WO2024020858A1 - 表面构建方法、装置、电子设备及介质 - Google Patents

表面构建方法、装置、电子设备及介质 Download PDF

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Publication number
WO2024020858A1
WO2024020858A1 PCT/CN2022/108268 CN2022108268W WO2024020858A1 WO 2024020858 A1 WO2024020858 A1 WO 2024020858A1 CN 2022108268 W CN2022108268 W CN 2022108268W WO 2024020858 A1 WO2024020858 A1 WO 2024020858A1
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scan data
target
difference
data
scanning
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PCT/CN2022/108268
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English (en)
French (fr)
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马晨
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维沃移动通信有限公司
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Priority to PCT/CN2022/108268 priority Critical patent/WO2024020858A1/zh
Publication of WO2024020858A1 publication Critical patent/WO2024020858A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/20—Arrangements or instruments for measuring magnetic variables involving magnetic resonance
    • G01R33/44—Arrangements or instruments for measuring magnetic variables involving magnetic resonance using nuclear magnetic resonance [NMR]
    • G01R33/48—NMR imaging systems
    • G01R33/54—Signal processing systems, e.g. using pulse sequences ; Generation or control of pulse sequences; Operator console
    • G01R33/56—Image enhancement or correction, e.g. subtraction or averaging techniques, e.g. improvement of signal-to-noise ratio and resolution

Definitions

  • This application belongs to the field of electronic technology, and specifically relates to a surface construction method, device, electronic equipment and medium.
  • the scan data of the object can be obtained, and then the outline of the object can be reconstructed based on the scan data, so that the virtual image of the object can be obtained.
  • the currently acquired scan data of the object includes information with large errors, resulting in low accuracy of the final reconstructed object.
  • the purpose of the embodiments of the present application is to provide a surface construction method, device, electronic equipment and medium that can solve the problem of low accuracy of the constructed object.
  • embodiments of the present application provide a surface construction method, including:
  • the first target scan data is data greater than zero in the first scan data
  • the second target scan data is data greater than zero in the second scan data
  • embodiments of the present application provide a surface construction device, including:
  • a calculation module configured to calculate the target difference between the first scan data and the second scan data, where the first scan data and the second scan data are scan data of relative spatial voxels of the target object;
  • a construction module configured to construct the surface of the target object based on the first target scan data and the second target scan data when the target difference meets the preset condition
  • the first target scan data is data greater than zero in the first scan data
  • the second target scan data is data greater than zero in the second scan data
  • inventions of the present application provide an electronic device.
  • the electronic device includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor.
  • the program or instructions are When executed by the processor, the steps of the method described in the first aspect are implemented.
  • embodiments of the present application provide a readable storage medium.
  • Programs or instructions are stored on the readable storage medium.
  • the steps of the method described in the first aspect are implemented. .
  • inventions of the present application provide a chip.
  • the chip includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the first aspect. the method described.
  • a sixth aspect provides a computer program product, the computer program product is stored in a non-transitory storage medium, and the computer program product is executed by at least one processor to implement the method as described in the first aspect.
  • an electronic device configured to perform the steps of the surface construction method as described in the first aspect.
  • the target difference between the first scan data and the second scan data is calculated, and when the target difference meets the preset conditions, the target is constructed based on the first target scan data and the second target scan data.
  • the first target scan data is the data greater than zero in the first scan data
  • the second target scan data is the data greater than zero in the second scan data.
  • Figure 1 is a flow chart of a surface construction method provided by an embodiment of the present application.
  • Figure 2 is one of the schematic diagrams of application scenarios provided by the embodiment of this application.
  • Figure 3 is the second schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 4 is the third schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 5 is the fourth schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 6 is the fifth schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 7 is the sixth schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 8 is the seventh schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 9 is the eighth schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 10 is the ninth schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 11 is a tenth schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 12 is an eleventh schematic diagram of application scenarios provided by the embodiment of the present application.
  • Figure 13 is the twelfth schematic diagram of application scenarios provided by the embodiment of the present application.
  • Figure 14 is a schematic diagram of the thirteenth application scenario provided by the embodiment of the present application.
  • Figure 15 is a schematic diagram of the fourteenth application scenario provided by the embodiment of the present application.
  • Figure 16 is a fifteenth schematic diagram of the application scenario provided by the embodiment of the present application.
  • Figure 17 is a schematic structural diagram of a surface construction device provided by an embodiment of the present application.
  • Figure 18 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • Figure 19 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present application.
  • first, second, etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the figures so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in orders other than those illustrated or described herein, and that "first,” “second,” etc. are distinguished Objects are usually of one type, and the number of objects is not limited. For example, the first object can be one or multiple.
  • “and/or” in the description and claims indicates at least one of the connected objects, and the character “/" generally indicates that the related objects are in an "or” relationship.
  • Figure 1 is a flow chart of a surface construction method provided by an embodiment of the present application. As shown in Figure 1, the surface construction method includes the following steps:
  • Step 101 Calculate the target difference value between the first scan data and the second scan data.
  • the first scan data and the second scan data are the scan data of the target object relative to the spatial voxel.
  • spatial voxels can refer to voxels in the scanning space, that is, the scanning space can be divided into multiple spatial voxels, and the spatial voxels can have a certain size, and the center point position of the spatial voxel can be called As sampling points, the specific shapes and sizes of the spatial voxels and the scanning space are not limited here.
  • the scanning space 200 can be a rectangular space, and the scanning space 200 can include multiple spatial voxels 201.
  • the spatial voxel 201 may be a rectangular voxel, and the center point position of the rectangular voxel may be called the sampling point 2011.
  • Figure 2 may also include two objects A1 and A2.
  • A1 and A2 are respectively connected with part of the space.
  • the voxels overlap, so that electronic equipment can be used to scan the objects A1, A2 and space voxels in two different directions B1 and B2, thereby obtaining the first scan data and the second scan data.
  • object A1 and A2 can only include one.
  • object A1 can be scanned in two directions B1 and B2; see Figure 4, can The object A2 is scanned in the two directions B1 and B2 respectively; and as can be seen from Figure 2, the size of A1 is larger (that is, the width is wider), covering eight spatial voxels, while the size of A2 is smaller (that is, the width is wider). narrow), fails to cover the space voxels, therefore, object A2 can be called a flat object.
  • the target object can be placed in the scanning space, or the scanning space can be projected on the target object to determine the information of the spatial voxels that overlap the target object in the scanning space.
  • Electronic equipment can also be used to scan the target object and sampling points. , thereby obtaining the first scan data or the second scan data of the target object relative to the spatial voxel.
  • the specific contents of the first scan data and the second scan data are not limited here.
  • the first scan data and the second scan data may include at least one of the following: the scan angle of the target object relative to the spatial voxel. , scanning distance and scanning direction.
  • Figure 5 can show that object A2 is scanned in two directions B2 and B1 respectively, and the scan data obtained can include scanning directions C2 and C1, and the scanning angle can refer to the scanning directions C2 and C1 and The angle between objects A2, and the scanning distance can refer to the distance between the electronic device and object A2 when B1 and B2 are scanning.
  • the parameter information of each spatial voxel in the scanning space is a certain value, and the specific content of the above parameter information is not limited here.
  • the parameter information may include at least one of the following information: each The position parameter of the spatial voxel, the distance parameter between the spatial voxel and the adjacent spatial voxel, and the angle parameter between the spatial voxel and the adjacent spatial voxel.
  • the parameter information of each spatial voxel in the above-mentioned scanning space can be stored in advance in the scanning space or on the server, and the electronic device applied in the embodiment of the present application can obtain the above-mentioned parameter information from the scanning space or on the server, or, The electronic equipment used in the embodiments of the present application can directly detect and obtain the parameter information of each spatial voxel in the scanning space.
  • Step 102 When the target difference meets the preset condition, construct the surface of the target object according to the first target scan data and the second target scan data; wherein the first target scan data is the The data in the first scan data is greater than zero, and the second target scan data is the data in the second scan data that is greater than zero.
  • the order in which the first scan data and the second scan data are obtained is not limited here.
  • the scan data obtained in the earlier order may be called old data or old data.
  • the first scan data The scan data acquired later in the data and the second scan data may be called new data.
  • the second scan data when the acquisition sequence of the second scan data is before the first scan data; compared with the first scan data, the second scan data can be called old data or old data; compared with the second scan data, the first scan data Scanned data can be called new data.
  • the second scan data may also be the composite information of multiple scan data acquired before the first scan data. In this way, the accuracy of the second scan data can be improved.
  • the scanning data of the target object relative to the space voxel is: Positive value (that is, greater than zero).
  • the spatial voxel and the above-mentioned electronic device are located on different sides of the target object, it can be considered that the spatial voxel is located inside the target object, and the target object is relative to the spatial volume.
  • the scan data of the pixel is negative (that is, less than zero).
  • the distance from the spatial voxel to the surface of the target object can be understood as the scanning distance of the target object relative to the spatial voxel.
  • the target difference may refer to the difference between scanning distances.
  • both the first scanning data and the second scanning data include scanning data of the target object relative to the target space voxel.
