WO2023213254A1 - 一种口内扫描处理方法、系统、电子设备及介质 - Google Patents

一种口内扫描处理方法、系统、电子设备及介质 Download PDF

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Publication number
WO2023213254A1
WO2023213254A1 PCT/CN2023/091810 CN2023091810W WO2023213254A1 WO 2023213254 A1 WO2023213254 A1 WO 2023213254A1 CN 2023091810 W CN2023091810 W CN 2023091810W WO 2023213254 A1 WO2023213254 A1 WO 2023213254A1
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WIPO (PCT)
Prior art keywords
scanning
scan
rod
scanning rod
data
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PCT/CN2023/091810
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English (en)
French (fr)
Inventor
陈晓军
马超
张伟
赵晓波
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先临三维科技股份有限公司
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Publication of WO2023213254A1 publication Critical patent/WO2023213254A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • 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
    • G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • 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
    • 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
    • G06T2207/10016—Video; Image sequence
    • 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
    • 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
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30036—Dental; Teeth
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/41—Medical

Definitions

  • the present disclosure relates to the technical field of intraoral scanning, and in particular, to an intraoral scanning processing method, system, electronic equipment and media.
  • the implant position is determined by scanning with a scanning rod.
  • the technical problem to be solved by this disclosure is to solve the existing multi-data splicing scheme that is usually used when scanning intraoral data. Due to the existence of cumulative errors, the scanner ultimately obtains the intraoral scan data and is unable to determine the precise position of the scanning rod, resulting in The problem of poor scanning accuracy for planting.
  • embodiments of the present disclosure provide an intraoral scanning processing method, system, electronic device, and medium.
  • an intraoral scan processing method which method includes:
  • Processing is performed based on the scanning rod positioning pattern and the target scanning data to determine positioning information of the scanning rod.
  • an intraoral scan processing system including: a scanner and a processing module;
  • the scanner is configured to respond to a request to scan an oral cavity including a scanning rod, obtain a scanning rod positioning pattern, and scan the oral cavity to obtain target scan data;
  • the processing module is configured to perform processing based on the scanning rod positioning mode and the target scanning data to determine the positioning information of the scanning rod.
  • an electronic device including:
  • Memory used to store instructions executable by the processor
  • the processor is configured as:
  • the executable instructions are read from the memory and executed to implement the intraoral scan processing method as provided by embodiments of the present disclosure.
  • a computer storage medium can store a program, and when executed, the program can implement some or all of the various implementations of the intraoral scan processing method provided in the first aspect of the present disclosure. step.
  • the intraoral scanning processing method, system, electronic device and medium provided by the embodiments of the present disclosure respond to a scanning request for the oral cavity including a scanning rod, obtain the scanning rod positioning mode, scan the oral cavity, and obtain target scan data, based on the scanning rod positioning
  • the pattern and target scan data are processed to determine the positioning information of the scan rod.
  • the positioning information of the scanning rod can be obtained based on the scanning results, further meeting the positioning requirements of the scanning rod in the oral scanning scenario.
  • Figure 1 is an application scenario diagram of intraoral scanning processing provided by an embodiment of the present disclosure
  • Figure 2 is a schematic flow chart of an intraoral scanning processing method provided by an embodiment of the present disclosure
  • Figure 3 is a schematic flow chart of another intraoral scanning processing method provided by an embodiment of the present disclosure.
  • Figure 4 is a schematic structural diagram of an intraoral scanning processing system provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.
  • FIG. 1 is an application scenario diagram of an intraoral scanning process provided by an embodiment of the present disclosure.
  • the application environment includes: installing multiple intraoral scanning rods in the target oral cavity.
  • the intraoral scanning rods include: a scanning rod component 11 connected to the scanning rod component 11
  • the auxiliary component 12, the scanning rod component 11 and/or the auxiliary component 12 is provided with auxiliary feature points, in which the shape features of the auxiliary component 12 itself can also be used as auxiliary feature points, the scanning rod component 11 and the implant installed in the target oral cavity
  • Adaptation means that the scanning rod component 11 is adapted and installed with the implant, so that the intraoral scanning rod is installed in the target oral cavity.
  • the auxiliary parts 12 of any two intraoral scanning rods among the plurality of intraoral scanning rods are matched with each other, so that when any two intraoral scanning rods 10 are installed adjacently in the oral cavity, the auxiliary feature points on the two auxiliary parts are continuously distributed, and can be passed through in advance.
  • SLR photogrammetry systems, three-dimensional coordinate meters, etc. obtain the true value coordinate points of auxiliary feature points.
  • the three-dimensional coordinate points corresponding to the scanned image correspond to the true value coordinate points of the pre-acquired auxiliary feature points.
  • the intraoral scanner also known as an electronic impression scanner, refers to the use of a small penetrating optical scanning head to directly obtain the three-dimensional topography and color of the surface of soft and hard tissues such as teeth, gums, and mucous membranes in the patient's mouth. Texture information.
  • the intraoral scanning rod includes a scanning rod component for connecting to the implant and an auxiliary component connected to the scanning rod.
  • the intraoral scanning rod is provided with a target feature, and the target feature is Continuously distributed on the scanning rod and/or auxiliary components, and the target features are not distributed on one side of the scanning rod and/or auxiliary components.
  • the intraoral scanner scans the target oral cavity, acquires multiple frames of images, and transmits them to the data processing module for data processing.
  • the data processing module performs the following methods:
  • the initial three-dimensional data includes the initial point set of the target oral cavity under the same coordinate system and the three-dimensional coordinate measurement values of the target features;
  • the preset model includes the true three-dimensional coordinate value of the target feature in the same coordinate system and the true point set of the intraoral scanning rod (the true three-dimensional coordinate value of each point)
  • the initial point set of the target oral cavity and the true point set of the intraoral scanning rod are spliced;
  • the positioning information of the intraoral scanning rod is determined based on the real point set of the spliced intraoral scanning rod.
