CN117499547A - Automated three-dimensional scanning method, apparatus, device and storage medium - Google Patents
Automated three-dimensional scanning method, apparatus, device and storage medium Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/00795—Reading arrangements
- H04N1/00827—Arrangements for reading an image from an unusual original, e.g. 3-dimensional objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
- H04N1/19—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays
- H04N1/195—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays the array comprising a two-dimensional array or a combination of two-dimensional arrays
- H04N1/19594—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays the array comprising a two-dimensional array or a combination of two-dimensional arrays using a television camera or a still video camera
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The embodiment of the disclosure relates to an automatic three-dimensional scanning method, an automatic three-dimensional scanning device, automatic three-dimensional scanning equipment and a storage medium, wherein the method comprises the following steps: acquiring a current scanning path, wherein the current scanning path comprises at least one scanning point pose; scanning the scanned object based on the scanning point pose of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object; determining a next scanning path based on the current three-dimensional model, wherein the next scanning path comprises at least one scanning point pose; updating the current scanning path based on the next scanning path; and scanning the scanned object based on the updated scanning point pose of the current scanning path, and updating the current three-dimensional model corresponding to the scanned object. According to the embodiment of the disclosure, the three-dimensional scanning quality can be improved.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of computers, in particular to an automatic three-dimensional scanning method, an automatic three-dimensional scanning device, automatic three-dimensional scanning equipment and a storage medium.
Background
In three-dimensional scanning industrial applications, a scanning instrument is often required to be connected with a mechanical arm or a carrier AGV to scan a scanned object, and in such a three-dimensional scanning scene, a scanning path is often required to be automatically planned to realize full-automatic scanning.
At present, in the three-dimensional scanning process, a scanning path is usually automatically planned by a heuristic method, a simulation method or the like, but problems such as incomplete scanning and the like often occur, so that the three-dimensional scanning quality is low.
Disclosure of Invention
To solve or at least partially solve the above technical problems, embodiments of the present disclosure provide an automated three-dimensional scanning method, apparatus, device, and storage medium.
A first aspect of an embodiment of the present disclosure provides an automated three-dimensional scanning method, the method comprising:
acquiring a current scanning path, wherein the current scanning path comprises at least one scanning point pose;
scanning the scanned object based on the scanning point pose of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object;
determining a next scanning path based on the current three-dimensional model, wherein the next scanning path comprises at least one scanning point pose;
updating the current scanning path based on the next scanning path;
and scanning the scanned object based on the updated scanning point pose of the current scanning path, and updating the current three-dimensional model corresponding to the scanned object.
A second aspect of an embodiment of the present disclosure provides an automated three-dimensional scanning apparatus, the apparatus comprising:
The first acquisition module is used for acquiring a current scanning path, wherein the current scanning path comprises at least one scanning point position;
the first scanning module is used for scanning the scanned object based on the scanning point position of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object;
the first determining module is used for determining a next scanning path based on the current three-dimensional model, wherein the next scanning path comprises at least one scanning point pose;
a first updating module, configured to update a current scan path based on a next scan path;
and the second updating module is used for scanning the scanning object based on the updated scanning point pose of the current scanning path and updating the current three-dimensional model corresponding to the scanned object.
A third aspect of the disclosed embodiments provides an electronic device, the server comprising: a processor and a memory, wherein the memory stores a computer program which, when executed by the processor, performs the method of the first aspect described above.
A fourth aspect of the disclosed embodiments provides a computer readable storage medium having stored therein a computer program which, when executed by a processor, can implement the method of the first aspect described above.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
according to the embodiment of the disclosure, the current scanning path can be acquired, and the current scanning path comprises at least one scanning point pose; scanning the scanned object based on the scanning point pose of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object; determining a next scanning path based on the current three-dimensional model, wherein the next scanning path comprises at least one scanning point pose; updating the current scanning path based on the next scanning path; and scanning the scanned object based on the updated scanning point pose of the current scanning path, and updating the current three-dimensional model corresponding to the scanned object. Therefore, by adopting the technical scheme, the current scanning path can be updated for multiple times to perform complete three-dimensional scanning on the whole scanned object, so that the three-dimensional scanning quality is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of an automated three-dimensional scanning method provided by an embodiment of the present disclosure;
FIG. 2 is a partial schematic illustration of a revenue graph provided by embodiments of the present disclosure;
FIG. 3 is a schematic structural view of an automated three-dimensional scanning apparatus provided in an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
Fig. 1 is a flowchart of an automated three-dimensional scanning method provided by an embodiment of the present disclosure, which may be performed by an electronic device, and is suitable for a scenario in which a scanner with a robotic arm scans an object to be scanned, or a scenario in which a scanner with an objective table (e.g., an AGV) scans an object to be scanned, etc. The electronic device may be understood as a device such as a scanner with a mechanical arm, a scanner with a stage, a tablet computer, a notebook computer, or the like, for example. As shown in fig. 1, the method provided in this embodiment includes the following steps:
S110, acquiring a current scanning path, wherein the current scanning path comprises at least one scanning point pose.
In the embodiment of the disclosure, the scanned object can be scanned for multiple times (i.e. multiple scanning processes are needed) so as to perform a complete three-dimensional scanning on the scanned object globally. The scan path adopted in the current scan process is the current scan path.
