cloud data of the plurality of target positions; executing a second sub-thread, controlling the target processor to delete point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining target point cloud data, and finishing cleaning of the point cloud data of the plurality of target positions; executing a third sub-thread, and controlling the first processor to splice the target point cloud data to obtain a three-dimensional model, wherein the first processor and the target processor are arranged in the intraoral scanner.
Optionally, the target processor includes: and the artificial intelligent chip is used for identifying the point cloud which does not meet the preset conditions from the point cloud data.
Optionally, before triggering the first creation instruction, the method further comprises: detecting whether a target processor is arranged in the intraoral scanner, and triggering a second creation instruction under the condition that the target processor is not arranged in the intraoral scanner; responding to the second creation instruction, creating a fourth sub-thread and a fifth sub-thread, wherein the fourth sub-thread is used for building point cloud data and cleaning the point cloud data, and the fifth sub-thread is used for fusing the cleaned point cloud data to build a three-dimensional model; and executing the fourth sub-thread and the fifth sub-thread to construct a three-dimensional model.
Optionally, executing the fourth sub-thread and the fifth sub-thread to construct a three-dimensional model, including: executing a fourth sub-thread, controlling the pictures of a plurality of target positions in the oral cavity obtained by the first processor to be converted into point cloud data of the plurality of target positions, deleting point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining target point cloud data, and finishing cleaning of the point cloud data of the plurality of target positions; executing a fifth sub-thread, and controlling the first processor to splice the target point cloud data to obtain a three-dimensional model.
Optionally, after creating the plurality of sub-threads in response to the first create instruction, the method further comprises: controlling an image acquisition device in an intraoral scanner to acquire pictures of a plurality of target positions in an oral cavity; and sending the acquired pictures of the plurality of target positions to the first processor according to the acquisition time sequence.
According to another aspect of an embodiment of the present application, there is also provided an intraoral scanner including: the computer equipment is provided with a target processor and is connected with the intraoral scanning equipment; the computer equipment is used for triggering a first creation instruction under the condition that the target processor is arranged; responding to a first creating instruction, creating a plurality of sub-threads, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using a target processor, and the third sub-thread is used for fusing the cleaned point cloud data to construct a three-dimensional model; the computer device is further configured to execute the plurality of sub-threads to construct a three-dimensional model; the intraoral scanning device is used for acquiring a picture of a target position.
According to still another aspect of the embodiment of the present application, there is also provided a three-dimensional model building apparatus, including: the triggering module is used for triggering the first creation instruction under the condition that the target processor is arranged in the intraoral scanner; the creating module is used for responding to the first creating instruction to create a plurality of sub-threads, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using the target processor, and the third sub-thread is used for fusing the cleaned point cloud data to construct a three-dimensional model; and the execution module is used for executing a plurality of sub-threads to construct a three-dimensional model.
According to still another aspect of the embodiment of the present application, there is further provided a nonvolatile storage medium, where the nonvolatile storage medium includes a stored program, and when the program runs, the device where the nonvolatile storage medium is controlled to execute the three-dimensional model building method described above.
According to still another aspect of the embodiment of the present application, there is further provided an electronic device, including a memory and a processor, where the processor is configured to execute a program, and the program executes the three-dimensional model building method.
In the embodiment of the application, the first creation instruction is triggered under the condition that the target processor is arranged in the intraoral scanner; responding to a first creating instruction, creating a plurality of sub-threads, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using a target processor, and the third sub-thread is used for fusing the cleaned point cloud data to construct a three-dimensional model; executing a plurality of sub-threads to construct a three-dimensional model, cleaning point cloud data by fully utilizing a target processor in an intraoral scanner, replacing the GPU in the related art to finish cleaning of the point cloud data, and achieving the purpose of completing two steps of point cloud data construction and point cloud data cleaning in parallel, thereby realizing the technical effect of improving the processing efficiency of the point cloud data and further solving the technical problem of low scanning efficiency of the intraoral scanner.