  • the positioning information of the intraoral scanning rod is the positioning information of the implant. Based on this positioning information, the tooth design is carried out so that the designed tooth can match the Implant adaptation and installation.
  • the scanning rod positioning mode is obtained, the oral cavity is scanned, and the target scan data is obtained.
  • the positioning information of the scanning rod is determined based on processing based on the scanning rod positioning mode and the target scanning data.
  • the positioning information of the scanning rod can be obtained based on the scanning results, further meeting the positioning requirements of the scanning rod in the oral scanning scenario.
  • FIG. 2 is a schematic flowchart of an intraoral scan processing method provided by an embodiment of the present disclosure.
  • the method can be executed by an intraoral scan processing device, where the device can be implemented using software and/or hardware, and can generally be integrated into an electronic device. middle. As shown in Figure 2, the method includes:
  • Step 101 Respond to a request to scan the oral cavity including the scanning rod, and obtain the scanning rod positioning mode.
  • the oral cavity refers to the oral cavity where tooth implantation is required.
  • Intraoral scanning is required to locate the coordinates of specific points in the oral cavity. Intraoral scanning is performed after the intraoral scanning rod is connected through the auxiliary feature body.
  • the scanning rod and/or the auxiliary feature body include auxiliary feature points (such as circles, squares, checkerboards, etc.), and the auxiliary feature bodies have many shapes (such as spheres, squares, cuboids, and cones). wait).
  • auxiliary feature points such as circles, squares, checkerboards, etc.
  • auxiliary feature bodies have many shapes (such as spheres, squares, cuboids, and cones). wait).
  • the scanner has different scanning modes, which can be selected according to the application scenario, such as normal scanning mode, scanning rod positioning mode, etc. Different scanning modes have different ways of subsequently processing the scanned data.
  • a request to scan the oral cavity including the scanning rod can be received, and the request scan parameters are further obtained, such as 1 indicating a normal scanning scene and 0 indicating a scanning rod. Locate the scanning scene to determine the corresponding scanning mode based on different request scanning scenes.
  • the scan mode may also be directly obtained after the user triggers the scan start button set on the scanner and then triggers the scan mode selection button set on the scanner.
  • the scanning rod positioning mode is obtained in response to a scanning request for the oral cavity including the scanning rod.
  • Step 102 Scan the oral cavity to obtain target scan data.
  • the target scan data may include structured light images and/or texture images.
  • the scanner projector is controlled to project a structured light pattern on the oral cavity
  • the first camera is controlled to collect images to obtain
  • the lighting element is controlled to project illumination light to the oral cavity
  • the second camera is controlled to collect images to obtain a texture image
  • the structured light image and the texture image are used as target scanning data.
  • structured light images and texture images are obtained based on direct camera shooting.
  • the above two methods are only examples of scanning the oral cavity to obtain target scan data.
  • the embodiments of the present disclosure do not limit the specific methods of scanning the oral cavity to obtain target scan data.
  • the oral cavity after responding to a request to scan the oral cavity including the scanning rod, the oral cavity may be scanned to obtain target scan data.
  • Step 103 Process based on the scanning rod positioning mode and target scanning data to determine the positioning information of the scanning rod.
  • the target scanning data needs to be processed to determine the positioning information of the scanning rod.
  • auxiliary feature point information in the texture image is extracted, three-dimensional reconstruction is performed based on the auxiliary feature point information, three-dimensional data of the auxiliary feature point is obtained, and the scanning rod is determined based on the three-dimensional data of the auxiliary feature point Three-dimensional model, and determine the positioning information of the scanning rod based on the three-dimensional model of the scanning rod.
  • the three-dimensional model and color information are texture mapped based on the pixel coordinates of the structured light image, the pixel coordinates of the texture image and the internal and external parameters of the camera, and the auxiliary feature point information in the texture image is extracted, based on the auxiliary
  • the feature point information performs three-dimensional reconstruction of the three-dimensional data of the auxiliary feature points, the three-dimensional model of the scanning rod is determined based on the three-dimensional data of the auxiliary feature points, and the positioning information of the scanning rod is determined based on the three-dimensional model of the scanning rod.
  • the auxiliary feature point can uniquely identify a feature, that is, an auxiliary feature point is set on the scanning rod.
  • Each auxiliary feature point can uniquely identify the corresponding position feature on the scanning rod.
  • position 1 and position 2 on the scanning rod are respectively set.
  • Target feature a can uniquely identify the position feature of position 1 on the scanning rod
  • target feature b can uniquely identify the position feature of position 2 on the scanning rod.
  • auxiliary feature points can be the auxiliary component 12 itself. shape characteristics.
  • processing can be performed based on the scanning rod positioning mode and the target scanning data to determine the positioning information of the scanning rod.
  • the intraoral scanning processing solution responds to a scanning request for the oral cavity including a scanning rod, obtains the scanning rod positioning mode, scans the oral cavity, obtains target scan data, and performs processing based on the scanning rod positioning mode and target scan data. Determine the positioning information of the scan bar.
  • the positioning information of the scanning rod can be obtained based on the scanning results, further meeting the positioning requirements of the scanning rod in the oral scanning scenario.
  • the intraoral scanning processing method in a specific scenario will be described in detail below with reference to FIG. 3 .
  • FIG. 3 is a schematic flowchart of another intraoral scanning processing method provided by an embodiment of the present disclosure. Based on the above embodiment, this embodiment further optimizes the above intraoral scanning processing method. As shown in Figure 3, the method includes:
  • Step 201 Respond to a request to scan the oral cavity including the scanning rod, obtain the requested scanning parameters, determine the requested scanning scene based on the requested scanning parameters, and obtain the scanning rod positioning mode based on the requested scanning scene.