Specifically, the scan point pose of the current scan path characterizes the relative scan pose between the scanner and the scanned object.
And S120, scanning the scanned object based on the scanning point pose of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object.
In the embodiment of the disclosure, for each scanning point pose in the current scanning path, the scanner may scan the scanned object under the scanning point pose, thereby obtaining scanning data corresponding to the scanning point pose. If the current scanning process is the first scanning, the scanning data corresponding to each scanning point pose in the current scanning path jointly form the current scanning data obtained in the current scanning process. If the current scanning process is not the first scanning, the scanning data corresponding to each scanning point position in the current scanning path and the scanning data obtained in the previous scanning process jointly form the current scanning data obtained in the current scanning process.
In some embodiments, the current scan path comprises a preset scan path comprising at least one preset scan point location; wherein S120 includes: s121, scanning the scanned object based on a preset scanning point pose of a preset scanning path to obtain a current three-dimensional model corresponding to the scanned object.
Specifically, to achieve three-dimensional scanning of a scanned object, a solution space including a plurality of candidate scan points may be constructed in advance for the scanned object. In this way, in the first scanning process, at least one candidate scanning point pose can be selected from the solution space as a preset scanning point pose, so as to obtain a preset scanning path.
In some examples, selecting at least one candidate scan point pose from the solution space as a preset scan point pose, thereby obtaining a preset scan path may include: and uniformly selecting the plurality of candidate scanning point positions from the plurality of candidate scanning point positions of the solution space as preset scanning point positions, thereby obtaining a preset scanning path.
Specifically, uniformity herein refers to that, in a three-dimensional space, each preset scanning point pose pair corresponds to RT which is similar or has a difference within a preset range, where the preset scanning point pose pair refers to two adjacent preset scanning point poses, and RT is a rotation matrix and a translation matrix between the two adjacent preset scanning point poses.
It can be understood that, by obtaining the preset scanning paths in a uniformly selected manner, the risk of overlapping the scanning data corresponding to different preset scanning points can be reduced, and the risk of larger areas which are not scanned on the scanned object can be reduced, so that the situation that a relatively small number of preset scanning points are used to obtain relatively more scanning data is realized, and the total number of times of scanning required for completely scanning the scanned object is reduced.
In other embodiments, the current scan path comprises an updated scan path, the updated scan path comprising at least one updated scan point location; wherein S120 includes: and scanning the scanned object based on the updated scanning point pose of the updated scanning path, and updating the three-dimensional model obtained by the previous scanning corresponding to the scanned object to obtain the current three-dimensional model corresponding to the scanned object.
Specifically, if the current scanning process is not the first scanning, that is, at least one scanning is performed before the current scanning process, the current scanning path adopted in the current scanning process may be a scanning path updated based on the three-dimensional model obtained by the previous scanning (that is, an updated scanning path), and the specific updating process of the scanning path is similar to S130 and S140, which are not described herein again. In this way, the scanned object can be scanned based on the updated scan point position of the updated scan path, and the three-dimensional model obtained by the previous scan corresponding to the scanned object is updated to obtain the current three-dimensional model corresponding to the scanned object, and the specific updating process of the three-dimensional model is similar to S150, and is not repeated here.
In some embodiments, S121 may include: S121A: scanning the scanned object based on the scanning point pose of the current scanning path to obtain current scanning data; and performing gridding processing based on the current scanning data or performing gridding processing and hole filling processing based on the current scanning data to obtain the current three-dimensional model.
In one example, S121A includes: scanning the scanned object based on a preset scanning point position of a preset scanning path to obtain current scanning data; and carrying out gridding treatment and hole filling treatment based on the current scanning data to obtain a current three-dimensional model.
In another example, S121A includes: scanning the scanned object based on the updated scanning point pose of the updated scanning path to obtain current scanning data; and performing gridding processing or gridding processing and hole filling processing on the basis of the current scanning data to obtain a current three-dimensional model.
Specifically, gridding processing is performed based on current scanning data to obtain a current initial three-dimensional model, and if the current initial three-dimensional model is a complete three-dimensional model corresponding to a scanned object, the current initial three-dimensional model is a current three-dimensional model; if the current initial three-dimensional model is not the complete three-dimensional model corresponding to the scanned object, hole filling processing can be carried out on the current initial three-dimensional model, and hole filling processing is carried out on the current initial three-dimensional model to obtain the current three-dimensional model. Of course, the current scan data may be preprocessed before the current scan data is meshed, for example, the scan data corresponding to the same area of the measured object is de-duplicated, but not limited thereto.
Specifically, the current initial three-dimensional model is a three-dimensional model corresponding to the scanned object and obtained by gridding current scan data.
The current scan data may be gridded by any method known to those skilled in the art, and the gridding sheet obtained by the gridding process may be a triangular sheet, a square sheet, or the like, but is not limited thereto. The current initial three-dimensional model may be subjected to hole filling by any hole filling method known to those skilled in the art, which is not limited herein.
It can be understood that, due to the reasons of material quality, no matching of the positions and the postures of the scanned objects, some areas of the scanned objects may not be able to acquire corresponding scan data, so that the current initial three-dimensional model may not be a complete three-dimensional model corresponding to the scanned objects, and hole filling processing may be performed on the current initial three-dimensional model to obtain a complete three-dimensional model corresponding to the scanned objects (i.e., the current three-dimensional model).