  • the target difference value may refer to the difference between the scanning distance of the target object relative to the target space voxel in the first scanning data and the scanning distance of the target object relative to the target space voxel in the second scanning data.
  • the scanning distance can be a positive value or a negative value
  • the target difference value can be a positive value, a negative value or 0.
  • the target difference may refer to the difference between scanning angles.
  • the electronic device when the electronic device scans the spatial voxels and the target object, the electronic device needs to scan twice to obtain the first scan data and the second scan data respectively. However, during the two scans, the electronic device can If the electronic device moves, the angle, position, and distance of the electronic device may change, resulting in an error between the first scan data and the second scan data obtained. This is due to the angle, position, distance and other parameters of the electronic device itself. The error resulting from at least one change in can be called an accidental error.
  • the electronic device can scan the object A2 in both directions B1 and B2, then the scanning data of the object A2 relative to the spatial voxel located on the same side of the object A2 as the electronic device is a positive value, and the object A2 is relatively
  • the scan data of a spatial voxel located on a different side of the object A2 than the electronic device is a negative value (when the scan data is a negative value, the corresponding spatial voxel can be considered to be located inside the object A2).
  • object A2 can be scanned along two different directions B1 and B2 at the same time, or object A2 can also be scanned along two different directions B1 and B2 in different time periods. .
  • D1 represents the scene where the second scan data is obtained in advance
  • D2 represents the scene where the first scan data is obtained.
  • the scanning direction of the electronic device is located on the right side of the object A2 (that is, the direction of the arrow shown in Figure 7), and a sampling interval is L (which can be understood as both sides of the object A2
  • the standard distance between two spatial voxels for example: the distance between the two spatial voxels A and B is L, the distance between the two spatial voxels C and D is L, L can also be called The size of one voxel), the thickness of object A2 is d0.
  • the second scan data i.e., D1 in Figure 7
  • point A and point D and the electronic device are located on different sides of object A2, therefore, point A and The distances from point D to the surface of object A2 are both (-d1).
  • the distances from point A and point D to the surface of object A2 are (-d3), (The difference between the values of -d1) and (-d3) should be small (can be close to the preset difference, which can be 0).
  • the distances between points B and C to the surface of object A2 are both d2.
  • the distances between points B and C are both d2.
  • the distance from the point to the surface of object A2 is d4, and the difference between the values of d2 and d4 is small (it can be close to the preset difference, which can be 0).
  • d1 L-d2
  • the difference d2-d4 between the two sampling points is approximately equal to 0. Therefore, when there are only accidental errors, the sum of the absolute values of the differences between four adjacent sampling points on the surface is approximately 0.
  • object A2 is a flat object
  • the thickness of the flat object is smaller than the size of the space voxel
  • the spatial voxels on both sides are actually located outside the surface of object A2.
  • scanning usually only the scan data corresponding to the spatial voxels with the electronic device located on the same side of object A2 are confirmed as positive values, and it is reasonably presumed that they are located on the object A2.
  • the space voxel on the other side of A2 is located inside the object A2, and the scan data corresponding to the space voxel on this side is a negative value.
  • the error resulting in the final scan data can be called a systematic error .
  • D1 represents the scene where the second scan data is obtained in advance
  • D2 represents the scene where the first scan data is obtained
  • the right side of object A2 There are two spatial voxels B and C distributed.
  • the scanning direction of the electronic device is to the left of object A2 (i.e., the direction of the arrow shown in Figure 8).
  • the scanning direction of the electronic device The direction is located on the right side of object A2 (that is, the direction of the arrow shown in Figure 8), and a sampling interval is L (which can be understood as the standard distance between two spatial voxels on both sides of object A2, for example: A and B
  • L The distance between two spatial voxels is L
  • the distance between two spatial voxels C and D is L).
  • the distances from point A and point D to the surface of object A2 are both d5.
  • the distances from point A and point D to the surface of object A2 are both (-d7). , that is, it is estimated that point A and point D are located inside object A2.
  • the distances from points B and C to the surface of A2 are equal (-d6), that is, it is estimated that points B and C are located inside object A2; in the scene shown in D2, points B, C The distance from the point to the surface of A2 is d8.
  • the absolute value of the error of the scan data of four adjacent spatial voxels shown on the plane is used as an example.
  • the scan space is a three-dimensional figure, so in When calculating the absolute value of the error of the scanning data of spatial voxels, you can select the scanning data of multiple spatial voxels for calculation, and the number of spatial voxels is not limited here. For example: eight adjacent spatial volumes can be calculated.
  • the absolute value of the error of the scanning data of the pixel is different. If the number of spatial voxels is different, the absolute value of the error of the scanning data of the affected spatial voxels is also different.
  • the preset condition includes: the target difference is greater than the preset difference threshold, and the preset difference threshold is equal to the preset difference threshold. N times the inner diameter of the spatial voxel, N can be a positive integer.
  • the inner diameter of the spatial voxel may be equal to L in the above embodiment, that is to say, the preset difference threshold is equal to NL.
  • N can be 2
  • the preset difference threshold can be equal to 2L.
  • the preset condition includes that the target difference is greater than the preset difference threshold
  • the preset difference threshold by judging the relationship between the target difference and the preset difference threshold, it can be quickly and accurately determined whether the target difference meets the preset difference threshold. Setting conditions improves the efficiency of judgment.
  • the target difference when the target difference is greater than the preset difference threshold, it means that the scan data of the spatial voxels with negative values obtained are less reliable. Therefore, only the first target scan with positive values in the first scan data needs to be saved.
  • the second target scan data with a positive value in the data and the second scan data makes the first target scan data and the second scan data more reliable, and at the same time, makes the construction based on the first scan data and the second scan data The accuracy of the obtained object surface is higher.
  • the surface of the object can be constructed based on the acquired scan data, which also makes the accuracy of the constructed surface of the object higher.
  • the preset difference threshold is usually an empirical threshold. By comparing the relationship between the target difference and the preset difference threshold, it is judged whether the target difference meets the preset conditions. If the accuracy of the preset difference threshold is low, , resulting in possible errors in the final judgment result.
  • the distance between a spatial voxel and the object surface is usually not the vertical distance from the point to the plane, but the distance to the surface along the sampling direction, as shown in Figures 9 and 10.
  • the scanning position of the electronic device is located on the right side of object A2, but the scanning directions are not the same.
  • the scanning position of the electronic device The direction is towards the lower left corner, and in the scene shown in D2, the scanning direction of the electronic device is towards the upper left corner.
  • the target difference is the absolute value of the difference between the first scan data and the second scan data
  • constructing the surface of the target object based on the first target scan data and the second target scan data includes:
  • the target difference value is greater than the third target scan data, construct the surface of the target object based on the first target scan data and the second target scan data;
  • the third target scan data is the maximum value among the absolute values of the first scan data and the second scan data
  • the absolute value of the first scan data is greater than three times the standard deviation of the scanning device, and the absolute value of the second scan data is greater than three times the standard deviation of the scanning device.
  • the first scan data and the second scan data in the embodiment of the present application may refer to the scan data of the target object relative to one spatial voxel.
  • the above-mentioned constraint that the absolute value of the first scan data is greater than three times the standard deviation of the scanning device is based on a voxel sampling point, which can avoid the numerical value caused by the voxel sampling point being too close to the surface. Unstable.
  • the target difference value is the absolute value of the difference value between the first scan data and the second scan data
  • the third target scan data is the maximum value among the absolute values of the first scan data and the second scan data; when the target When the difference is greater than the third target scan data, it can be determined that there is a systematic error in the first scan data and the second scan data, that is, the target difference meets the preset conditions. At this time, it can be determined based on the first target scan data and the second target scan data.
  • the data is used to construct the surface of the target object without using scan data less than zero in the first scan data and the second scan data (that is, data that will cause systematic errors), thereby making the surface of the target object more accurate.
  • the embodiment of the present application does not need to use an empirical threshold to determine whether the target difference meets the preset conditions (that is, determine whether there is a systematic error in the first scan data and the second scan data), thereby improving whether the target difference meets the preset conditions. the accuracy of the judgment results.
  • the first scan data includes scan data of the target object relative to at least two spatial voxels
  • the second scan data includes scan data of the target object relative to at least two spatial voxels.
  • Scan data the target difference value is the sum of the absolute values of the differences between the first scan data and the second scan data;
  • constructing the surface of the target object based on the first target scan data and the second target scan data includes:
  • the target difference value is greater than the fourth target scan data, construct the surface of the target object based on the first target scan data and the second target scan data;
  • the fourth target scan data is the sum of the maximum value of the absolute values of each first scan data and each second scan data.
  • first scan data and the second scan data in the embodiments of the present application may both refer to the scan data of the target object relative to at least two spatial voxels, while in the above-mentioned embodiments
  • the first scan data and the second scan data in may both refer to the scan data of the target object relative to one spatial voxel.
  • the embodiment of the present application also does not need to use an empirical threshold to determine whether the target difference meets the preset conditions (that is, determine whether there is a systematic error in the first scan data and the second scan data), thereby improving the accuracy of whether the target difference meets the preset conditions.