  • the scan request when receiving a scan request for the oral cavity, the scan request is parsed to obtain the requested scan parameters.
  • the requested scan parameters can uniquely identify a requested scan scenario, such as a normal scan scenario or a scan rod positioning scenario, etc. Thereby scanning scenes according to different requests and obtaining different scanning rod positioning modes, such as normal scanning mode or scanning rod positioning mode.
  • Step 202 Control the scanner projector to project the structured light pattern onto the oral cavity, and control the first camera to collect images to obtain the structured light image. Control the lighting element to project illumination light to the oral cavity, and control the second camera to collect images to obtain the texture image. , using structured light images and texture images as target scanning data.
  • Step 203 In the scanning rod positioning mode, extract the auxiliary feature point information in the texture image, perform three-dimensional reconstruction based on the auxiliary feature point information, obtain the three-dimensional data of the auxiliary feature point, determine the three-dimensional model of the scanning rod based on the three-dimensional data of the auxiliary feature point, and The three-dimensional model of the scanning rod determines the positioning information of the scanning rod.
  • the scanner projector is controlled to project the structured light pattern on the oral cavity, and the first camera is used to collect images.
  • three-dimensional reconstruction is performed to obtain the structured light image sequence and the texture image sequence.
  • the structured light image sequence Three-dimensional data including teeth, gums and scanning rods are calculated, and texture image sequences are used to reconstruct three-dimensional data of auxiliary feature points. Since the reconstructed structured light image and the texture image are acquired at the same time, it can be considered that the three-dimensional data and the three-dimensional data of the auxiliary feature points have a one-to-one correspondence in the same coordinate system.
  • the position transformation matrix can be used to transfer the designed scan rod data to the auxiliary feature point coordinate system, replacing the real-time Acquired 3D model of the scanning rod.
  • Step 204 Receive the scanning mode switching request and obtain the normal scanning mode.
  • the normal scanning mode perform 3D reconstruction based on the structured light image in the target scanning data to obtain the 3D model of the scanning rod, and combine the 3D model of the scanning rod with the target scanning data. Texture image for texture mapping.
  • three-dimensional reconstruction can be performed based on the structured light image to obtain a three-dimensional model of the scanning rod, and texture mapping can be performed between the three-dimensional scanning rod model and the texture image in the target scan data.
  • the intraoral scanning processing solution responds to a request to scan the oral cavity including a scanning rod, obtains the requested scanning parameters, determines the requested scanning scene based on the requested scanning parameters, obtains the scanning rod positioning mode based on the requested scanning scene, and controls the scanning
  • the instrument projector projects a structured light pattern to the oral cavity, and controls the first camera to collect images to obtain a structured light image. It controls the lighting element to project illumination light to the oral cavity, and controls the second camera to collect images to obtain a texture image.
  • the structured light image is and texture image as the target scanning data.
  • the auxiliary feature point information in the texture image is extracted, three-dimensional reconstruction is performed based on the auxiliary feature point information, the three-dimensional data of the auxiliary feature point is obtained, and the scanning rod is determined based on the three-dimensional data of the auxiliary feature point.
  • 3D model and determine the positioning information of the scanning rod based on the 3D model of the scanning rod, receive the scanning mode switching request, and obtain the normal scanning mode.
  • the normal scanning mode perform 3D reconstruction based on the structured light image in the target scanning data to obtain the 3D scanning rod model, and perform texture mapping on the three-dimensional scan rod model and the texture image in the target scan data. Therefore, different scanning modes are determined based on the scanning request, and the scanning data is processed differently based on the different scanning modes to meet the oral scanning data processing needs of different scenarios and further improve the processing efficiency and accuracy of oral scanning implantation.
  • FIG. 4 is a schematic structural diagram of an intraoral scan processing system provided by an embodiment of the present disclosure.
  • the system can be implemented by software and/or hardware, and can generally be integrated in an electronic device.
  • the system includes: a scanner 100 and a processing module 200.
  • the scanner 100 is configured to respond to a request to scan an oral cavity including a scanning rod, obtain a scanning rod positioning pattern, and scan the oral cavity to obtain target scan data.
  • the processing module 200 is configured to perform processing based on the scanning rod positioning mode and the target scanning data to determine the positioning information of the scanning rod.
  • scanner 100 specifically used for:
  • the scanning rod positioning mode is obtained.
  • the scanner 100 includes: a projector 110, a first camera 120, an illumination element 130 and a second camera 140;
  • the projector 110 projects a structured light pattern onto the oral cavity, and the first camera 120 performs image acquisition to obtain a structured light image as the target scan data;
  • the lighting element 130 projects illumination light to the oral cavity, and the second camera 140 performs image acquisition to obtain a texture image as the target scan data.
  • the first camera 120 and the second camera 140 may be one camera or two different cameras, or there may be multiple first cameras 120 or multiple second cameras 140 .
  • processing module is specifically used for:
  • a three-dimensional model of the scanning rod is determined based on the three-dimensional data of the auxiliary feature points, and the positioning information of the scanning rod is determined based on the three-dimensional model of the scanning rod.
  • the scanner 100 is also used for:
  • the processing module 200 is also used to:
  • three-dimensional reconstruction is performed based on the structured light image in the target scanning data to obtain a three-dimensional scanning rod model, and the three-dimensional scanning rod model and the texture image in the target scanning data are texture mapped. .
  • the intraoral scan processing system provided by the embodiments of the present disclosure can execute the intraoral scan processing method provided by any embodiment of the present disclosure, and has functional modules and beneficial effects corresponding to the execution method.
  • Embodiments of the present disclosure also provide a computer storage medium, wherein the computer storage medium can store a program.