Of course, for the current three-dimensional model, different types of identifiers may be used to distinguish between the mesh patches resulting from the meshing process and the mesh patches resulting from the hole filling-based process.
Of course, the current three-dimensional model can be visually displayed, so that the complete three-dimensional model corresponding to the scanned object can be presented to the user in real time.
S130, determining a next scanning path based on the current three-dimensional model, wherein the next scanning path comprises at least one scanning point pose.
In some embodiments, S130 may include: and inputting the current three-dimensional model, the scanning point pose of the current scanning path and a plurality of candidate scanning point poses in the solution space into a trained path planning model to obtain the next scanning path.
In other embodiments, S130 may include: s131, acquiring a preset solution space.
Specifically, the description of the preset solution space is referred to above, and will not be repeated here.
And S132, determining current benefit values respectively corresponding to the plurality of candidate scanning point positions based on the current three-dimensional model, wherein the current benefit values are used for representing the scanning completeness degree of the sub-region corresponding to the candidate scanning point positions on the current three-dimensional model.
In some embodiments, S132 may include: and inputting the current three-dimensional model, the plurality of candidate scanning point positions and orientations in the solution space and the type identification of each grid surface patch in the current three-dimensional model into a trained benefit value identification model to obtain current benefit values respectively corresponding to the plurality of candidate scanning point positions and orientations output by the benefit value identification model.
In other embodiments, S132 may include: s13211, acquiring a current weight field, wherein the current weight field comprises a plurality of voxel points and current weight values of the voxel points, and the current three-dimensional model is positioned in the current weight field.
Optionally, acquiring the current weight field includes: s132111, scanning the scanned object based on the scanning point position of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object; s132112, acquiring an initial weight field, wherein the initial weight field comprises a plurality of voxel points and initial weight values of the voxel points, and the current three-dimensional model is positioned in the initial weight field; s132113, updating the initial weight field based on the current three-dimensional model to obtain the current weight field.
Specifically, a preset weight field corresponding to the solution space may be previously constructed. The preset weight field comprises a plurality of voxel points and weight values corresponding to the voxel points respectively, wherein the smaller the weight value of the voxel point is, the more the three-dimensional point on the three-dimensional model corresponding to the voxel point meets the scanning requirement, and the more the three-dimensional point does not need to be scanned further. The weight value in the preset weight field is generally a third weight value, which indicates that further scanning is required.
Specifically, if the current scanning process is the first scanning, the initial weight field is a preset weight field; if at least one scan is performed before the current scan process, the initial weight field is a weight field updated based on the three-dimensional model corresponding to the previous scan, and the specific update process is similar to S132113 and will not be repeated here.
Further alternatively, S132113 includes: determining voxel points in an initial weight field of a part of the current three-dimensional model, which is obtained based on scanning of a camera positioned at a scanning point position of a current scanning path, and reducing the corresponding initial weight value of the voxel points to a first weight value; aiming at the current three-dimensional model, determining voxel points, through which connecting lines of the camera and the scanning point pose positioned in the current scanning path pass in an initial weight field, and reducing weight values corresponding to the passed voxel points to second weight values; and updating the initial weight field to obtain the current weight field.
Specifically, the second weight value is smaller than the first weight value, and the first weight value is smaller than the third weight value.
It should be noted that, for each three-dimensional point on the current three-dimensional model, a voxel point through which a line connecting the current three-dimensional model and the camera passes is determined, which essentially means that the scanner (virtual scanner) is in a scanning point pose, the current three-dimensional model is located in a view space of the scanner, a weight value of a voxel point where a portion of the current three-dimensional model surface located in the view space is located becomes a first weight value, the current three-dimensional model surface and the view space enclose a closed space (for example, a conical space), the closed space and a weight field where the current three-dimensional model is located form an overlapping space, and the weight value of the voxel point located in the overlapping space becomes a second weight value.
Illustratively, FIG. 2 is a logical schematic of updating an initial weight field provided by an embodiment of the present disclosure. Referring to fig. 2, the weight value of the voxel point where the three-dimensional point on the current three-dimensional model MX is located is changed from 9 to 1, and the weight value of the other voxel points through which the line connecting with the camera WZ0 passes is changed from 9 to 0.
It can be appreciated that by updating the initial weight field in the above manner, the current benefit value determined later can be more accurate and more in line with the current actual scanning situation.
S13112, aiming at the grid patches on the current three-dimensional model, rendering the grid patches obtained by the current scanning data gridding processing into a preset first color, inquiring the preset coding principle according to the ID of the grid patches obtained by the hole filling processing, determining the corresponding colors of the grid patches and rendering the corresponding colors into corresponding colors, wherein the colors corresponding to the grid patches obtained by the hole filling processing are different from the colors corresponding to other grid patches on the current three-dimensional model.
Specifically, the first color may be set by those skilled in the art according to practical situations, for example, the first color is black, but is not limited thereto.
Specifically, for the mesh surface patch obtained by hole filling processing, the corresponding color is determined by inquiring a preset coding principle according to the ID (i.e. identity) of the mesh surface patch. Any two mesh patches obtained by hole filling processing have different colors, and the mesh patches obtained by hole filling processing have different colors from the first color. Thus, the reliability degree of the current three-dimensional model can be intuitively displayed to the user according to the rendering color of the current three-dimensional model.