  • Judge the accuracy of the results the surface of the target object can be constructed based on the first target scan data and the second target scan data, without using the scan data less than zero in the first scan data and the second scan data (that is, data that will cause systematic errors), This results in higher accuracy on the surface of the target object.
  • the first step is to obtain the larger of the absolute values of the two sampling values in the scanning space (that is, to obtain the first scanning data and the second scanning data of the target object relative to each spatial voxel, and to obtain the target object relative to each spatial voxel).
  • the second step is to sum the previous value (that is, to sum the maximum value in the first scan data and the second scan data of the target object relative to each spatial voxel), such as (Amax+Bmax+Cmax+Dmax), record Make Sum_max (that is, the fourth target scan data).
  • the third step is to calculate the absolute value of the difference between the two sampling values in the scan space (that is, calculate the absolute value of the difference between the first scan data and the second scan data of the target object relative to each spatial voxel).
  • the absolute value of the difference between db1 and db2 at point B is abs(db1-db2).
  • the absolute value of the difference between -db3 and db4 at point B is abs(-db3-db4), where abs means finding the absolute value.
  • the fourth step is to sum the values obtained in the third step of the sampling points Sum_dif (that is, to sum the absolute values of the differences between the first scan data and the second scan data of the target object relative to each spatial voxel, Sum_dif is the 2 target value).
  • the value obtained in the third step must be smaller than the value obtained in the first step.
  • abs(db1-db2) ⁇ Bmax of accidental error the sum Sum_dif calculated in the fourth step is less than the sum Sum_max calculated in the second step, which means that the target difference value does not meet the preset condition (that is, there is no systematic error in the first scan data and the second scan data).
  • the value obtained in the third step must be greater than the value obtained in the first step.
  • the system error abs(-db3-db4) is equal to db3+db4, so Bmax ⁇ system error abs(-db3-db4). Therefore, the sum Sum_dif calculated in the fourth step is greater than the sum Sum_max calculated in the second step, which means that the target difference meets the preset condition (that is, there is a systematic error in the first scan data and the second scan data).
  • the target difference includes a first difference and a second difference
  • calculating the target difference between the first scan data and the second scan data includes:
  • constructing the surface of the target object based on the first target scan data and the second target scan data includes:
  • first difference is greater than the second difference, construct the surface of the target object based on the first target scan data and the second target scan data;
  • the absolute value of the first scan data is greater than three times the standard deviation of the scanning device
  • the absolute value of the second scan data is greater than three times the standard deviation of the scanning device
  • first scan data and the second scan data in the embodiment of the present application may refer to the scan data of the target object relative to one spatial voxel.
  • the above-mentioned constraint that the absolute value of the first scan data is greater than three times the standard deviation of the scanning device is based on a voxel sampling point, which can avoid the numerical value caused by the voxel sampling point being too close to the surface. Unstable.
  • the absolute value of the difference between the first scan data and the second scan data can be calculated first to obtain the first difference; and then the absolute value of the difference between the third scan data and the second scan data can be calculated to obtain The second difference value, and the third scan data is the inverse of the first scan data.
  • the first difference value is greater than the second difference value, it means that the first scan data is changed to the third scan data (that is, it is equivalent to changing (the sign of the first scan data is changed), thereby ultimately changing the difference between the scan data (that is, reducing the first difference to the second difference).
  • the first difference is reduced to the second difference, which is Since errors caused by system errors are reduced, the accuracy of the surface of the target object constructed based on the first target scan data and the second target scan data is relatively high.
  • the first difference value can be called E1; the second difference value can be called E2.
  • the first scan data includes scan data of the target object relative to at least two spatial voxels
  • the second scan data includes scan data of the target object relative to at least two spatial voxels.
  • the target difference includes a third difference and a fourth difference
  • calculating the target difference between the first scan data and the second scan data includes:
  • constructing the surface of the target object based on the first target scan data and the second target scan data includes:
  • the surface of the target object is constructed based on the first target scan data and the second target scan data.
  • the difference between the embodiment of the present application and the above-mentioned embodiment is that: the first scan data and the second scan data in the embodiment of the present application may both refer to the scan data of the target object relative to at least two spatial voxels. , and the first scan data and the second scan data in the above embodiments may both refer to the scan data of the target object relative to one spatial voxel.
  • both the first scan data and the second scan data may refer to the data of at least two spatial voxels relative to the target object, in this way, the more data of spatial voxels obtained by scanning, the greater the The final results of the first scan data and the second scan data are also more accurate.
  • the third difference and the fourth difference can refer to the corresponding expressions of the above-mentioned first difference and the second difference respectively, and the principle of comparing the third difference and the fourth difference can also refer to the above-mentioned embodiments. Express accordingly.
  • the first scan data can be called new data
  • the second scan data can be called old data or old data, that is to say: the acquisition sequence of the first scan data After the acquisition sequence of the second scan data.
  • the method further includes:
  • the surface of the target object is constructed based on the weighted average.
  • the weighted value of the first scan data and the second scan data can be directly used.
  • the average value is used to construct the surface of the target object. In this way, the accuracy of the constructed surface of the target object can also be higher.
  • the weights of the above-mentioned first scan data and the second scan data are not limited here.
  • the weight values are determined based on the accuracy of the scanner that acquires the first scan data and the scanner that acquires the second scan data. , the scanner with high accuracy will have a higher weight corresponding to the scanned data it acquires; or the weight can be determined based on the scene coefficient of the scanned scene.
  • the first scanning data and the second scanning data include scanning distance and scanning angle
  • the method further includes:
  • the fifth scan data includes sixth target scan data corresponding to the first group of spatial voxels, and seventh target scan data corresponding to the second group of spatial voxels.
  • the first group of spatial voxels and the second group The spatial voxels are adjacent, one of the scanning distance of the sixth target scanning data and the scanning distance of the seventh target scanning data is greater than zero, and the other is less than zero;
  • Linear interpolation is performed between the sixth target scan data and the seventh target scan data to construct the surface of the target object.
  • the target difference when the target difference does not meet the preset conditions, it means that there is no systematic error in the first scan data and the second scan data. Therefore, a weighted average of the first scan data and the second scan data can be performed. Calculate to obtain the fifth scan data, and then perform linear interpolation between the sixth target scan data and the seventh target scan data included in the fifth scan data to find multiple intersection points between the surface of the target object and the spatial voxels, and then according to the above Multiple intersection points construct the surface of the target object. In this way, due to the large amount of scan data (that is, there is no need to eliminate scan data with values less than zero), the accuracy of the constructed target object surface can be higher, and the detailed features can be higher. many.
  • the information of the sampling points located outside the object is usually obtained directly through scanning with electronic equipment, while the information of the sampling points located inside the object is usually obtained through speculation. Therefore, when judging the first When there are systematic errors in the scan data and the second scan data, you only need to retain the first target scan data and the second scan data with positive values (that is, greater than zero), and construct the target based on the first scan data and the second scan data.
  • the surface of the object in this way, can improve the accuracy of the target object surface construction.
  • the first scan data includes a first angle
  • the second scan data includes a second angle
  • Constructing the surface of the target object based on the first target scan data and the second target scan data includes:
  • the surface of the target object is constructed based on the first target scan data and the second target scan data.
  • the first scan data and the second scan data may be scan information obtained respectively on both sides of the target object.
  • the difference between the first angle and the second angle is greater than the preset angle threshold, it means that the first scan data is obtained.
  • the surface of the target object exists between the position of the target scan data and the position where the second target scan data is acquired. Therefore, the surface of the target object can be constructed based on the first target scan data and the second target scan data, thereby reducing It eliminates the phenomenon that the surface of the target object is omitted from statistics, and improves the accuracy and completeness of the construction of the surface of the target object.
  • the left side of object A2 is the second target scan data obtained under the scenario shown by D1
  • the one on the right side of object A2 is the first target obtained under the scenario shown by D2.
  • Scan data and as shown in Figure 13, there is a scanning distance da between point A and object A2, the scanning direction is the direction of the arrow shown in D1, and the second angle can be the direction shown in D1 and the direction of the plane of object A2 The angle between them; similarly, there is a scanning distance db between point B and object A2, the scanning direction is the direction of the arrow shown in D2, and the first angle can be between the direction shown in D2 and the direction of the plane of object A2 Therefore, when the angle between the first angle information and the second angle information is greater than the preset angle threshold (that is, when the difference is large, it can be determined that there is a significant change in the angle), it is determined to obtain the first target scan There is a surface of the target object between the location of the data and the location
  • constructing the surface of the target object based on the first target scan data and the second target scan data includes:
  • the fifth target scan data includes at least three sets of scan distances and scan angles of at least three spatial voxels, One spatial voxel corresponds to a set of scanning angles and scanning distances;
  • a surface of the target object is constructed.
  • At least three target space points are determined through at least three sets of scanning distances and scanning angles of at least three space voxels, and then the surface of the target object is constructed based on the at least three target space points. In this way, due to the three Each target space point determines a plane. By first determining at least three target space points, the location of the surface of the target object can be determined, and then the surface of the target object can be constructed, so that the accuracy of the construction result of the surface of the target object is higher.