  • the program When executed, it can implement the various implementations of the intraoral scan processing method provided by the embodiments shown in Figures 2-3. Some or all of the steps.
  • an electronic device As shown in Figure 5, the device includes:
  • Memory used to store instructions executable by the processor
  • the processor is configured as:
  • the executable instructions are read from the memory and executed to implement the intraoral scan processing method provided by the embodiments of the present disclosure.
  • the electronic device 400 in the embodiment of the present disclosure may include, but is not limited to, mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablets), PMPs (portable multimedia players), vehicle-mounted terminals ( Mobile terminals such as car navigation terminals) and fixed terminals such as digital TVs, desktop computers, etc.
  • the electronic device shown in FIG. 5 is only an example and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.
  • the electronic device 400 may include a processing device (eg, central processing unit, graphics processor, etc.) 401 , which may be loaded into a random access device according to a program stored in a read-only memory (ROM) 402 or from a storage device 408 .
  • the program in the memory (RAM) 403 executes various appropriate actions and processes.
  • various programs and data required for the operation of the electronic device 500 are also stored.
  • the processing device 401, ROM 402 and RAM 403 are connected to each other via a bus 404.
  • An input/output (I/O) interface 405 is also connected to bus 404.
  • the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speakers, vibration An output device 407 such as a computer; a storage device 408 including a magnetic tape, a hard disk, etc.; and a communication device 409. Communication device 409 may allow electronic device 500 to communicate wirelessly or wiredly with other devices to exchange data.
  • FIG. 5 illustrates electronic device 500 with various means, it should be understood that implementation or availability of all illustrated means is not required. More or fewer means may alternatively be implemented or provided.
  • embodiments of the present disclosure include a computer program product including a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart.
  • the computer program may be downloaded and installed from the network via communication device 409, or from storage device 408, or from ROM 402.
  • the processing device 401 When the computer program is executed by the processing device 401, the above-mentioned functions defined in the intraoral scan processing method of the embodiment of the present disclosure are performed.
  • the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two.
  • the computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples of computer readable storage media may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard drive, random access memory (RAM), read only memory (ROM), removable Programmd read-only memory (EPROM or flash memory), fiber optics, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate, or transmit 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 suitable medium, including but not limited to: wire, optical cable, RF (radio frequency), etc., or any suitable combination of the above.
  • the client and server can communicate using any currently known or future developed network protocol such as HTTP (Hyper Text Transfer Protocol), and can communicate with any form or medium.
  • Digital data communications e.g., communications networks
  • communications networks include local area networks (“LAN”), wide area networks (“WAN”), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or developed in the future network of.
  • the above-mentioned computer-readable medium may be included in the above-mentioned electronic device; it may also exist independently without being assembled into the electronic device.
  • the computer-readable medium carries one or more programs.
  • the electronic device receives the user's information display triggering operation during the playback of the video; obtains the At least two target information associated with the video; display the first target information among the at least two target information in the information display area of the play page of the video, wherein the size of the information display area is smaller than the size of the play page. Size: Receive the user's first switching triggering operation, and switch the first target information displayed in the information display area to the second target information among the at least two target information.
  • Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and Includes conventional procedural programming languages—such as "C” 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.
  • the remote computer can 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 it can be connected to an external computer (such as an Internet service provider through Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider such as an Internet service provider through Internet connection
  • each block in the flowchart or block diagram may represent a module, segment, or portion of code that contains one or more logic functions that implement the specified executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved.
  • each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration can be implemented by special purpose hardware-based systems that perform the specified functions or operations. , or can be implemented using a combination of specialized hardware and computer instructions.
  • the units involved in the embodiments of the present disclosure can be implemented in software or hardware. Among them, the name of a unit does not constitute a limitation on the unit itself under certain circumstances.
  • FPGAs Field Programmable Gate Arrays
  • ASICs Application Specific Integrated Circuits
  • ASSPs Application Specific Standard Products
  • SOCs Systems on Chips
  • CPLD Complex Programmable Logical device
  • a machine-readable medium may be a tangible medium that may 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.
  • Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, laptop disks, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM portable compact disk read-only memory
  • magnetic storage device or any suitable combination of the above.
  • the present disclosure provides an electronic device, including:
  • memory for storing instructions executable by the processor
  • the processor is configured to read the executable instructions from the memory and execute the instructions to implement any of the intraoral scan processing methods provided by this disclosure.
  • the present disclosure provides a computer-readable storage medium, the storage medium stores a computer program, the computer program is used to perform any one of the intraoral methods provided by the present disclosure. Scan processing method.
  • the intraoral scanning processing method provided by the present disclosure can obtain the positioning information of the scanning rod based on the scanning results, meet the scanning rod positioning requirements in the oral scanning scenario, and has strong industrial practicability.