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 specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a block diagram of a hardware structure of a computer terminal (or mobile device) for a three-dimensional model construction method according to an embodiment of the present application;
FIG. 2 is a flow chart of a three-dimensional model building method according to the present application;
FIG. 3 is a schematic illustration of another alternative three-dimensional model building method flow in accordance with an embodiment of the present application;
FIG. 4 is a schematic diagram of an alternative intraoral scanner device in accordance with embodiments of the present application;
FIG. 5 is a schematic diagram of an alternative three-dimensional model building apparatus according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present application, there is also provided an embodiment of a customer service work order allocation method, it being noted that the steps shown in the flowchart 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 shown in the flowchart, in some cases, the steps shown or described may be performed in an order other than that shown or described herein.
The method embodiment provided by the embodiment of the application can be executed in a mobile terminal, a computer terminal, a cloud server or similar computing devices. Fig. 1 shows a block diagram of a hardware structure of a computer terminal (or mobile device) for implementing a three-dimensional model building method. As shown in fig. 1, the computer terminal 10 (or mobile device 10) may include one or more processors 102 (shown as 102a, 102b, … …,102 n) which may include, but are not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA, a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, the method may further include: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
It should be noted that the one or more processors 102 and/or other data processing circuits described above may be referred to generally herein as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module, or incorporated, in whole or in part, into any of the other elements in the computer terminal 10 (or mobile device). As referred to in embodiments of the application, the data processing circuit acts as a processor control (e.g., selection of the path of the variable resistor termination connected to the interface).
The memory 104 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the three-dimensional model building method in the embodiment of the present application, and the processor 102 executes the software programs and modules stored in the memory 104, thereby executing various functional applications and data processing, that is, implementing the three-dimensional model building method described above. 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 computer terminal 10 via 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 module 106 is used to receive or transmit data via a network. The specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission module 106 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission module 106 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the computer terminal 10 (or mobile device).
According to an embodiment of the present application, there is provided an embodiment of a three-dimensional model building method, it being noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.
FIG. 2 is a flow chart of a three-dimensional model building method according to an embodiment of the present application, as shown in FIG. 2, the method comprising the steps of:
step S202, triggering a first creation instruction under the condition that a target processor is arranged in an intraoral scanner;
step S204, a plurality of sub-threads are created in response to a first creation instruction, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using a target processor, and the third sub-thread is used for fusing the cleaned point cloud data to construct a three-dimensional model;
in step S206, a plurality of sub-threads are executed to construct a three-dimensional model.
Through the steps, the point cloud data can be cleaned by fully utilizing the target processor in the intraoral scanner, so that the cleaning of the point cloud data by utilizing the GPU in the related technology is replaced, the purposes of parallel completion of two steps of point cloud data construction and point cloud data cleaning are achieved, the technical effect of improving the processing efficiency of the point cloud data is achieved, and the technical problem of low scanning efficiency of the intraoral scanner is solved.
In addition, the intraoral scanner can acquire the tooth gingival information during the scanning process, and also can acquire redundant information such as mucous membranes around the tooth gingiva, tongue and the like. The information is obtained through point cloud data constructed through three-dimensional reconstruction, and in the case that a target processor is arranged in the intraoral scanner, the intraoral scanner can simultaneously remove redundant information such as mucous membrane and tongue in the scanning process. In an alternative form, the intraoral scanner is comprised of a computer device, a scanner device, and a device connecting the scanner and the computer. The computer device may be a personal PC with a GPU, a tablet with a GPU, a cell phone, etc. The scanner device consists of an optical scanning head and an embedded system. The connection device may be a network cable or a router for wireless transmission.
It should be further noted that, the construction of the point cloud data and the cleaning of the point cloud data are realized by using hardware resources, the construction of the point cloud data is realized by using a GPU, the cleaning of the point cloud data can be realized by using the GPU or a target processor, and for the intra-port scanner only having the GPU, a serial scheme of firstly constructing the point cloud data and then cleaning the point cloud data can be adopted; for an intraoral scanner with a GPU and a target processor, a scheme for constructing point cloud data and cleaning the point cloud data in parallel can be adopted.