  • points A and D on the left side of the surface of object A2 have similar scanning directions, and points B and C on the right side of the surface have similar scanning directions. So there is a flat object between A and B, C and D.
  • Points A12, B12, C12 and D12 in Figure 13 represent the location of the plane, and the two inserted surfaces can determine the positions of the above two surfaces based on the positions of the spatial voxels, and The above two surfaces can be constructed, thereby preventing the above two surfaces from being missedly constructed.
  • the two inserted surfaces are distributed in different spatial voxels, they can be constructed based on the position information of the spatial voxels distributed on the two surfaces.
  • points A, D, C, B, E and F in Figure 15 are located on two different spatial voxels respectively. Therefore, the intersection points can be connected according to the method shown in Figure 13 to finally determine the location of the insertion plane. point, and construct the inserted plane based on the position information of the above points A, D, C, B, E and F.
  • the above-mentioned electronic devices may be mobile phones, tablet computers (Tablet Personal Computer), laptop computers (Laptop Computer), personal digital assistants (Personal Digital Assistant, PDA for short), mobile Internet devices (Mobile Internet Device, MID) or wearable device (Wearable Device), etc.
  • the target difference between the first scan data and the second scan data is calculated, and when the target difference meets the preset conditions, the first target scan data and the second scan data are retained.
  • Two target scan data and construct the surface of the target object based on the first target scan data and the second target scan data, avoiding the situation of misjudgment due to systematic errors when reconstructing the flat object surface, so that the target object is finally constructed
  • the surface accuracy is higher.
  • the execution subject may be a surface construction device, or a control module in the surface construction device for executing surface construction.
  • the surface construction device performed by the surface construction device is used as an example to illustrate the surface construction device provided by the embodiment of the present application.
  • Figure 17 is a schematic structural diagram of a surface construction device provided by an embodiment of the present application. As shown in Figure 17, a surface construction device 1700 includes:
  • the calculation module 1701 is used to calculate the target difference value of the first scan data and the second scan data.
  • the first scan data and the second scan data are the scan data of the target object relative to the spatial voxel;
  • Construction module 1702 configured to construct the surface of the target object based on the first target scan data and the second target scan data when the target difference meets the preset conditions
  • the first target scan data is data greater than zero in the first scan data
  • the second target scan data is data greater than zero in the second scan data
  • the target difference includes a first difference and a second difference
  • the calculation module 1701 includes:
  • the first calculation sub-module is used to calculate the absolute value of the difference between the first scan data and the second scan data to obtain the first difference
  • the second calculation sub-module is used to calculate the absolute value of the difference between the third scan data and the second scan data to obtain the second difference value.
  • the third scan data is the opposite number of the first scan data. ;
  • the construction module is also configured to construct the surface of the target object based on the first target scan data and the second target scan data when the first difference value is greater than the second difference value;
  • the absolute value of the first scan data is greater than three times the standard deviation of the scanning device
  • the absolute value of the second scan data is greater than three times the standard deviation of the scanning device
  • the first scan data includes scan data of the target object relative to at least two spatial voxels
  • the second scan data includes scan data of the target object relative to at least two spatial voxels
  • the target difference includes a third difference and a fourth difference
  • the calculation module 1701 includes:
  • the third calculation sub-module is used to calculate the sum of the absolute values of the differences between the first scan data and the second scan data to obtain the third difference;
  • the fourth calculation sub-module is used to calculate the sum of the absolute values of the differences between the fourth scan data and the second scan data to obtain the fourth difference, and the fourth scan data is the sum of the absolute values of the differences between the fourth scan data and the second scan data. Opposite number;
  • the construction module 1702 is also configured to construct the surface of the target object based on the first target scan data and the second target scan data when the third difference value is greater than the fourth difference value.
  • the target difference is the absolute value of the difference between the first scan data and the second scan data
  • the building module 1702 is also used to:
  • the target difference value is greater than the third target scan data, construct the surface of the target object based on the first target scan data and the second target scan data;
  • the third target scan data is the maximum value among the absolute values of the first scan data and the second scan data
  • the absolute value of the first scan data is greater than three times the standard deviation of the scanning device, and the absolute value of the second scan data is greater than three times the standard deviation of the scanning device.
  • the first scan data includes scan data of the target object relative to at least two spatial voxels
  • the second scan data includes scan data of the target object relative to at least two spatial voxels
  • the The target difference value is the sum of the absolute values of the differences between the first scan data and the second scan data
  • the building module 1702 is also used to:
  • the target difference value is greater than the fourth target scan data, construct the surface of the target object based on the first target scan data and the second target scan data;
  • the fourth target scan data is the sum of the maximum value of the absolute values of each first scan data and each second scan data.
  • the first scan data includes a first angle
  • the second scan data includes a second angle
  • the building module 1702 is also used to:
  • the surface of the target object is constructed based on the first target scan data and the second target scan data.
  • the building module 1702 includes:
  • the fifth calculation sub-module is used to calculate the mean of the first target scan data and the second target scan data to obtain fifth target scan data, where the fifth target scan data includes at least three spatial voxels. There are three sets of scanning distances and scanning angles, and one spatial voxel corresponds to one set of scanning angles and scanning distances;
  • Determining sub-module configured to determine at least three target space points based on at least three sets of scanning distances and scanning angles of the at least three spatial voxels
  • a construction sub-module is used to construct the surface of the target object based on the at least three target space points.
  • the first scan data and the second scan data include scan distance and scan angle
  • the surface construction device 1700 further includes:
  • a weighted average calculation module configured to perform a weighted average calculation on the first scan data and the second scan data to obtain fifth scan data when the target difference value does not meet the preset conditions;
  • the five scan data include sixth target scan data corresponding to the first group of spatial voxels, and seventh target scan data corresponding to the second group of spatial voxels.
  • the first group of spatial voxels and the second group of spatial voxels Adjacent, one of the scanning distance of the sixth target scanning data and the scanning distance of the seventh target scanning data is greater than zero, and the other is less than zero;
  • a linear interpolation module configured to perform linear interpolation between the sixth target scan data and the seventh target scan data to construct the surface of the target object.
  • the embodiments of the present application can also have the same beneficial technical effects as the above-mentioned surface construction method embodiments.
  • the surface construction device in the embodiment of the present application may be a device, or may be a component, integrated circuit, or chip in the terminal.
  • the device may be a mobile electronic device or a non-mobile electronic device.
  • the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a handheld computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal digital assistant (personal digital assistant).
  • UMPC ultra-mobile personal computer
  • PDA personal digital assistant
  • non-mobile electronic devices can be servers, network attached storage (Network Attached Storage, NAS), personal computers (personal computers, PC), televisions (television, TV), teller machines or self-service machines, etc., this application The examples are not specifically limited.
  • the surface construction device in the embodiment of the present application may be a device with an operating system.
  • the operating system can be an Android operating system, an ios operating system, or other possible operating systems, which are not specifically limited in the embodiments of this application.
  • the surface construction device provided by the embodiments of the present application can implement each process implemented by the method embodiments in Figures 1 to 16. To avoid repetition, they will not be described again here.
  • this embodiment of the present application also provides an electronic device 1800, including a processor 1801, a memory 1802, and programs or instructions stored on the memory 1802 and executable on the processor 1801.
  • a processor 1801 a memory 1802
  • the program or instruction is executed by the processor 1801
  • each process of the above-mentioned surface construction method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, the details will not be described here.
  • the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.
  • Figure 19 is a schematic diagram of the hardware structure of an electronic device that implements an embodiment of the present application.
  • the electronic device 1900 includes but is not limited to: radio frequency unit 1901, network module 1902, audio output unit 1903, input unit 1904, sensor 1905, display unit 1906, user input unit 1907, interface unit 1908, memory 1909, processor 1910, etc. part.
  • the electronic device 1900 may also include a power supply (such as a battery) that supplies power to various components.
  • the power supply may be logically connected to the processor 1910 through a power management system, thereby managing charging, discharging, and function through the power management system. Consumption management and other functions.
  • the structure of the electronic device shown in Figure 19 does not constitute a limitation of the electronic device.
  • the electronic device may include more or less components than shown in the figure, or combine certain components, or arrange different components, which will not be described again here. .
  • processor 1910 is used for:
  • the first target scan data is data greater than zero in the first scan data
  • the second target scan data is data greater than zero in the second scan data
  • the target difference value includes a first difference value and a second difference value
  • the calculation of the target difference value of the first scan data and the second scan data performed by the processor 1910 includes:
  • the process performed by the processor 1910 to construct the surface of the target object based on the first target scan data and the second target scan data when the target difference meets the preset condition includes:
  • first difference is greater than the second difference, construct the surface of the target object based on the first target scan data and the second target scan data;
  • the absolute value of the first scan data is greater than three times the standard deviation of the scanning device
  • the absolute value of the second scan data is greater than three times the standard deviation of the scanning device
  • the first scan data includes scan data of the target object relative to at least two spatial voxels
  • the second scan data includes scan data of the target object relative to at least two spatial voxels
  • the target difference includes a third difference and a fourth difference.