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Abstract

一种口内扫描处理方法、系统、电子设备及介质，其中该方法包括：响应对包括扫描杆（10）的口腔进行扫描的请求，获取扫描杆定位模式，对口腔进行扫描，得到目标扫描数据，基于扫描杆定位模式和目标扫描数据进行处理，确定扫描杆（10）的定位信息。采用该技术方案，能够基于扫描结果获取扫描杆（10）的定位信息，进一步满足口扫场景下的扫描杆（10）定位需求。

Description

一种口内扫描处理方法、系统、电子设备及介质
本公开要求于2022年5月2日提交中国专利局、申请号为202210477085.7、发明名称为“一种口内扫描处理方法、系统、电子设备及介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及口内扫描技术领域，尤其涉及一种口内扫描处理方法、系统、电子设备及介质。
背景技术
通常，对口腔缺失牙齿的修复场景中，通过扫描杆进行扫描确定种植位置。
相关技术中，由于口扫的扫描范围限制，扫描口内数据时通常使用的是多数据拼接的方案，由于累计误差的存在，最终扫描仪获取口内扫描数据，不能够确定扫描杆的精确位置，导致扫描种植精度比较差。
发明内容
(一)要解决的技术问题
本公开要解决的技术问题是解决现有的扫描口内数据时通常使用的是多数据拼接的方案，由于累计误差的存在，最终扫描仪获取口内扫描数据，不能够确定扫描杆的精确位置，导致扫描种植精度比较差的问题。
(二)技术方案
为了解决上述技术问题，本公开实施例提供了一种口内扫描处理方法、系统、电子设备及介质。
第一方面，提供了一种口内扫描处理方法，所述方法包括：
响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式；
对所述口腔进行扫描，得到目标扫描数据；
基于所述扫描杆定位模式和所述目标扫描数据进行处理，确定所述扫描杆的定位信息。
第二方面，还提供了一种口内扫描处理系统，包括：扫描仪和处理模块；
所述扫描仪，用于响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式，并对所述口腔进行扫描，得到目标扫描数据；
所述处理模块，用于基于所述扫描杆定位模式和所述目标扫描数据进行处理，确定所述扫描杆的定位信息。
第三方面，还提供一种电子设备，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
从所述存储器中读取所述可执行指令，并执行所述指令以实现如本公开实施例提供的口内扫描处理方法。
第四方面，还提供一种计算机存储介质，其中，该计算机存储介质可存储有程序，该程序执行时可实现本公开第一方面提供一种口内扫描处理方法的各实现方式中的部分或全部步骤。
(三)有益效果
本公开实施例提供的上述技术方案与现有技术相比具有如下优点：
本公开实施例提供的该口内扫描处理方法、系统、电子设备及介质，响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式，对口腔进行扫描，得到目标扫描数据，基于扫描杆定位模式和目标扫描数据进行处理，确定扫描杆的定位信息。采用上述技术方案，能够可以基于扫描结果获取扫描杆的定位信息，进一步满足口扫场景下的扫描杆定位需求。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的一种口内扫描处理的应用场景图；
图2为本公开实施例提供的一种口内扫描处理方法的流程示意图；
图3为本公开实施例提供的另一种口内扫描处理方法的流程示意图；
图4为本公开实施例提供的一种口内扫描处理系统的结构示意图；
图5为本公开实施例提供的一种电子设备的结构示意图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
针对上述问题，本公开提出一种口内扫描处理方法，可以应用于如图1所示的应用环境中。图1为本公开实施例提供的一种口内扫描处理的应用场景图，该应用环境包括：在目标口腔安装多个口内扫描杆，口内扫描杆包括：扫描杆部件11，与扫描杆部件11连接的辅助部件12，扫描杆部件11和/或辅助部件12上设置有辅助特征点，其中，辅助部件12本身的形状特征也可以作为辅助特征点，扫描杆部件11与安装于目标口腔的种植体适配，通过扫描杆部件11与种植体适配安装，使得口内扫描杆安装于目标口腔。
其中，多个口内扫描杆中任意两个口内扫描杆的辅助部件12相互配，使得任意两个口内扫描杆10相邻安装于口腔时两辅助部件上的辅助特征点呈连续分布，可以预先通过比如单反摄影测量系统，三坐标仪等获取辅助特征点的真值坐标点，理论上扫描获取图像对应的三维坐标点与预先获取的辅助特征点的真值坐标点一一对应。
在本公开实施例中，口内扫描仪又称电子印模扫描仪，是指应用小型探入式光学扫描头，直接在患者口腔内获取牙齿、牙龈、黏膜等软硬组织表面三维形貌及彩色纹理信息。
作为一种场景举例，在目标口腔安装多个口内扫描杆，口内扫描杆包括用于与种植体连接的扫描杆部件及与扫描杆连接的辅助部件，口内扫描杆设有目标特征，目标特征呈连续地分布于扫描杆和/或辅助部件，目标特征非单面地分布于扫描杆和/或辅助部件。
具体地，口内扫描仪扫描目标口腔，获取多帧图像，并传输给数据处理模块进行数据处理，数据处理模块执行以下方法：
获取多帧图像，并基于多帧图像获取目标口腔的初始三维数据，初始三维数据包括同一坐标系下的目标口腔的初始点集、目标特征的三维坐标测量值；
获取口内扫描杆的预设模型，预设模型包括同一坐标系下目标特征的三维坐标真值和口内扫描杆的真实点集(各个点的三维坐标真值)
基于目标特征的三维坐标测量值与真值的对应关系将目标口腔的初始点集与口内扫描杆的真实点集进行拼接；
基于拼接后的口内扫描杆的真实点集确定口内扫描杆的定位信息，口内扫描杆的定位信息即为种植体的定位信息，基于该定位信息进行牙体设计，使得设计制作的牙体能够与种植体适配安装。
具体地，通过响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式，对口腔进行扫描，得到目标扫描数据，基于扫描杆定位模式和目标扫描数据进行处理，确定扫描杆的定位信息。采用上述技术方案，能够可以基于扫描结果获取扫描杆的定位信息，进一步满足口扫场景下的扫描杆定位需求。