For example, for the mesh patch on the current three-dimensional model, if the type of the mesh patch is a mesh patch obtained through hole filling, determining a corresponding color by querying a mapping relationship (i.e., a preset coding principle) between an identity identifier and a color of the mesh patch, for example, a color RGB value corresponding to a mesh patch with an identity identifier of 001 is (0, 1), a color RGB value corresponding to a mesh patch with an identity identifier of 002 is (0, 2), and a color RGB value corresponding to a mesh patch with an identity identifier of 003 is (0, 3); if the type of the grid patch is obtained through current scan data grid formation, determining that the corresponding color is a first color, for example, the first color is black.
S13113, aiming at the candidate scanning point pose, determining a subarea corresponding to the candidate scanning point pose on the current three-dimensional model, and generating a current profit map corresponding to the subarea.
Specifically, regarding the understanding of the sub-region, when the pose of the scanner is a certain scanning point pose, the present region of the region on the scanned object in the field of view of the scanner on the current three-dimensional model is the sub-region corresponding to the scanning point pose.
Specifically, each candidate scan point pose corresponds to a sub-region, and a current revenue map corresponding to the candidate scan point pose may be generated based on the sub-region. The pixel points in the current benefit map have a corresponding relation with the grid patch on the current three-dimensional model, specifically, each pixel point contains an RGB value corresponding to the color of the grid patch, and the corresponding grid patch ID can be determined by combining the RGB value with a preset coding principle, so that the corresponding relation between each pixel point and the grid patch ID is determined. One mesh patch corresponds to several pixels (or one mesh patch is characterized by several pixels), and the color of the pixel corresponding to one mesh patch can be set by those skilled in the art according to the actual situation, which is not limited herein.
S13114, for the pixel points in the current profit graph, determining the corresponding IDs of the pixel points according to the colors, determining the three-dimensional points corresponding to the pixel points in the current weight field based on the pixel points and the corresponding IDs, and taking the current weight values of the three-dimensional points corresponding to the current weight field as the weight values of the pixel points.
Specifically, the larger the weight value of a pixel point is, the more unreliable the corresponding three-dimensional point is, and the more the object point corresponding to the three-dimensional point on the scanned object needs to be scanned.
Optionally, for a pixel point in the current benefit map, determining a corresponding ID of the pixel point according to the color, and determining a three-dimensional point corresponding to the pixel point in the current weight field based on the pixel point and the corresponding ID, including: and aiming at the pixel points in the current profit graph, determining the grid patch ID corresponding to the pixel points according to the colors, and carrying out linear interpolation on the grid patch corresponding to the ID based on the pixel coordinates of the pixel points to obtain the three-dimensional points corresponding to the pixel points.
Specifically, based on the ID of the corresponding grid patch recorded behind the pixel point, determining the grid patch corresponding to the pixel point, and then, based on the pixel coordinates of the pixel point and the vertex coordinates of the corresponding grid patch, performing linear interpolation to obtain the three-dimensional point of the pixel point corresponding to the grid patch. The pixel coordinates of the pixel points and the vertex coordinates of the corresponding mesh surface patch may be linearly interpolated by any linear interpolation method known to those skilled in the art, which is not limited thereto. In the method, the grid patches of the current three-dimensional model are rendered according to a preset rendering principle, a scanner (virtual scanner) in a scanning point pose shoots the rendered current three-dimensional model to obtain a benefit map, each pixel point of the benefit map comprises RGB values of rendering colors of the corresponding grid patches, the corresponding grid patches can be determined according to RGB of the benefit map, then three-dimensional points are linearly interpolated in the corresponding grid patches according to pixel point coordinates of the benefit map, and accordingly voxel points where the grid patches are located are determined, compared with calculation based on intersection of the current three-dimensional model and camera parameters, a large amount of calculation is reduced, the weight value is updated rapidly, and occupation of calculation resources is reduced. The rendering principle refers to a rendering principle of a grid patch obtained based on gridding of current scanning data and a rendering principle of a grid patch obtained based on hole filling processing (namely a preset coding principle).
And S13115, adding the weight values of the pixel points corresponding to the grid patches obtained by hole filling processing in the current benefit map to obtain the benefit value of the current benefit map, and taking the benefit value of the current benefit map as the current benefit value of the corresponding candidate scanning point pose.
It can be understood that the reliability of the grid patch obtained by the gridding process is higher, and the reliability of the grid patch obtained by the hole filling process is lower, so that in the embodiment of the disclosure, the current benefit value is obtained by adding and processing the weight values of the three-dimensional points corresponding to the pixel points corresponding to the grid patch obtained by the hole filling process in the current benefit map corresponding to the candidate scanning point pose, so that the reliability of the subarea corresponding to the candidate scanning point pose is more accurately represented by the current benefit value.
In still other embodiments, S132 may include: s13221, acquiring a current weight field, wherein the current weight field comprises a plurality of voxel points and current weight values of the voxel points, and the current three-dimensional model is positioned in the current weight field;
specifically, S13221 is similar to S13211, and will not be described here.
S13222, determining a sub-region corresponding to the candidate scanning point pose on the current three-dimensional model, and taking a current weight value corresponding to the three-dimensional point in the sub-region in the current weight field as a weight value of the three-dimensional point.