It can be understood that, when the point cloud data is acquired, along with the movement of the image acquisition device in the intraoral scanner, the point cloud data of a plurality of target positions are sequentially acquired, and the parallel scheme enables the intraoral scanner to acquire the point cloud data and simultaneously clean the point cloud data, unlike the serial scheme of acquiring all the point cloud data and then cleaning the point cloud data in the related art.
In step S204, the sub-threads are basic units for independent scheduling and dispatching, and the plurality of sub-threads may perform different tasks in parallel, and the construction point cloud data may be three-dimensional point cloud data acquired on the tooth and gum surfaces and around each target position; the cleaning point cloud data may be to delete point cloud data of mucosa, tongue, etc. in each target position that do not belong to the target position; the point cloud data after fusion cleaning can be obtained by continuously superposing three-dimensional data at different positions in the process that the image acquisition device continuously moves to form a complete three-dimensional model.
It will be appreciated that the multiple sub-threads in step S206 are parallel, and that the second sub-thread and the third sub-thread are executing simultaneously during the execution of the first sub-thread.
The above steps S202 to S206 are described in detail below by specific embodiments.
In executing a plurality of sub-threads to build a three-dimensional model, comprising: executing a first sub-thread, controlling a first processor to acquire pictures of a plurality of target positions in an oral cavity, and converting the pictures of the plurality of target positions into point cloud data of the plurality of target positions; executing a second sub-thread, controlling the target processor to delete point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining target point cloud data, and finishing cleaning of the point cloud data of the plurality of target positions; executing a third sub-thread, and controlling the first processor to splice the target point cloud data to obtain a three-dimensional model, wherein the first processor and the target processor are arranged in the intraoral scanner.
It should be noted that, the first processor may be a GPU, and the target processor includes: and the artificial intelligent chip is used for identifying the point cloud which does not meet the preset conditions from the point cloud data.
It can be appreciated that the point cloud that does not meet the preset condition includes: point clouds not belonging to a target location, for example: in the process of acquiring point cloud data of teeth, gum surfaces and other positions, point clouds of mucosa and tongue tissues around the teeth are acquired, wherein the point clouds of the mucosa and the tongue are point clouds which do not meet preset conditions.
Before triggering the first creation instruction, whether a target processor is arranged in the intraoral scanner or not needs to be detected, and under the condition that the target processor does not exist in the intraoral scanner, triggering a second creation instruction; responding to the second creation instruction, creating a fourth sub-thread and a fifth sub-thread, wherein the fourth sub-thread is used for building point cloud data and cleaning the point cloud data, and the fifth sub-thread is used for fusing the cleaned point cloud data to build a three-dimensional model; and executing the fourth sub-thread and the fifth sub-thread to construct a three-dimensional model.
Specifically, whether the target processor is arranged in the intraoral scanner is detected, and the detection can be performed by reading the hardware information of the intraoral scanner to determine whether the target processor is arranged. In the case where the target processor is not present, a serial method in the related art may be employed.
In an alternative manner, executing the fourth sub-thread and the fifth sub-thread to construct a three-dimensional model includes: executing a fourth sub-thread, controlling the pictures of a plurality of target positions in the oral cavity obtained by the first processor to be converted into point cloud data of the plurality of target positions, deleting point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining target point cloud data, and finishing cleaning of the point cloud data of the plurality of target positions; executing a fifth sub-thread, and controlling the first processor to splice the target point cloud data to obtain a three-dimensional model.
As can be seen from the above method, in the related art, the acquisition of the point cloud data and the cleaning of the point cloud data are performed by the same thread.
In some embodiments of the application, after creating the plurality of sub-threads in response to the first creation instruction, controlling an image acquisition device in the intraoral scanner to acquire pictures of a plurality of target locations in the oral cavity; and sending the acquired pictures of the plurality of target positions to the first processor according to the acquisition time sequence.