  • the processor 1910 performs the calculation of the target difference between the first scan data and the second scan data including:
  • the processor 1910 executes the step of constructing the surface of the target object based on the first target scan data and the second target scan data when the target difference meets the preset condition, including:
  • the surface of the target object is constructed based on the first target scan data and the second target scan data.
  • the target difference is the absolute value of the difference between the first scan data and the second scan data
  • the processor 1910 executes the step of constructing the surface of the target object based on the first target scan data and the second target scan data when the target difference meets the preset condition, including:
  • the target difference value is greater than the third target scan data, construct the surface of the target object based on the first target scan data and the second target scan data;
  • the third target scan data is the maximum value among the absolute values of the first scan data and the second scan data
  • the absolute value of the first scan data is greater than three times the standard deviation of the scanning device, and the absolute value of the second scan data is greater than three times the standard deviation of the scanning device.
  • the first scan data includes scan data of the target object relative to at least two spatial voxels
  • the second scan data includes scan data of the target object relative to at least two spatial voxels
  • the The target difference value is the sum of the absolute values of the differences between the first scan data and the second scan data
  • the processor 1910 executes the step of constructing the surface of the target object based on the first target scan data and the second target scan data when the target difference meets the preset condition, including:
  • the target difference value is greater than the fourth target scan data, construct the surface of the target object based on the first target scan data and the second target scan data;
  • the fourth target scan data is the sum of the maximum value of the absolute values of each first scan data and each second scan data.
  • the first scan data includes a first angle
  • the second scan data includes a second angle
  • the processor 1910 executes the step of constructing the surface of the target object based on the first target scan data and the second target scan data to include:
  • the surface of the target object is constructed based on the first target scan data and the second target scan data.
  • the processor 1910 executes the step of constructing the surface of the target object according to the first target scan data and the second target scan data to include:
  • the fifth target scan data includes at least three sets of scan distances and scan angles of at least three spatial voxels, One spatial voxel corresponds to a set of scanning angles and scanning distances;
  • a surface of the target object is constructed.
  • the first scanning data and the second scanning data include scanning distance and scanning angle
  • the processor 1910 is further configured to:
  • the fifth scan data includes sixth target scan data corresponding to the first group of spatial voxels, and seventh target scan data corresponding to the second group of spatial voxels.
  • the first group of spatial voxels and the second group The spatial voxels are adjacent, one of the scanning distance of the sixth target scanning data and the scanning distance of the seventh target scanning data is greater than zero, and the other is less than zero;
  • Linear interpolation is performed between the sixth target scan data and the seventh target scan data to construct the surface of the target object.
  • the embodiments of the present application also have the same beneficial technical effects as the above-mentioned surface construction method embodiments.
  • the input unit 1904 may include a graphics processor (Graphics Processing Unit, GPU) 19041 and a microphone 19042.
  • the graphics processor 19041 is responsible for the image capture device (GPU) in the video capture mode or the image capture mode. Process the image data of still pictures or videos obtained by cameras (such as cameras).
  • the display unit 1906 may include a display panel 19061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 1907 includes a touch panel 19071 and other input devices 19072. Touch panel 19071, also known as touch screen.
  • the touch panel 19071 may include two parts: a touch detection device and a touch controller.
  • Other input devices 19072 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described again here.
  • Memory 1909 may be used to store software programs as well as various data, including but not limited to application programs and operating systems.
  • the processor 1910 can integrate an application processor and a modem processor.
  • the application processor mainly processes the operating system, user interface, application programs, etc.