Specifically, a plurality of three-dimensional points can be obtained by sampling on the grid surface patches of the subareas, and the current weight value of the three-dimensional points corresponding to the current weight field is determined as the weight value of the three-dimensional points.
S13223, adding the weight values of the three-dimensional points on the grid surface patch obtained by hole filling in the subarea, and obtaining the current benefit value of the candidate scanning point position.
It can be understood that the corresponding weight value is determined directly based on the current weight value corresponding to the three-dimensional point on the sub-region corresponding to the candidate scanning point position in the current weight field, so that the calculated amount is small, the processing speed is high, and the current benefit value of the candidate scanning point position is beneficial to being obtained quickly.
S133, selecting at least one scanning point pose from a plurality of scanning point poses in a preset solution space as the scanning point pose of the next scanning path based on the current gain values respectively corresponding to the plurality of candidate scanning point poses.
In some embodiments, S133 may include: sorting the current gain values respectively corresponding to the candidate scanning point positions to obtain a sorting result; and based on the sorting result, at least taking the candidate scanning point pose corresponding to the maximum benefit value as the scanning point pose of the next scanning path.
Specifically, the current benefit values corresponding to the candidate scanning point positions are ranked from large to small (or from small to large), and a ranking result is obtained. And then taking the candidate scanning point position corresponding to the maximum benefit value as the scanning point position of the next scanning path.
It can be understood that by setting at least the candidate scan point pose corresponding to the maximum benefit value as the scan point pose of the next scan path, the least reliable sub-region of the current three-dimensional model can be rescanned, so as to greatly improve the accuracy and integrity of the three-dimensional model corresponding to the scanned object.
In other embodiments, S133 may include: and determining the corresponding candidate scanning point pose as the scanning point pose of the next scanning path according to the current gain values respectively corresponding to the candidate scanning point poses if the current gain values are larger than a third preset threshold value.
And S140, updating the current scanning path based on the next scanning path.
Specifically, the next scan path is taken as the current scan path.
And S150, scanning the scanned object based on the updated scanning point position of the current scanning path, and updating the current three-dimensional model corresponding to the scanned object.
Specifically, the scan object is scanned based on the scan point position of the updated current scan path, updated current scan data can be obtained, and the updated current three-dimensional model can be obtained by performing gridding processing based on the updated current scan data or performing gridding processing and hole filling processing based on the updated current scan data.
Optionally, after S150, the method may further include: updating current benefit values respectively corresponding to the plurality of candidate scanning point positions based on the updated current three-dimensional model; and if the updated current gain values corresponding to the candidate scanning point positions meet the preset conditions, ending scanning, otherwise, returning to S130.
Specifically, the preset conditions may include: the maximum value of the updated current benefit values corresponding to the plurality of candidate scanning point positions is smaller than the first preset benefit value, and/or the average value of the updated current benefit values corresponding to the plurality of candidate scanning point positions is smaller than the second preset benefit value, etc., but the present invention is not limited thereto.
It can be understood that in the related automatic scan path planning technology, the heuristic method generally starts from the nearest scan point, performs scanning, searches for the pose of the next scan near the pose of the previous scan, and the search targets are constraint that the next scan and the previous scan have no overlap. However, all existing technologies do not consider the characteristics of the scanned object, and the object may not acquire three-dimensional information through scanning due to material and other problems, so that the existing mode may fall into a dead loop or cannot end the scanning flow, or the loop is jumped out by simply setting the maximum iteration number, so that incomplete scanning or repeated scanning data are often caused. However, the embodiment of the disclosure can control the global gain value based on the global preset weight field, and jump out of the local optimum, so that the risk of falling into a dead loop or being unable to finish scanning caused by being unable to jump out of the local optimum can be reduced, and the three-dimensional scanning efficiency is improved. And the optimal scanning path can be automatically acquired, and the three-dimensional model corresponding to the most complete scanned object can be acquired by using the least scanning data.
An automated three-dimensional scanning method provided by embodiments of the present disclosure is described below in connection with one specific example.
1. A solution space (i.e., a set of scan point locations for all candidates of the scanner) and a preset weight field under the solution space for global scanning of the scanned object are established.
2. In the first scanning process, uniformly selecting a plurality of candidate scanning point positions from the plurality of candidate scanning point positions to obtain a current scanning path.
3. And scanning the scanned object based on the current scanning path to obtain a current three-dimensional model.
4. And determining current benefit values respectively corresponding to the plurality of candidate scanning point positions based on the current three-dimensional model.
Specifically, the current three-dimensional model is transmitted to a renderer for rendering (binocular simulation rendering, a binocular scanning simulator based on shadow mapping), and the profit map under each candidate scanning point pose is sequentially rendered according to the solution space.
5. And sequencing the current profit values corresponding to the scanning point pose of the plurality of candidates to obtain a sequencing result, and taking at least the scanning point pose of the candidate corresponding to the maximum profit value as the scanning point pose of the next scanning path based on the sequencing result.
6. The current scan path is updated based on the next scan path.
7. And scanning the scanned object based on the updated scanning point pose of the current scanning path, and updating the current three-dimensional model corresponding to the scanned object.