具体地，图2为本公开实施例提供的一种口内扫描处理方法的流程示意图，该方法可以由口内扫描处理装置执行，其中该装置可以采用软件和/或硬件实现，一般可集成在电子设备中。如图2所示，该方法包括：
步骤101、响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式。
其中，口腔指的是需要进行牙齿种植的口腔，需要进行口腔内扫描以对口腔内的具体点坐标进行定位，在口腔内扫描杆通过辅助特征体连接后进行口内扫描。
在本公开实施例中，扫描杆和/或辅助特征体包括辅助特征点(比如圆形、方形、棋盘格等)、以及辅助特征体的形状有很多种(比如球形、方形、长方体和锥形等)。
其中，扫描仪具有不同的扫描模式，可以根据应用场景选择，比如普通扫描模式、扫描杆定位模式等，不同的扫描模式后续针对扫描数据进行处理的方式不同。
在本公开实施例中，在用户对扫描仪设置的扫描开始按钮触发，可以接收到对包括扫描杆的口腔进行扫描请求，进一步地获取请求扫描参数，比如1表示普通扫描场景、0表示扫描杆定位扫描场景，从而基于不同的请求扫描场景确定对应的扫描模式。
在本公开实施例中，也可以在用户对扫描仪设置的扫描开始按钮触发后接着对扫描仪设置的扫描模式选择按钮的触发直接获取扫描模式。
具体的，在口腔连接好扫描杆后，响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式。
步骤102、对口腔进行扫描，得到目标扫描数据。
其中，目标扫描数据可以包括结构光图像和/或纹理图像。
在本公开实施例中，对口腔进行扫描，得到目标扫描数据的方式有很多种，在一些实施方式中，控制扫描仪投射器对口腔投射结构光图案，并控制第一相机进行图像采集，得到结构光图像，控制照明元件对口腔投射照明光，并控制第二相机进行图像采集，得到纹理图像，将结构光图像和纹理图像作为目标扫描数据。
在另一些实施方式中，基于相机直接拍摄，得到结构光图像和纹理图像。以上两种方式仅为对口腔进行扫描，得到目标扫描数据的示例，本公开实施例不对对口腔进行扫描，得到目标扫描数据的具体方式进行限定。
本公开实施例中，当响应对包括扫描杆的口腔进行扫描请求之后，可以对口腔进行扫描，得到目标扫描数据。
步骤103、基于扫描杆定位模式和目标扫描数据进行处理，确定扫描杆的定位信息。
其中，不同的扫描模式，后续进行处理的方式不同，在扫描杆定位模式时，需要对目标扫描数据进行处理，确定扫描杆的定位信息。
在本公开一个实施方式中，在扫描杆定位模式时，提取纹理图像中的辅助特征点信息，基于辅助特征点信息进行三维重建，得到辅助特征点三维数据，基于辅助特征点三维数据确定扫描杆三维模型，并基于扫描杆三维模型确定扫描杆的定位信息。
在本公开另一个实施方式中，基于结构光图像的像素坐标、纹理图像的像素坐标及相机的内外参将三维模型与颜色信息进行纹理映射，以及提取纹理图像中的辅助特征点信息，基于辅助特征点信息进行三维重建辅助特征点三维数据，基于辅助特征点三维数据确定扫描杆三维模型，基于扫描杆三维模型确定扫描杆的定位信息。
其中，辅助特征点能够唯一标识一个特征，即在扫描杆设置有辅助特征点，每个辅助特征点能够唯一标识扫描杆上对应的位置特征，比如在扫描杆上的位置1和位置2分别设置目标特征a和目标特征b，目标特征a的能够唯一标识扫描杆上位置1的位置特征，目标特征b能够唯一标识扫描杆上位置2的位置特征。
可以理解的是，扫描杆上不同形状、颜色、二维码等具有唯一标识扫描杆上对应的位置特征的都可以作为辅助特征点，还可以理解的是，辅助特征点可以是辅助部件12本身的形状特征。
具体的，获取目标扫描数据之后，可以基于扫描杆定位模式和目标扫描数据进行处理，确定扫描杆的定位信息。
本公开实施例提供的口内扫描处理方案，响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式，对口腔进行扫描，得到目标扫描数据，基于扫描杆定位模式和目标扫描数据进行处理，确定扫描杆的定位信息。采用上述技术方案，能够可以基于扫描结果获取扫描杆的定位信息，进一步满足口扫场景下的扫描杆定位需求。
基于上述实施例的描述，下面结合图3针对具体场景下的口内扫描处理方式进行详细描述。
具体地，图3为本公开实施例提供的另一种口内扫描处理方法的流程示意图，本实施例在上述实施例的基础上，进一步优化了上述口内扫描处理方法。如图3所示，该方法包括：
步骤201、响应对包括扫描杆的口腔进行扫描请求，得到请求扫描参数，基于请求扫描参数，确定请求扫描场景，基于请求扫描场景，获取扫描杆定位模式。
具体地，在接收对口腔的扫描请求时，对扫描请求进行解析，得到请求扫描参数，可以理解的是，请求扫描参数能够唯一标识一个请求扫描场景，比如普通扫描场景或者扫描杆定位场景等，从而根据不同的请求扫描场景，获取不同的扫描杆定位模式，比如普通扫描模式或者是扫描杆定位模式。
步骤202、控制扫描仪投射器对口腔投射结构光图案，并控制第一相机进行图像采集，得到结构光图像，控制照明元件对口腔投射照明光，并控制第二相机进行图像采集，得到纹理图像，将结构光图像和纹理图像作为目标扫描数据。
步骤203、在扫描杆定位模式时，提取纹理图像中的辅助特征点信息，基于辅助特征点信息进行三维重建，得到辅助特征点三维数据，基于辅助特征点三维数据确定扫描杆三维模型，并基于扫描杆三维模型确定扫描杆的定位信息。
具体地，控制扫描仪投射器对口腔投射结构光图案，使用第一相机进行图像采集，采集结构光图像和纹理图像后进行三维重建，得到结构光图像序列和纹理图像序列，根据结构光图像序列计算包含牙齿、牙龈和扫描杆的三维数据，利用纹理图像序列重建辅助特征点三维数据。由于重建结构光图像和纹理图像在同一时刻获取，可认为三维数据和辅助特征点三维数据在同一个坐标系内是一一对应的。
具体地，在采集到的辅助特征点三维数据跟预设的辅助特征点真值坐标点进行拼接成功时，可利用位置变换矩阵将设计的扫描杆数据转移到辅助特征点坐标系下，替换实时获取的扫描杆三维模型。
步骤204，接收扫描模式切换请求，获取普通扫描模式，在普通扫描模式时，根据目标扫描数据中的结构光图像进行三维重建，得到扫描杆三维模型，并将扫描杆三维模型与目标扫描数据中的纹理图像进行纹理贴图。
具体地，在将扫描模式切换到普通扫描模式后，可以根据结构光图像进行三维重建，得到扫描杆三维模型，并将扫描杆三维模型与目标扫描数据中的纹理图像进行纹理贴图。