  • the modem processor mainly processes wireless communications. It can be understood that the above-mentioned modem processor may not be integrated into the processor 1190.
  • Embodiments of the present application also provide a readable storage medium.
  • Programs or instructions are stored on the readable storage medium.
  • the program or instructions are executed by a processor, each process of the above surface construction method embodiment is implemented, and the same can be achieved. The technical effects will not be repeated here to avoid repetition.
  • the processor is the processor in the electronic device described in the above embodiment.
  • the readable storage media includes computer-readable storage media, such as computer read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc.
  • An embodiment of the present application further provides a chip.
  • the chip includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the above surface construction method embodiment. Each process can achieve the same technical effect. To avoid repetition, it will not be described again here.
  • chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-a-chip or system-on-chip, etc.
  • An embodiment of the present application further provides a computer program product, wherein the computer program product is stored in a non-transitory readable storage medium, and the computer program product is executed by at least one process to implement the method in Figure 1 above.
  • Each process in the example can achieve the same technical effect. To avoid repetition, we will not repeat it here.
  • An embodiment of the present application further provides an electronic device configured to perform the steps of the method embodiment in Figure 1 .
  • the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
  • the technical solution of the present application can be embodied in the form of a software product in essence or that contributes to the existing technology.
  • the computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to cause a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of this application.

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Abstract

本申请公开了一种表面构建方法、装置、电子设备及介质，表面构建方法，包括：计算第一扫描数据和第二扫描数据的目标差值，所述第一扫描数据和所述第二扫描数据为目标物体相对空间体素的扫描数据；在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；其中，所述第一目标扫描数据为所述第一扫描数据中大于零的数据，所述第二目标扫描数据为所述第二扫描数据中大于零的数据。

Description

表面构建方法、装置、电子设备及介质 技术领域
本申请属于电子技术领域，具体涉及一种表面构建方法、装置、电子设备及介质。
背景技术
当前可以获取得到物体的扫描数据，然后根据扫描数据对物体的轮廓进行重新构建，从而可以得到物体的虚拟形象。但是在实际的使用过程中，当前获取得到的物体的扫描数据中包括误差较大的信息，从而导致最终重新构建得到的物体的准确度较低。
发明内容
本申请实施例的目的是提供一种表面构建方法、装置、电子设备及介质，能够解决构建得到的物体的准确度较低的问题。
为了解决上述技术问题，本申请是这样实现的：
第一方面，本申请实施例提供了一种表面构建方法，包括：
计算第一扫描数据和第二扫描数据的目标差值，所述第一扫描数据和所述第二扫描数据为目标物体相对空间体素的扫描数据；
在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第一目标扫描数据为所述第一扫描数据中大于零的数据，所述第二目标扫描数据为所述第二扫描数据中大于零的数据。
第二方面，本申请实施例提供了一种表面构建装置，包括：
计算模块，用于计算第一扫描数据和第二扫描数据的目标差值，所述第一扫描数据和所述第二扫描数据为目标物体相对空间体素的扫描数据；
构建模块，用于在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第一目标扫描数据为所述第一扫描数据中大于零的数据，所述第二目标扫描数据为所述第二扫描数据中大于零的数据。
第三方面，本申请实施例提供了一种电子设备，该电子设备包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤。
第四方面，本申请实施例提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤。
第五方面，本申请实施例提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法。
第六方面，提供了一种计算机程序产品，所述计算机程序产品被存储在非瞬态的存储介质中，所述计算机程序产品被至少一个处理器执行以实现如第一方面所述的方法。
第七方面，提供了一种电子设备，被配置为执行如第一方面所述的表面构建方法的步骤。
在本申请实施例中，通过计算第一扫描数据与第二扫描数据之间的目标差值，且在目标差值满足预设条件时，根据第一目标扫描数据和第二目标扫描数据构建目标物体的表面，所述第一目标扫描数据为所述第一扫描数据中大于零的数据，所述第二目标扫描数据为所述第二扫描数据中大于零的数据。在本申请中，先根据第一扫描数据和第二扫描数据，判断是否有系统误差，即在目标差值满足预设条件的情况下，判断第一扫描数据和第二扫描数据中存在系统误差，则仅根据第一扫描数据和第二扫描数据中的正值数据，构建目标的表面，避免了扁平物体表面重建时由于存在系统误差而存在错误判断的情况，从而使得最终构建得到的目标物体的表面的准确率较高。
附图说明
图1是本申请实施例提供的一种表面构建方法的流程图；
图2是本申请实施例提供的应用场景示意图之一；
图3是本申请实施例提供的应用场景示意图之二；
图4是本申请实施例提供的应用场景示意图之三；
图5是本申请实施例提供的应用场景示意图之四；
图6是本申请实施例提供的应用场景示意图之五；
图7是本申请实施例提供的应用场景示意图之六；
图8是本申请实施例提供的应用场景示意图之七；
图9是本申请实施例提供的应用场景示意图之八；
图10是本申请实施例提供的应用场景示意图之九；
图11是本申请实施例提供的应用场景示意图之十；
图12是本申请实施例提供的应用场景示意图之十一；
图13是本申请实施例提供的应用场景示意图之十二；
图14是本申请实施例提供的应用场景示意图之十三；
图15是本申请实施例提供的应用场景示意图之十四；
图16是本申请实施例提供的应用场景示意图之十五；
图17是本申请实施例提供的一种表面构建装置的结构示意图；
图18是本申请实施例提供的一种电子设备的结构示意图；
图19是本申请实施例提供的一种电子设备的硬件结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请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申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类， 并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图，通过具体的实施例及其应用场景对本申请实施例提供的表面构建方法进行详细地说明。
参见图1，图1为本申请实施例提供的一种表面构建方法的流程图，如图1所示，表面构建方法，包括如下步骤：
步骤101、计算第一扫描数据和第二扫描数据的目标差值，所述第一扫描数据和所述第二扫描数据为目标物体相对空间体素的扫描数据。
需要说明的是，空间体素可以指的是扫描空间内的体素，即扫描空间可以划分为多个空间体素，而空间体素可以具有一定尺寸，空间体素的中心点位置可以被称作为采样点，而空间体素和扫描空间的具体形状和尺寸在此不做限定，例如：参见图2所示，扫描空间200可以为矩形空间，扫描空间200内可以包括多个空间体素201，而空间体素201可以为矩形体素，矩形体素的中心点位置可以被称作为采样点2011。另外，图2中还可以包括A1和A2两个物体，通过将物体A1和A2放置于扫描空间200内，或者，将扫描空间200投射于物体A1和A2上，使得A1和A2分别与部分空间体素重合，这样，可以在B1和B2两个不同的方向采用电子设备对物体A1、A2和空间体素进行扫描，从而得到第一扫描数据和第二扫描数据。
需要说明的是，在电子设备进行扫描时，物体A1和A2的数量可以只包含一个，例如：参见图3，可以在B1和B2两个方向分别对物体A1进行扫描；参见图4，可以在B1和B2两个方向分别对物体A2进行扫描；而从图2中可知，A1的尺寸较大(即宽度较宽)，覆盖了八个空间体素，而A2的尺寸较小(即宽度较窄)，未能覆盖空间体素，因此，物体A2可以被称作为扁平物体。
其中，获取第一扫描数据和第二扫描数据的具体过程可以参见以下表述：
可以将目标物体放置于扫描空间内，或者，将扫描空间投射于目标物体上，确定扫描空间中与目标物体重合的空间体素的信息，同时还可以采用电 子设备对目标物体和采样点进行扫描，从而获取得到目标物体相对空间体素的第一扫描数据或者第二扫描数据。
需要说明的是，第一扫描数据和第二扫描数据的具体内容在此不做限定，例如：第一扫描数据和第二扫描数据可以包括如下至少一项：目标物体相对空间体素的扫描角度、扫描距离和扫描方向。