According to the embodiment of the disclosure, the global gain value is controlled through the global preset weight field, the local optimum is jumped out, the relation from the color to the three-dimensional space is established through the color pick mode, the gain map is obtained based on the binocular shielding rendering simulator of the shadow map, so that the condition that scanning cannot be performed due to the material problem can be jumped out automatically, the GPU accelerates the physical simulation of binocular scanning, the result is accurate and reliable, the full-automatic scanning process is not needed, and the influence of scanned objects is avoided.
Fig. 3 is a schematic structural diagram of an automated three-dimensional scanning apparatus according to an embodiment of the disclosure, where the automated three-dimensional scanning apparatus may be understood as the electronic device or a part of functional modules in the electronic device. As shown in fig. 3, the automated three-dimensional scanning apparatus 300 includes:
a first obtaining module 310, configured to obtain a current scan path, where the current scan path includes at least one scan point pose;
the first scanning module 320 is configured to scan the scanned object based on the scan point location of the current scan path, to obtain a current three-dimensional model corresponding to the scanned object;
A first determining module 330, configured to determine a next scan path based on the current three-dimensional model, where the next scan path includes at least one scan point pose;
a first updating module 340, configured to update a current scan path based on a next scan path;
the second updating module 350 is configured to scan the scanned object based on the updated scanning point pose of the current scanning path, and update the current three-dimensional model corresponding to the scanned object.
In another embodiment of the present disclosure, the current scan path includes a preset scan path including at least one preset scan point pose;
the first scanning module 320 is specifically configured to scan the scanned object based on a preset scanning point position of a preset scanning path, so as to obtain a current three-dimensional model corresponding to the scanned object.
In yet another embodiment of the present disclosure, the first scanning module 320 is specifically configured to scan the scanned object based on a preset scanning point position of a preset scanning path, so as to obtain current scan data; and carrying out gridding treatment and hole filling treatment based on the current scanning data to obtain a current three-dimensional model.
In yet another embodiment of the present disclosure, the current scan path comprises an updated scan path, the updated scan path comprising at least one updated scan point location;
The first scanning module 320 is specifically configured to scan the scanned object based on the updated scan point position of the updated scan path, and update the three-dimensional model obtained by previous scan corresponding to the scanned object to obtain the current three-dimensional model corresponding to the scanned object.
In yet another embodiment of the present disclosure, the first determining module 330 includes:
the first acquisition sub-module is used for acquiring a preset solution space, wherein the solution space comprises a plurality of candidate scanning point positions;
the first determining submodule is used for determining current benefit values respectively corresponding to a plurality of candidate scanning point positions based on the current three-dimensional model, wherein the current benefit values are used for representing the scanning completeness degree of the sub-region corresponding to the candidate scanning point positions on the current three-dimensional model;
the first selecting sub-module is used for selecting at least one scanning point pose from the plurality of candidate scanning point poses as the scanning point pose of the next scanning path based on the current gain values respectively corresponding to the plurality of candidate scanning point poses.
In yet another embodiment of the present disclosure, the first determination submodule includes:
the first acquisition unit is used for acquiring a current weight field, wherein the current weight field comprises a plurality of voxel points and weight values of the voxel points, and the current three-dimensional model is positioned in the current weight field;
The rendering unit is used for rendering the grid patches obtained by the current scanning data gridding processing into a preset first color, determining the corresponding colors according to the ID inquiry preset coding principle of the grid patches obtained by the hole supplementing processing and rendering the corresponding colors into corresponding colors for the grid patches on the current three-dimensional model, wherein the colors corresponding to the grid patches obtained by the hole supplementing processing are different from the colors corresponding to other grid patches on the current three-dimensional model;
the first determining unit is used for determining a sub-region corresponding to the candidate scanning point pose on the current three-dimensional model and generating a current benefit map corresponding to the sub-region, wherein the pixel points in the current benefit map have a corresponding relation with the grid patches on the current three-dimensional model;
the second determining unit is used for determining the corresponding ID of the pixel point according to the color for the pixel point in the current profit graph, determining the three-dimensional point corresponding to the pixel point in the current weight field based on the pixel point and the corresponding ID, and taking the current weight value corresponding to the three-dimensional point in the current weight field as the weight value of the pixel point;
the first adding unit is used for adding the weight value of the pixel point corresponding to the grid surface patch obtained by hole supplementing in the current benefit map to obtain the benefit value of the current benefit map, and taking the benefit value of the current benefit map as the current benefit value of the corresponding candidate scanning point pose.
In yet another embodiment of the present disclosure, the first determination submodule includes:
the first acquisition unit is used for acquiring a current weight field, wherein the current weight field comprises a plurality of voxel points and current weight values of the voxel points, and the current three-dimensional model is positioned in the current weight field;
the third determining unit is used for determining a sub-region corresponding to the candidate scanning point pose on the current three-dimensional model, and taking a current weight value corresponding to the three-dimensional point in the sub-region in the current weight field as a weight value of the three-dimensional point;
and the second summation unit is used for carrying out summation processing on the weight values of the three-dimensional points on the grid surface patch obtained by hole supplementing processing in the subarea to obtain the current benefit value of the candidate scanning point pose.
In still another embodiment of the present disclosure, the first acquisition unit may include:
the first scanning subunit is used for scanning the scanned object based on the scanning point position of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object;
the first acquisition subunit is used for acquiring an initial weight field, wherein the initial weight field comprises a plurality of voxel points and initial weight values of the voxel points, and the current three-dimensional model is positioned in the initial weight field;
And the first updating subunit is used for updating the initial weight field based on the current three-dimensional model to obtain the current weight field.