In an actual application scenario, as shown in fig. 3, first, the hardware information in the device is read to determine whether an AI chip (artificial intelligence chip) is provided in the intra-fracture scanner, and in the case where the AI chip is present, the right flow in fig. 3 is executed: three sub-threads are created and are respectively used for acquiring pictures, and point cloud data (reconstruction) is built; AI processing (cleaning of the point cloud data) is performed on the acquired point cloud data; and fusing the cleaned point cloud data. In the case where the AI chip is not present in the intraoral scanner, the left flow in fig. 3 is performed: creating two sub-threads for acquiring pictures, reconstructing point cloud data and cleaning the point cloud data; and the other sub-thread fuses the cleaned point cloud data to obtain a three-dimensional model, and the three-dimensional model is obtained in a multithreading parallel mode in the process of moving and acquiring pictures by the intraoral scanning equipment of the intraoral scanner, meanwhile, the point cloud data are constructed according to the acquired pictures, and cleaning of the point cloud data and construction of the model are completed.
It can be seen from an actual application scene that the left flow in fig. 3 adopts a processing flow in the related technology, the obtained point cloud data and the cleaning point cloud data are processed by one sub-thread, and the right flow in fig. 3 adopts the three-dimensional model construction method provided by the application, the obtained point cloud data and the cleaning point cloud data are respectively completed by two sub-threads, thereby improving the efficiency of three-dimensional model construction.
The method for constructing the three-dimensional model fully utilizes hardware equipment in an intraoral scanner in the field of constructing the three-dimensional model in the oral cavity, and utilizes an artificial intelligent chip in the intraoral scanner to replace a GPU to finish the step of cleaning point cloud data, so that the efficiency of constructing the three-dimensional model is improved.
The embodiment of the application also provides a three-dimensional model construction method, as shown in fig. 4, comprising the following steps: a computer device 40 provided with a target processor 402 and an intraoral scanning device 42, the computer device 40 and the intraoral scanning device 42 being connected; the computer device 40 is configured to trigger a first creation instruction if the target processor 402 is provided; in response to the first creation instruction, creating a plurality of sub-threads, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using the target processor 402, and the third sub-thread is used for fusing the cleaned point cloud data to construct a three-dimensional model; the computer device 40 is further configured to execute a plurality of sub-threads to construct a three-dimensional model; the intraoral scanning device 42 is used to take a picture of the target location.
In an actual application scene, the point cloud data is cleaned by fully utilizing a target processor in the intraoral scanner, so that the cleaning of the point cloud data by utilizing the GPU in the related technology is replaced, the purposes of parallel completion of two steps of point cloud data construction and point cloud data cleaning are achieved, the technical effect of improving the processing efficiency of the point cloud data is achieved, and the technical problem of low scanning efficiency of the intraoral scanner is solved.
The three-dimensional model construction method provided by the embodiment of the application is also applied to the three-dimensional model construction device provided by the embodiment of the application, as shown in fig. 5, and comprises the following steps: a triggering module 50 for triggering the first creation instruction in the case that the target processor is provided in the intraoral scanner; the creation module 52 is configured to create a plurality of sub-threads in response to the first creation instruction, where the plurality of sub-threads includes at least a first sub-thread, a second sub-thread, and a third sub-thread, the first sub-thread is configured to construct point cloud data, the second sub-thread is configured to clean the point cloud data with the target processor, and the third sub-thread is configured to fuse the cleaned point cloud data to construct a three-dimensional model; an execution module 54 for executing the plurality of sub-threads to construct a three-dimensional model.
Execution module 54, comprising: the first execution submodule is used for executing a plurality of sub threads to construct a three-dimensional model, and comprises: executing a first sub-thread, controlling a first processor to acquire pictures of a plurality of target positions in an oral cavity, and converting the pictures of the plurality of target positions into point cloud data of the plurality of target positions; executing a second sub-thread, controlling the target processor to delete point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining target point cloud data, and finishing cleaning of the point cloud data of the plurality of target positions; executing a third sub-thread, and controlling the first processor to splice the target point cloud data to obtain a three-dimensional model, wherein the first processor and the target processor are arranged in the intraoral scanner.