参见图5，图5中可以表示在B2和B1两个方向上分别对物体A2进行扫描，而得到的扫描数据中可以包括扫描方向C2和C1，而扫描角度可以指的扫描方向C2和C1与物体A2之间的夹角，而扫描距离可以指的是在B1和B2进行扫描时，电子设备与物体A2之间的距离。
需要说明的是，扫描空间内的每个空间体素的参数信息为确定值，而上述参数信息的具体内容在此不做限定，例如：参数信息可以包括如下信息中的至少一项：每个空间体素的位置参数、空间体素与相邻空间体素之间的距离参数、空间体素与相邻空间体素之间的角度参数。
另外，上述扫描空间内每个空间体素的参数信息可以预先存储在扫描空间内或者服务器上，本申请实施例所应用的电子设备可以从扫描空间内或者服务器上获取到上述参数信息，或者，本申请实施例所应用的电子设备可以直接检测得到扫描空间内各个空间体素的参数信息。
步骤102、在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；其中，所述第一目标扫描数据为所述第一扫描数据中大于零的数据，所述第二目标扫描数据为所述第二扫描数据中大于零的数据。
其中，第一扫描数据和第二扫描数据的获取顺序在此不做限定，第一扫描数据和第二扫描数据中获取顺序在前的扫描数据可以被称作为老数据或者旧数据，第一扫描数据和第二扫描数据中获取顺序在后的扫描数据可以被称作为新数据。
例如：当第二扫描数据的获取顺序位于第一扫描数据之前时；与第一扫描数据相比，第二扫描数据可以被称作为老数据或者旧数据；与第二扫描数据相比，第一扫描数据可以被称作为新数据。
需要说明的是，第二扫描数据也可以为在第一扫描数据之前获取的多次扫描数据的合成信息，这样，可以提高第二扫描数据的准确度。
其中，参见图3至图5，当空间体素与用于对目标物体和空间体素进行扫描的电子设备，均位于目标物体的同一侧时，则目标物体相对该空间体素的扫描数据为正值(即大于零)，相应的，当该空间体素与上述电子设备分别位于目标物体的不同侧时，此时可以认为该空间体素位于目标物体的内部，则目标物体相对该空间体素的扫描数据为负值(即小于零)。
另外，空间体素至目标物体的表面的距离则可以理解为目标物体相对空间体素的扫描距离。
其中，作为一种可选的实施方式，目标差值可以指的是扫描距离之间的差值，例如：第一扫描数据和第二扫描数据中均包括目标物体相对目标空间体素的扫描数据，则目标差值可以指的是目标物体相对目标空间体素在第一扫描数据中的扫描距离与目标物体相对目标空间体素在第二扫描数据中的扫描距离的差值。
需要说明的是，由于扫描距离可以为正值或者负值，则目标差值可以为正值、负值或者0。
另外，作为一种可选的实施方式，目标差值可以指的是扫描角度之间的差值。
其中，由于电子设备在对空间体素和目标物体进行扫描时，电子设备需要分两次进行扫描，以分别得到第一扫描数据和第二扫描数据，但是在两次扫描时，电子设备是可以移动的，则电子设备的角度、位置和距离可能发生变化，从而导致获取得到的第一扫描数据和第二扫描数据之间存在误差，这种由于电子设备的自身的角度、位置和距离等参数中的至少一项改变，导致得到的误差可以被称作为偶然误差。
例如：参见图6，电子设备可以在B1和B2两个方向上对物体A2进行扫描，则物体A2相对于与电子设备位于物体A2同一侧的空间体素的扫描数据为正值，物体A2相对于与电子设备位于物体A2不同侧的空间体素的扫描数据为负值(扫描数据为负值时，对应的空间体素可以被认为位于物体A2 的内部)。
需要说明的是，参见图6，可以同时沿着B1和B2两个不同的方向对物体A2进行扫描，或者，也可以分时间段分别沿着B1和B2两个不同的方向对物体A2进行扫描。
另外，如图7所示，D1表示预先获取得到第二扫描数据的场景，D2表示获取得到第一扫描数据的场景，物体A2的左侧分布有A和D两个空间体素，物体A2的右侧分布有B和C两个空间体素，电子设备的扫描方向位于物体A2的右侧(即图7中所示的箭头方向)，而一个采样间隔为L(可以理解为物体A2两侧的两个空间体素之间的标准距离，例如：A和B两个空间体素之间的距离为L，C和D两个空间体素之间的距离为L，L也可以被称作为一个体素的尺寸)，物体A2的厚度为d0，在第二扫描数据中(即图7的D1中)，由于A点和D点与电子设备位于物体A2不同两侧，因此，A点和D点到物体A2的表面的距离均为(-d1)，在第一扫描数据中(即图7的D2中)，A点和D点到物体A2的表面的距离为(-d3)，(-d1)与(-d3)的数值的差值应该较小(可以接近于预设差值，预设差值可以为0)。
在第二扫描数据中(即图7的D1中)，B点，C点到物体A2的表面的距离均为d2，在第一扫描数据中(即图7的D2中)，B点，C点到物体A2的表面的距离均为d4，d2与d4的数值的差值较小(可以接近于预设差值，预设差值可以为0)。
其中，d1＝L-d2，d3＝L-d4，在只有偶然误差的情况下，则在A，D两采样点的差值(-d1)-(-d3)约等于0，在B，C两采样点的差值d2-d4约等于0。所以，在只有偶然误差的情况下，表面相邻的四个采样点的差值的绝对值之和为近似为0。
但是，当物体A2为扁平物体时，且扁平物体的厚度小于空间体素的尺寸时，导致空间体素很难落在扁平物体的内部，也就是说：当物体A2为扁平物体时，物体A2两侧的空间体素实际上均位于物体A2的表面外部，而在扫描时，通常只将与电子设备位于物体A2同一侧的空间体素对应的扫描数据确认为正值，并合理推测位于物体A2另一侧的空间体素位于物体A2的内 部，且该侧的空间体素对应的扫描数据为负值，而实际上无论是与电子设备位于物体A2同一侧的空间体素，还是位于物体A2另一侧的空间体素均是位于物体A2的外部，即位于物体A2两侧的空间体素的扫描数据均为正值。
因此，当推测位于物体A2另一侧的空间体素位于物体A2的内部，且该侧的空间体素对应的扫描数据为负值时，导致最终得到的扫描数据的误差可以被称作为系统误差。
例如：参见图8，D1表示预先获取得到第二扫描数据的场景，D2表示获取得到第一扫描数据的场景，物体A2的左侧分布有A和D两个空间体素，物体A2的右侧分布有B和C两个空间体素，D1所示场景下，电子设备的扫描方向位于物体A2的左侧(即图8中所示的箭头方向)，D2所示场景下，电子设备的扫描方向位于物体A2的右侧(即图8中所示的箭头方向)，而一个采样间隔为L(可以理解为物体A2两侧的两个空间体素之间的标准距离，例如：A和B两个空间体素之间的距离为L，C和D两个空间体素之间的距离为L)。
参见图8，在D1所示场景中，A点，D点到物体A2表面的距离均为d5，在D2所示场景中，A点，D点到物体A2表面的距离均为(-d7)，即此时推测A点和D点位于物体A2的内部。在D1所示场景中，B点，C点到A2表面的距离为均(-d6)，即此时推测B点和C点位于物体A2的内部；在D2所示场景中，B点，C点到A2表面的距离为d8。而在实际的情况中，无论是在D1所示场景中，还是在D2所示场景中，A、B、C和D点到物体A2表面的距离均应该为正值，即A、B、C和D点均应该位于物体A2的外部，此时由于物体过于扁平，导致误推测空间体素位于物体内部所造成的误差可以被称作为系统误差。
另外，在上述获取得到的扫描数据中，d6＝L-d5，d7＝L-d8，则在A，D两空间体素对应的扫描数据的差值为d5-(-d7)＝d5+d7，同样在B，C两空间体素对应的扫描数据的差值为(-d6)-d8。则扫描数据的差值的绝对值之和为(d5+d6+d7+d8)＝2L。所以，在有系统误差的情况下，表面相邻的四个空间体素的扫描数据的误差的绝对值之和为2L。
可见，在只有偶然误差的情况下，物体A2表面相邻的四个采样点的差值的绝对值之和约为0；在有系统误差的情况下，物体A2表面相邻的四个采样点的误差的绝对值之和为2L。因此，可以根据第一扫描数据和第二扫描数据的目标差值与预设差值阈值之间的关系来判断是否存在系统误差。
需要说明的是，本实施例中是以平面上所示的四个相邻的空间体素的扫描数据的误差的绝对值来进行示例性说明，实际上，由于扫描空间为立体图形，所以在计算空间体素的扫描数据的误差的绝对值时，可以选择多个空间体素的扫描数据进行计算，而空间体素的数量在此不做限定，例如：可以计算八个相邻的空间体素的扫描数据的误差的绝对值，而空间体素的数量不同，则影响的空间体素的扫描数据的误差的绝对值也不同。
其中，预设条件的具体类型在此不作限定，作为一种可选的实施方式，所述预设条件包括：所述目标差值大于预设差值阈值，所述预设差值阈值等于所述空间体素的内径的N倍，N可以为正整数。
其中，空间体素的内径可以等于上述实施方式中的L，也就是说预设差值阈值等于NL。例如：如上述内容，当包括四个相邻的空间体素时，N可以为2，则预设差值阈值可以等于2L。
本申请实施方式中，由于预设条件包括目标差值大于预设差值阈值，这样，通过判断目标差值与预设差值阈值的关系，从而可以快速且准确的确定目标差值是否满足预设条件，提高了判断的效率。
另外，当目标差值大于预设差值阈值时，表示获取的为负值的空间体素的扫描数据可靠程度较低，因此，只需要保存第一扫描数据中为正值的第一目标扫描数据和第二扫描数据中为正值的第二目标扫描数据，这样，使得第一目标扫描数据和第二扫描数据的可靠程度较高，同时，使得根据第一扫描数据和第二扫描数据构建得到的物体表面的准确度较高。
另外，当目标差值接近0时，表示获取的扫描数据中只存在偶然误差，因此，可以根据获取的扫描数据构建物体的表面，从而同样使得构建得到的物体的表面的准确度较高。
需要说明的是，预设差值阈值通常为经验阈值，通过比较目标差值与预 设差值阈值的关系来判断目标差值是否满足预设条件，若预设差值阈值的准确度较低，导致最终的判断结果可能存在误差。
需要说明的是，在实际的扫描数据的获取过程中，空间体素与物体表面的距离通常不是点到平面的垂直距离，而是沿着采样方向到达表面的距离，如图9和图10所示，在图9中，在D1和D2所示的场景中，电子设备的扫描位置均位于物体A2的右侧，但是，扫描的方向并不相同，在D1所示场景中，电子设备的扫描方向是朝向左下角方向，而在D2所示场景中，电子设备的扫描方向是朝向左上角方向。
这样使得目标物体相对同一个空间体素，在D1和D2两种场景下，获得的扫描数据的数值不完全相等，如图9中B点的db1与db2，D点的dd1与dd2。因此在区分上文所求的值的相对大小的时候，不能简单与经验阈值0和2L对比。
因此，为了解决上述问题，作为一种可选的实施方式，所述目标差值为所述第一扫描数据与所述第二扫描数据差值的绝对值；
所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述目标差值大于第三目标扫描数据的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第三目标扫描数据为所述第一扫描数据和所述第二扫描数据的绝对值中的最大值；
所述第一扫描数据的绝对值大于扫描设备标准差的三倍，所述第二扫描数据的绝对值大于扫描设备标准差的三倍。
其中，本申请实施方式中的第一扫描数据和第二扫描数据，可以指的是目标物体相对一个空间体素的扫描数据。
进一步的，上述第一扫描数据的绝对值大于扫描设备标准差的三倍这一约束条件为基于一个体素采样点所做的限制条件，可以避免体素采样点过于靠近表面而带来的数值不稳定。
本申请实施方式中，目标差值为第一扫描数据与第二扫描数据差值的绝 对值，第三目标扫描数据为第一扫描数据和第二扫描数据的绝对值中的最大值；当目标差值大于第三目标扫描数据时，可以确定第一扫描数据与第二扫描数据中存在系统误差，即目标差值满足预设条件，此时，可以根据第一目标扫描数据和第二目标扫描数据，构建目标物体的表面，而不采用第一扫描数据和第二扫描数据中小于零的扫描数据(即会导致系统误差的数据)，从而使得目标物体的表面的准确度较高。
另外，本申请实施方式无需通过经验阈值来判断目标差值是否满足预设条件(即判断第一扫描数据和第二扫描数据中是否存在系统误差)，从而提高了目标差值是否满足预设条件的判断结果的准确度。
作为一种可选的实施方式，所述第一扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述第二扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述目标差值为所述第一扫描数据与所述第二扫描数据差值的绝对值之和；