In still another embodiment of the present disclosure, the first updating subunit is specifically configured to determine, for a portion of the current three-dimensional model obtained based on scanning by the camera located in a scanning point pose of the current scanning path, a voxel point of the current three-dimensional model in an initial weight field and reduce an initial weight value corresponding to the voxel point to a first weight value; aiming at the current three-dimensional model, determining voxel points, through which connecting lines of the camera and the scanning point pose positioned in the current scanning path pass in an initial weight field, and reducing weight values corresponding to the passed voxel points to second weight values; and updating the initial weight field to obtain the current weight field.
In still another embodiment of the present disclosure, for a pixel point in a current benefit map, determining a corresponding ID of the pixel point according to a color, determining a three-dimensional point corresponding to the pixel point in a current weight field based on the pixel point and the corresponding ID, includes:
and aiming at the pixel points in the current profit graph, determining the grid patch ID corresponding to the pixel points according to the colors, and carrying out linear interpolation on the grid patch corresponding to the ID based on the pixel coordinates of the pixel points to obtain the three-dimensional points corresponding to the pixel points.
In yet another embodiment of the present disclosure, the first determination submodule further includes:
the identification unit is used for distinguishing the grid surface patch obtained by the gridding processing and the grid surface patch obtained based on the hole filling processing by adopting different types of identifications aiming at the current three-dimensional model.
In still another embodiment of the present disclosure, the first selecting submodule is specifically configured to sort current profit values corresponding to the multiple candidate scanning point locations respectively, so as to obtain a sorting result;
and based on the sorting result, at least taking the candidate scanning point pose corresponding to the maximum benefit value as the scanning point pose of the next scanning path.
The device provided in this embodiment can execute the method of any one of the above embodiments, and the execution mode and the beneficial effects thereof are similar, and are not described herein again.
The embodiment of the disclosure also provides an electronic device, which comprises: a memory in which a computer program is stored; a processor for executing a computer program, which when executed by the processor can implement the method of any of the embodiments described above.
By way of example, fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure. Referring now in particular to fig. 4, a schematic diagram of an electronic device 400 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device 400 in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 4 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 4, the electronic device 400 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 401, which may perform various suitable actions and processes according to a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage means 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
In general, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, magnetic tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. While fig. 4 shows an electronic device 400 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via communications device 409, or from storage 408, or from ROM 402. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 401.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring a current scanning path, wherein the current scanning path comprises at least one scanning point pose;
scanning the scanned object based on the scanning point pose of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object;
determining a next scanning path based on the current three-dimensional model, wherein the next scanning path comprises at least one scanning point pose;
Updating the current scanning path based on the next scanning path;
and scanning the scanned object based on the updated scanning point pose of the current scanning path, and updating the current three-dimensional model corresponding to the scanned object.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The embodiments of the present disclosure further provide a computer readable storage medium, where a computer program is stored, where when the computer program is executed by a processor, the method of any of the foregoing embodiments may be implemented, and the implementation manner and the beneficial effects are similar, and are not repeated herein.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The above is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (15)
1. An automated three-dimensional scanning method, comprising:
acquiring a current scanning path, wherein the current scanning path comprises at least one scanning point pose;
scanning the scanned object based on the scanning point pose of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object;
determining a next scanning path based on the current three-dimensional model, wherein the next scanning path comprises at least one scanning point pose;
updating the current scanning path based on the next scanning path;
and scanning the scanned object based on the updated scanning point pose of the current scanning path, and updating the current three-dimensional model corresponding to the scanned object.
2. The method of claim 1, wherein the current scan path comprises a preset scan path, the preset scan path comprising at least one preset scan point location;
the method for scanning the scanned object based on the scanning point pose of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object comprises the following steps:
and scanning the scanned object based on a preset scanning point pose of a preset scanning path to obtain a current three-dimensional model corresponding to the scanned object.
3. The method of claim 1, wherein the current scan path comprises an updated scan path, the updated scan path comprising at least one updated scan point location;
the method for scanning the scanned object based on the scanning point pose of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object comprises the following steps:
and scanning the scanned object based on the updated scanning point pose of the updated scanning path, and updating the three-dimensional model obtained by the previous scanning corresponding to the scanned object to obtain the current three-dimensional model corresponding to the scanned object.
4. The method of claim 1, wherein scanning the scanned object based on the scan point pose of the current scan path to obtain a current three-dimensional model corresponding to the scanned object, comprises:
Scanning the scanned object based on a preset scanning point position of a preset scanning path to obtain current scanning data;
and carrying out gridding treatment and hole filling treatment based on the current scanning data to obtain a current three-dimensional model.
5. The method of claim 1, wherein determining the next scan path based on the current three-dimensional model comprises:
acquiring a preset solution space, wherein the solution space comprises a plurality of candidate scanning point positions;
determining current benefit values respectively corresponding to a plurality of candidate scanning point positions based on the current three-dimensional model, wherein the current benefit values are used for representing the scanning completeness degree of the sub-region corresponding to the candidate scanning point positions on the current three-dimensional model;
and selecting at least one scanning point pose from the plurality of candidate scanning point poses as the scanning point pose of the next scanning path based on the current gain values respectively corresponding to the plurality of candidate scanning point poses.