Wherein the target processor comprises: and the artificial intelligent chip is used for identifying the point cloud which does not meet the preset conditions from the point cloud data.
The creation module 52 includes a detection submodule for, prior to triggering the first creation instruction, the method further comprising: detecting whether a target processor is arranged in the intraoral scanner, and triggering a second creation instruction under the condition that the target processor is not arranged in the intraoral scanner; responding to the second creation instruction, creating a fourth sub-thread and a fifth sub-thread, wherein the fourth sub-thread is used for building point cloud data and cleaning the point cloud data, and the fifth sub-thread is used for fusing the cleaned point cloud data to build a three-dimensional model; and executing the fourth sub-thread and the fifth sub-thread to construct a three-dimensional model.
The second execution sub-module is configured to execute a fourth sub-thread and a fifth sub-thread, and construct a three-dimensional model, including: executing a fourth sub-thread, controlling the pictures of a plurality of target positions in the oral cavity obtained by the first processor to be converted into point cloud data of the plurality of target positions, deleting point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining target point cloud data, and finishing cleaning of the point cloud data of the plurality of target positions; executing a fifth sub-thread, and controlling the first processor to splice the target point cloud data to obtain a three-dimensional model.
The creation module 52 includes an acquisition sub-module for, after creating the plurality of sub-threads in response to the first creation instruction, the method further includes: controlling an image acquisition device in an intraoral scanner to acquire pictures of a plurality of target positions in an oral cavity; and sending the acquired pictures of the plurality of target positions to the first processor according to the acquisition time sequence.
According to another aspect of the embodiment of the present application, there is further provided a nonvolatile storage medium, including a stored program, where the device in which the nonvolatile storage medium is controlled to execute the above three-dimensional model building method when the program runs.
According to another aspect of the embodiment of the present application, there is also provided an electronic device, including a memory and a processor, where the processor is configured to execute a program, and the program executes the three-dimensional model building method.
The electronic equipment executes the three-dimensional model construction method, and the target processor in the intraoral scanner is fully utilized to clean the point cloud data, so that the cleaning of the point cloud data by using the GPU in the related technology is replaced, the purposes of completing two steps of point cloud data construction and point cloud data cleaning in parallel are achieved, the technical effect of improving the processing efficiency of the point cloud data is achieved, and the technical problem of low scanning efficiency of the intraoral scanner is solved.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (8)
1. A three-dimensional model construction method, applied to an intraoral scanner, comprising:
triggering a first creation instruction in the case that a target processor is arranged in the intraoral scanner;
responding to the first creating instruction, creating a plurality of sub-threads, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using the target processor, and the third sub-thread is used for fusing the cleaned point cloud data to construct the three-dimensional model;
executing the first sub-thread, controlling a first processor to acquire pictures of a plurality of target positions in an oral cavity, and converting the pictures of the plurality of target positions into point cloud data of the plurality of target positions; executing the second sub-thread, controlling the target processor to delete point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining target point cloud data, and finishing cleaning of the point cloud data of the plurality of target positions; executing the third sub-thread, controlling the first processor to splice the target point cloud data to obtain the three-dimensional model, wherein the first processor and the target processor are arranged in the intraoral scanner, and the target processor comprises: and the artificial intelligent chip is used for identifying the point cloud which does not meet the preset conditions from the point cloud data, and the first processor comprises a GPU.