本公开实施例提供的口内扫描处理方案，响应对包括扫描杆的口腔进行扫描请求，得到请求扫描参数，基于请求扫描参数，确定请求扫描场景，基于请求扫描场景，获取扫描杆定位模式，控制扫描仪投射器对口腔投射结构光图案，并控制第一相机进行图像采集，得到结构光图像，控制照明元件对口腔投射照明光，并控制第二相机进行图像采集，得到纹理图像，将结构光图像和纹理图像作为目标扫描数据，在扫描杆定位模式时，提取纹理图像中的辅助特征点信息，基于辅助特征点信息进行三维重建，得到辅助特征点三维数据，基于辅助特征点三维数据确定扫描杆三维模型，并基于扫描杆三维模型确定扫描杆的定位信息，接收扫描模式切换请求，获取普通扫描模式，在普通扫描模式时，根据目标扫描数据中的结构光图像进行三维重建，得到扫描杆三维模型，并将扫描杆三维模型与目标扫描数据中的纹理图像进行纹理贴图。由此，基于扫描请求确定不同的扫描模式，基于不同的扫描模式对扫描数据进行不同的处理，满足不同场景的口扫数据处理需求，进一步提高口扫种植的处理效率和精度。
图4为本公开实施例提供的一种口内扫描处理系统的结构示意图，该系统可由软件和/或硬件实现，一般可集成在电子设备中。如图4所示，该系统包括：扫描仪100和处理模块200。
扫描仪100，用于响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式，并对所述口腔进行扫描，得到目标扫描数据。
所述处理模块200，用于基于所述扫描杆定位模式和所述目标扫描数据进行处理，确定所述扫描杆的定位信息。
可选的，扫描仪100，具体用于：
基于所述扫描请求，得到请求扫描参数；
基于所述请求扫描参数，确定请求扫描场景；
基于所述请求扫描场景，获取所述扫描杆定位模式。
可选的，扫描仪100包括：投射器110、第一相机120、照明元件130和第二相机140；
所述投射器110对所述口腔投射结构光图案，所述第一相机120进行图像采集，得到结构光图像作为所述目标扫描数据；
所述照明元件130对所述口腔投射照明光，所述第二相机140进行图像采集，得到纹理图像作为所述目标扫描数据。
其中，第一相机120和第二相机140可以为一个相机或者两个不同相机，也可以有多个第一相机120或者多个第二相机140。
可选的，所述处理模块，具体用于：
在所述扫描杆定位模式时，提取所述纹理图像中的辅助特征点信息；
基于所述辅助特征点信息进行三维重建，得到辅助特征点三维数据；
基于所述辅助特征点三维数据确定扫描杆三维模型，并基于所述扫描杆三维模型确定所述扫描杆的定位信息。
可选的，所述扫描仪100还用于：
接收扫描模式切换请求，获取普通扫描模式；
所述处理模块200还用于：
在所述普通扫描模式时，根据所述目标扫描数据中的结构光图像进行三维重建，得到扫描杆三维模型，并将所述扫描杆三维模型与所述目标扫描数据中的纹理图像进行纹理贴图。
本公开实施例所提供的口内扫描处理系统可执行本公开任意实施例所提供的口内扫描处理方法，具备执行方法相应的功能模块和有益效果。
本公开实施例还提供一种计算机存储介质，其中，该计算机存储介质可存储有程序，该程序执行时可实现图2-图3所示实施例提供的口内扫描处理方法的各实现方式中的部分或全部步骤。
本公开实施例还提供了一种电子设备，如图5所示，该装置包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
从存储器中读取可执行指令，并执行指令以实现如本公开实施例提供的口内扫描处理方法。
下面具体参考图5，其示出了适于用来实现本公开实施例中的电子设备400的结构示意图。本公开实施例中的电子设备400可以包括但不限于诸如移动电话、笔记本电脑、数字广播接收器、PDA(个人数字助理)、PAD(平板电脑)、PMP(便携式多媒体播放器)、车载终端(例如车载导航终端)等等的移动终端以及诸如数字TV、台式计算机等等的固定终端。图5示出的电子设备仅仅是一个示例，不应对本公开实施例的功能和使用范围带来任何限制。
如图5所示，电子设备400可以包括处理装置(例如中央处理器、图形处理器等)401，其可以根据存储在只读存储器(ROM)402中的程序或者从存储装置408加载到随机访问存储器(RAM)403中的程序而执行各种适当的动作和处理。在RAM 403中，还存储有电子设备500操作所需的各种程序和数据。处理装置401、ROM402以及RAM 403通过总线404彼此相连。输入/输出(I/O)接口405也连接至总线404。
通常，以下装置可以连接至I/O接口405：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置406；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置407；包括例如磁带、硬盘等的存储装置408；以及通信装置409。通信装置409可以允许电子设备500与其他设备进行无线或有线通信以交换数据。虽然图5示出了具有各种装置的电子设备500，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在非暂态计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信装置409从网络上被下载和安装，或者从存储装置408被安装，或者从ROM 402被安装。在该计算机程序被处理装置401执行时，执行本公开实施例的口内扫描处理方法中限定的上述功能。
需要说明的是，本公开上述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本公开中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读信号介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(射频)等等，或者上述的任意合适的组合。
在一些实施方式中，客户端、服务器可以利用诸如HTTP(Hyper Text Transfer Protocol，超文本传输协议)之类的任何当前已知或未来研 发的网络协议进行通信，并且可以与任意形式或介质的数字数据通信(例如，通信网络)互连。通信网络的示例包括局域网(“LAN”)，广域网(“WAN”)，网际网(例如，互联网)以及端对端网络(例如，ad hoc端对端网络)，以及任何当前已知或未来研发的网络。
上述计算机可读介质可以是上述电子设备中所包含的；也可以是单独存在，而未装配入该电子设备中。