6. The method of claim 5, wherein determining the current benefit value for each of the plurality of candidate scan point poses based on the current three-dimensional model comprises:
acquiring a current weight field, wherein the current weight field comprises a plurality of voxel points and current weight values of the voxel points, and a current three-dimensional model is positioned in the current weight field;
Aiming at the grid patches on the current three-dimensional model, rendering the grid patches obtained by the gridding processing of the current scanning data into a preset first color, and determining the corresponding colors according to the ID inquiry preset coding principle and rendering the corresponding colors into corresponding colors, wherein the colors corresponding to the grid patches obtained by the hole supplementing processing are different from the colors corresponding to other grid patches on the current three-dimensional model;
aiming at candidate scanning point positions, determining a sub-region corresponding to the candidate scanning point positions on a current three-dimensional model, and generating a current benefit map corresponding to the sub-region, wherein pixels in the current benefit map have a corresponding relation with grid patches on the current three-dimensional model; for the pixel points in the current profit graph, determining the corresponding IDs of the pixel points according to the colors, determining three-dimensional points corresponding to the pixel points in the current weight field based on the pixel points and the corresponding IDs, and taking the current weight value corresponding to the three-dimensional points in the current weight field as the weight value of the pixel points;
and adding the weight values of the pixel points corresponding to the grid patches obtained by hole filling processing in the current benefit map to obtain the benefit value of the current benefit map, and taking the benefit value of the current benefit map as the current benefit value of the corresponding candidate scanning point pose.
7. The method of claim 5, wherein determining the current benefit value for each of the plurality of candidate scan point poses based on the current three-dimensional model comprises:
acquiring a current weight field, wherein the current weight field comprises a plurality of voxel points and current weight values of the voxel points, and a current three-dimensional model is positioned in the current weight field;
aiming at candidate scanning point pose, determining a sub-region corresponding to the candidate scanning point pose on a current three-dimensional model, and taking a current weight value corresponding to a three-dimensional point in the sub-region in a current weight field as a weight value of the three-dimensional point;
and adding the weight values of the three-dimensional points on the grid surface patch obtained by hole filling in the subarea, and obtaining the current benefit value of the candidate scanning point pose.
8. A method according to claim 6 or 7, characterized in that the acquisition of the current weight field comprises:
scanning the scanned object based on the scanning point pose of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object;
acquiring an initial weight field, wherein the initial weight field comprises a plurality of voxel points and initial weight values of the voxel points, and the current three-dimensional model is positioned in the initial weight field;
And updating the initial weight field based on the current three-dimensional model to obtain the current weight field.
9. The method of claim 8, wherein updating the initial weight field based on the current three-dimensional model to obtain the current weight field comprises:
determining voxel points in an initial weight field of a part of the current three-dimensional model, which is obtained based on scanning of a camera positioned at a scanning point position of a current scanning path, and reducing the corresponding initial weight value of the voxel points to a first weight value;
aiming at the current three-dimensional model, determining voxel points, through which connecting lines of the camera and the scanning point pose positioned in the current scanning path pass in an initial weight field, and reducing weight values corresponding to the passed voxel points to second weight values;
and updating the initial weight field to obtain the current weight field.
10. The method of claim 6, wherein for a pixel in the current revenue map, determining the corresponding ID of the pixel according to the color, and determining the three-dimensional point corresponding to the pixel in the current weight field based on the pixel and the corresponding ID, comprises:
and aiming at the pixel points in the current profit graph, determining the grid patch ID corresponding to the pixel points according to the colors, and carrying out linear interpolation on the grid patch corresponding to the ID based on the pixel coordinates of the pixel points to obtain the three-dimensional points corresponding to the pixel points.
11. The method of claim 6, further comprising:
for the current three-dimensional model, different types of marks are adopted to distinguish the grid surface patch obtained by the gridding process and the grid surface patch obtained based on the hole filling process.
12. The method of claim 6, wherein selecting at least one of the plurality of candidate scan point locations as the scan point location for the next scan path comprises:
sorting the current gain values respectively corresponding to the candidate scanning point positions to obtain a sorting result;
and based on the sorting result, at least taking the candidate scanning point pose corresponding to the maximum benefit value as the scanning point pose of the next scanning path.
13. An automated three-dimensional scanning apparatus, comprising:
the first acquisition module is used for acquiring a current scanning path, wherein the current scanning path comprises at least one scanning point position;
the first scanning module is used for scanning the scanned object based on the scanning point position of the current scanning path to obtain a current three-dimensional model corresponding to the scanned object;
the first determining module is used for determining a next scanning path based on the current three-dimensional model, wherein the next scanning path comprises at least one scanning point pose;
A first updating module, configured to update a current scan path based on a next scan path;
and the second updating module is used for scanning the scanning object based on the updated scanning point pose of the current scanning path and updating the current three-dimensional model corresponding to the scanned object.
14. An electronic device, comprising:
a processor and a memory, wherein the memory has stored therein a computer program which, when executed by the processor, performs the method of any of claims 1-12.
15. A computer readable storage medium, characterized in that the storage medium has stored therein a computer program which, when executed by a processor, implements the method according to any of claims 1-12.
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