2. The method of claim 1, wherein prior to triggering the first create instruction, the method further comprises:
detecting whether the target processor is arranged in the intraoral scanner, and triggering a second creation instruction under the condition that the target processor is not arranged in the intraoral scanner;
a fourth sub-thread and a fifth sub-thread are established in response to the second establishing instruction, wherein the fourth sub-thread is used for establishing the point cloud data and cleaning the point cloud data, and the fifth sub-thread is used for fusing the cleaned point cloud data and establishing the three-dimensional model;
and executing the fourth sub-thread and the fifth sub-thread to construct the three-dimensional model.
3. The method of claim 2, wherein executing the fourth sub-thread and the fifth sub-thread to build the three-dimensional model comprises:
executing the fourth sub-thread, controlling the pictures of a plurality of target positions in the oral cavity obtained by the first processor to be converted into point cloud data of the plurality of target positions, deleting point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining the point cloud data of the target points, and finishing cleaning of the point cloud data of the plurality of target positions;
executing the fifth sub-thread, and controlling the first processor to splice the target point cloud data to obtain the three-dimensional model.
4. The method of claim 1, wherein after creating a plurality of sub-threads in response to the first create instruction, the method further comprises:
controlling an image acquisition device in an intraoral scanner to acquire pictures of a plurality of target positions in an oral cavity;
and sending the acquired pictures of the plurality of target positions to a first processor according to the acquisition time sequence.
5. An intraoral scanner comprising:
the device comprises computer equipment provided with a target processor and intraoral scanning equipment, wherein the computer equipment is connected with the intraoral scanning equipment;
the computer equipment is used for triggering a first creation instruction under the condition that a target processor is arranged; responding to the first creating instruction, creating a plurality of sub-threads, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using the target processor, and the third sub-thread is used for fusing the cleaned point cloud data to construct a three-dimensional model;
the computer equipment is also used for executing the first sub-thread, controlling the first processor to acquire pictures of a plurality of target positions in the oral cavity, and converting the pictures of the plurality of target positions into point cloud data of the plurality of target positions; executing the second sub-thread, controlling the target processor to delete point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining target point cloud data, and finishing cleaning of the point cloud data of the plurality of target positions; executing the third sub-thread, controlling the first processor to splice the target point cloud data to obtain the three-dimensional model, wherein the first processor and the target processor are arranged in the computer equipment, and the target processor comprises: the artificial intelligent chip is used for identifying the point cloud which does not meet the preset conditions from the point cloud data, and the first processor comprises a GPU;
the intraoral scanning device is used for acquiring a picture of a target position.
6. A three-dimensional model construction apparatus, comprising:
the triggering module is used for triggering the first creation instruction under the condition that the target processor is arranged in the intraoral scanner;
the creating module is used for responding to the first creating instruction, creating a plurality of sub-threads, wherein the plurality of sub-threads at least comprise a first sub-thread, a second sub-thread and a third sub-thread, the first sub-thread is used for constructing point cloud data, the second sub-thread is used for cleaning the point cloud data by using the target processor, and the third sub-thread is used for fusing the cleaned point cloud data to construct the three-dimensional model;
the execution module is used for executing the first sub-thread, controlling the first processor to acquire pictures of a plurality of target positions in the oral cavity, and converting the pictures of the plurality of target positions into point cloud data of the plurality of target positions; executing the second sub-thread, controlling the target processor to delete point clouds which do not meet preset conditions in the point cloud data of the plurality of target positions, obtaining target point cloud data, and finishing cleaning of the point cloud data of the plurality of target positions; executing the third sub-thread, controlling the first processor to splice the target point cloud data to obtain the three-dimensional model, wherein the first processor and the target processor are arranged in the intraoral scanner, and the target processor comprises: and the artificial intelligent chip is used for identifying the point cloud which does not meet the preset conditions from the point cloud data, and the first processor comprises a GPU.
7. A nonvolatile storage medium, wherein a computer program is stored in the nonvolatile storage medium, and a device in which the nonvolatile storage medium is located executes the three-dimensional model construction method according to any one of claims 1 to 4 by running the computer program.
8. An electronic device comprising a memory and a processor for running a program, wherein the program when run performs the three-dimensional model building method of any one of claims 1 to 4.
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