上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该电子设备执行时，使得该电子设备：在视频的播放过程中，接收用户的信息展示触发操作；获取所述视频关联的至少两个目标信息；在所述视频的播放页面的信息展示区域中展示所述至少两个目标信息中的第一目标信息其中，所述信息展示区域的尺寸小于所述播放页面的尺寸；接收用户的第一切换触发操作，将所述信息展示区域中展示的所述第一目标信息切换为所述至少两个目标信息中的第二目标信息。
可以以一种或多种程序设计语言或其组合来编写用于执行本公开的操作的计算机程序代码，上述程序设计语言包括但不限于面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。 例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本公开实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。其中，单元的名称在某种情况下并不构成对该单元本身的限定。
本文中以上描述的功能可以至少部分地由一个或多个硬件逻辑部件来执行。例如，非限制性地，可以使用的示范类型的硬件逻辑部件包括：现场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、片上系统(SOC)、复杂可编程逻辑设备(CPLD)等等。
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
根据本公开的一个或多个实施例，本公开提供了一种电子设备，包括：
处理器；
用于存储所述处理器可执行指令的存储器；
所述处理器，用于从所述存储器中读取所述可执行指令，并执行所述指令以实现如本公开提供的任一所述的口内扫描处理方法。
根据本公开的一个或多个实施例，本公开提供了一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序用于执行如本公开提供的任一所述的口内扫描处理方法。
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅是本公开的具体实施方式，使本领域技术人员能够理解或实现本公开。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本公开的精神或范围的情况下，在其它实施例中实现。因此，本公开将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。
工业实用性
本公开提供的口内扫描处理方法，可以基于扫描结果获取扫描杆的定位信息，满足口扫场景下的扫描杆定位需求，具有很强的工业实用性。

Claims (10)

  1. 一种口内扫描处理方法，其特征在于，包括：
    响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式；
    对所述口腔进行扫描，得到目标扫描数据；
    基于所述扫描杆定位模式和所述目标扫描数据进行处理，确定所述扫描杆的定位信息。
  2. 根据权利要求1所述的口内扫描处理方法，其特征在于，所述响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式，包括：
    基于所述扫描请求，得到请求扫描参数；
    基于所述请求扫描参数，确定请求扫描场景；
    基于所述请求扫描场景，获取所述扫描杆定位模式。
  3. 根据权利要求1所述的口内扫描处理方法，其特征在于，所述对所述口腔进行扫描，得到目标扫描数据，包括：
    控制扫描仪投射器对所述口腔投射结构光图案，并控制第一相机进行图像采集，得到结构光图像；
    控制照明元件对所述口腔投射照明光，并控制第二相机进行图像采集，得到纹理图像；
    将所述结构光图像和所述纹理图像作为所述目标扫描数据。
  4. 根据权利要求3所述的口内扫描处理方法，其特征在于，所述基于所述扫描杆定位模式和所述目标扫描数据进行处理，确定所述扫描杆的定位信息，包括：
    在所述扫描杆定位模式时，提取所述纹理图像中的辅助特征点信息；
    基于所述辅助特征点信息进行三维重建，得到辅助特征点三维数据；
    基于所述辅助特征点三维数据确定扫描杆三维模型，并基于所述扫描杆三维模型确定所述扫描杆的定位信息。
  5. 根据权利要求1所述的口内扫描处理方法，其特征在于，还包括：
    接收扫描模式切换请求，获取普通扫描模式；
    在所述普通扫描模式时，根据所述目标扫描数据中的结构光图像进行三维重建，得到扫描杆三维模型，并将所述扫描杆三维模型与所述目标扫描数据中的纹理图像进行纹理贴图。
  6. 一种口内扫描处理系统，其特征在于，包括：扫描仪和处理模块；
    所述扫描仪，用于响应对包括扫描杆的口腔进行扫描请求，获取扫描杆定位模式，并对所述口腔进行扫描，得到目标扫描数据；
    所述处理模块，用于基于所述扫描杆定位模式和所述目标扫描数据进行处理，确定所述扫描杆的定位信息。
  7. 根据权利要求6所述的口内扫描处理系统，其特征在于，所述扫描仪包括：相机、照明元件；
    所述照明元件对所述口腔投射照明光，所述相机进行图像采集，得到纹理图像作为所述目标扫描数据。
  8. 根据权利要求7所述的口内扫描处理系统，其特征在于，所述处理模块，具体用于：
    在所述扫描杆定位模式时，提取所述纹理图像中的辅助特征点信息；
    基于所述辅助特征点信息进行三维重建，得到辅助特征点三维数据；
    基于所述辅助特征点三维数据确定扫描杆三维模型，并基于所述扫描杆三维模型确定所述扫描杆的定位信息。
  9. 一种电子设备，其特征在于，所述电子设备包括：
    处理器；
    用于存储所述处理器可执行指令的存储器；
    所述处理器，用于从所述存储器中读取所述可执行指令，并执行所述指令以实现上述权利要求1-5中任一所述的口内扫描处理方法。
  10. 一种计算机可读存储介质，其特征在于，所述存储介质存储有计算机程序，所述计算机程序用于执行上述权利要求1-5中任一所述的口内扫描处理方法。
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