所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述目标差值大于第四目标扫描数据的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，第四目标扫描数据为每一所述第一扫描数据和每一所述第二扫描数据的绝对值中最大值之和。
本申请实施方式与上述实施方式的区别在于：本申请实施方式中的第一扫描数据和第二扫描数据可以均指的是：目标物体相对至少两个空间体素的扫描数据，而上述实施方式中的第一扫描数据和第二扫描数据可以均指的是：目标物体相对一个空间体素的扫描数据。
本申请实施方式同样无需通过经验阈值来判断目标差值是否满足预设条件(即判断第一扫描数据和第二扫描数据中是否存在系统误差)，从而提高了目标差值是否满足预设条件的判断结果的准确度。同时，可以根据第一目标扫描数据和第二目标扫描数据，构建目标物体的表面，而不采用第一扫描数据和第二扫描数据中小于零的扫描数据(即会导致系统误差的数据)，从而使 得目标物体的表面的准确度较高。
以下给出一个具体实施例来举例说明上述实施方式。
第一步，获取在扫描空间内两次采样值绝对值中的较大者(即获取目标物体相对每个空间体素均存在第一扫描数据和第二扫描数据，而可以获取目标物体相对每个空间体素的第一扫描数据和第二扫描数据中的最大值)。比如图9，B点的db1，db2中绝对值较大者记为Bmax。
第二步，将上一值求和(即将目标物体相对每个空间体素的第一扫描数据和第二扫描数据中的最大值求和)，如(Amax+Bmax+Cmax+Dmax)，记作Sum_max(即为第四目标扫描数据)。
第三步，在扫描空间内两次采样值的差值的绝对值(即计算目标物体相对每个空间体素的第一扫描数据和第二扫描数据之间的差值的绝对值)。比如图9，B点的db1，db2的差值的绝对值abs(db1-db2)。比如图8，B点的-db3，db4的差值的绝对值abs(-db3-db4)，其中，abs表示求绝对值。
第四步，将采样点第三步所得值求和Sum_dif(即将目标物体相对每个空间体素的第一扫描数据和第二扫描数据之间的差值的绝对值求和，Sum_dif即为第二目标值)。
如果不存在系统误差，两次扫描数据(即第一扫描数据和第二扫描数据)的大小不同但符号相同，则第三步所得值一定小于第一步所得值。例如图9，偶然误差的abs(db1-db2)<Bmax。因此第四步所求和Sum_dif小于第二步所求和Sum_max，则此时说明目标差值不满足预设条件(即第一扫描数据和第二扫描数据中不存在系统误差)。
如果存在系统误差，两次扫描数据(即第一扫描数据和第二扫描数据)的符号不相同，则第三步所得值一定大于第一步所得值。例如图10，系统误差abs(-db3-db4)等于db3+db4，所以Bmax<系统误差abs(-db3-db4)。因此第四步所求和Sum_dif大于第二步所求和Sum_max，则此时说明目标差值满足预设条件(即第一扫描数据和第二扫描数据中存在系统误差)。
可以将上述结论，通过公式表达为：
偶然误差Sum_max_random<Sum_max<系统误差Sum_max_system。
作为一种可选的实施方式，所述目标差值包括第一差值和第二差值，所述计算第一扫描数据和第二扫描数据的目标差值包括：
计算所述第一扫描数据与所述第二扫描数据之差的绝对值，得到所述第一差值；
计算第三扫描数据与所述第二扫描数据之差的绝对值，得到所述第二差值，所述第三扫描数据为所述第一扫描数据的相反数；
所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述第一差值大于所述第二差值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第一扫描数据的绝对值大于扫描设备标准差的三倍，所述第二扫描数据的绝对值大于扫描设备标准差的三倍。
需要说明的是，本申请实施方式中的第一扫描数据和第二扫描数据，可以指的是目标物体相对一个空间体素的扫描数据。
进一步的，上述第一扫描数据的绝对值大于扫描设备标准差的三倍这一约束条件为基于一个体素采样点所做的限制条件，可以避免体素采样点过于靠近表面而带来的数值不稳定。
本申请实施方式中，可以先计算第一扫描数据与第二扫描数据之差的绝对值，以得到第一差值；然后计算第三扫描数据与第二扫描数据之差的绝对值，以得到第二差值，而第三扫描数据为第一扫描数据的相反数，这样，当第一差值大于第二差值时，说明将第一扫描数据改变为第三扫描数据(即相当于改变了第一扫描数据的正负号)，从而最终改变了扫描数据之间的差值(即由第一差值缩小到第二差值)，可见第一差值缩小到第二差值，是由于减少了系统误差所引起的，因此，根据第一目标扫描数据和第二目标扫描数据，构建得到的目标物体的表面的准确度较高。
另外，当第一差值小于第二差值，说明改变正负号没有减小数值，因此，不存在系统误差，即目标差值不满足预设条件。
例如：第一差值可以被称为E1；第二差值可以被称为E2。
当E1<E2时，认为改变正负号没有减小数值，那么现有数据的差值是Sum_max_random。因此该数据不存在系统误差。
当E1>E2时，认为改变正负号减小了数值，是由减少系统误差引起的，那么现有数据的差值是Sum_max_system，那么该数据存在系统误差。
这样，通过对比两次计算的数值大小，即可准确的判别数据(即获取的扫描数据(主要是指第一扫描数据和第二扫描数据))中是否有系统误差。
作为一种可选的实施方式，所述第一扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述第二扫描数据包括所述目标物体相对至少两个空间体素的扫描数据；
所述目标差值包括第三差值和第四差值，所述计算第一扫描数据和第二扫描数据的目标差值包括：
计算所述第一扫描数据与所述第二扫描数据之差的绝对值之和，得到所述第三差值；
计算第四扫描数据与所述第二扫描数据之差的绝对值之和，得到所述第四差值，所述第四扫描数据为所述第一扫描数据的相反数；
所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述第三差值大于所述第四差值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面。
需要说明的是，本申请实施方式与上述实施方式的区别在于：本申请实施方式中的第一扫描数据和第二扫描数据可以均指的是：目标物体相对至少两个空间体素的扫描数据，而上述实施方式中的第一扫描数据和第二扫描数据可以均指的是：目标物体相对一个空间体素的扫描数据。
本申请实施方式中，由于第一扫描数据和第二扫描数据均可以指的是，目标物体相对至少两个空间体素的数据，这样，由于扫描得到的空间体素的数据越多，则使得最终得到的第一扫描数据和第二扫描数据的结果的准确度也更高。
同时，第三差值与第四差值可以分别参见上述第一差值与第二差值的相 应表述，且第三差值与第四差值大小比较的原理也可以参见上述实施方式中的相应表述。
需要说明的是，在上述两种实施方式中，第一扫描数据可以被称作为新数据，而第二扫描数据可以被称作为旧数据或者老数据，也就是说：第一扫描数据的获取顺序在第二扫描数据的获取顺序之后。
作为一种可选的实施方式，所述方法还包括：
在所述目标差值不满足预设条件的情况下，计算所述第一扫描数据和所述第二扫描数据的加权平均值；
根据所述加权平均值构建所述目标物体的表面。
本申请实施方式中，在目标差值不满足预设条件的时候，说明第一扫描数据和第二扫描数据中不存在系统误差，因此，可以直接根据第一扫描数据和第二扫描数据的加权平均值构建目标物体的表面，这样，同样可以使得构建得到的目标物体的表面的准确度较高。
其中，参见图16，在D1所示情景下获取的第二扫描数据和D2所示的情景下获取的第一扫描数据中不存在系统误差的情况下，可以根据第一扫描数据和第二扫描数据的加权平均值构建目标物体的表面。
需要说明的是，上述第一扫描数据和第二扫描数据的权值在此不做限定，例如：权值根据获取第一扫描数据的扫描仪和获取第二扫描数据的扫描仪的精确度确定，精度高的扫描仪，其获取的扫描数据对应的权重就越高；或者根据扫描场景的场景系数确定权值。
作为一种可选的实施方式，所述第一扫描数据和所述第二扫描数据包括扫描距离和扫描角度，所述方法还包括：
在所述目标差值不满足预设条件的情况下，对所述第一扫描数据和所述第二扫描数据进行加权平均计算，得到第五扫描数据；
所述第五扫描数据中包括第一组空间体素对应的第六目标扫描数据、第二组空间体素对应的第七目标扫描数据，所述第一组空间体素与所述第二组空间体素相邻，所述第六目标扫描数据的扫描距离和所述第七目标扫描数据的扫描距离中的一者大于零，另一者小于零；
在所述第六目标扫描数据和所述第七目标扫描数据之间进行线性插值，构建所述目标物体的表面。
本申请实施方式中，在目标差值不满足预设条件的时候，说明第一扫描数据和第二扫描数据中不存在系统误差，因此，可以对第一扫描数据和第二扫描数据进行加权平均计算，得到第五扫描数据，然后在第五扫描数据包括的第六目标扫描数据和第七目标扫描数据之间进行线性插值，找到目标物体的表面与空间体素的多个交点，然后根据上述多个交点构建目标物体的表面，这样，由于扫描数据的数量较多(即不需要剔除数值小于零的扫描数据)，可以使得构建得到的目标物体的表面的准确度较高，且细节特征较多。
需要说明的是，正如上述所述，位于物体外部的采样点的信息通常是直接通过电子设备扫描得到的，而位于物体内部的采样点的信息通常是通过推测得到的，因此，当判断第一扫描数据和第二扫描数据中存在系统误差时，只需要保留数值为正值(即大于零)的第一目标扫描数据和第二扫描数据，并根据第一扫描数据和第二扫描数据构建目标物体的表面，这样，可以提高目标物体表面构建的准确度。
例如：参见图11，图11中在D1和D2所示场景中，均可以检测到数值为正值的扫描数据和数值为负值的扫描数据，可以只保留数值为正值的第一目标扫描数据和第二扫描数据，以得到D3所示的信息，并根据D3所示的信息构建目标物体的表面。
需要说明的是，一般可以确定大于零的扫描数据和小于零的扫描数据的交界处存在目标物体的表面，例如：参见图12，一般可以确定大于零的扫描数据和小于零的扫描数据的交界处存在目标物体的表面F1。但是若只保留大于零的扫描数据之后，则容易导致目标物体的表面被漏统计，例如：参见图12，容易导致目标物体的表面F2和F3被漏统计。
为了解决上述问题，作为一种可选的实施方式，所述第一扫描数据包括第一角度，所述第二扫描数据包括第二角度；
所述根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述第一角度与所述第二角度之差大于预设角度阈值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面。
其中，第一扫描数据和第二扫描数据可以为在目标物体的两侧分别获取得到的扫描信息，这样，在第一角度和第二角度的差值大于预设角度阈值时，说明获取第一目标扫描数据的位置和获取第二目标扫描数据的位置之间存在目标物体的表面的可能性较高，因此，可以根据第一目标扫描数据和第二目标扫描数据构建目标物体的表面，从而减少了目标物体的表面被漏统计的现象的情况，提高了目标物体的表面的构建的准确度和完整度。
例如：参见图13和图14，图13和图14中物体A2左侧的为D1所示情景下获取的第二目标扫描数据，物体A2右侧的为D2所示情景下获取的第一目标扫描数据，而根据图13所示可知，A点与物体A2之间存在扫描距离da，扫描方向如D1所示箭头方向，而第二角度则可以为D1所示方向与物体A2的平面所在方向之间的夹角；同理，B点与物体A2之间存在扫描距离db，扫描方向如D2所示箭头方向，而第一角度则可以为D2所示方向与物体A2的平面所在方向之间的夹角，因此，当第一角度信息和第二角度信息之间的夹角大于预设角度阈值时(即差值较大时，可认定为角度存在明显改变)，确定获取第一目标扫描数据的位置和获取第二目标扫描数据的位置之间存在目标物体的表面。
作为一种可选的实施方式，所述根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
计算所述第一目标扫描数据和所述第二目标扫描数据的均值，得到第五目标扫描数据，所述第五目标扫描数据包括至少三个空间体素的至少三组扫描距离和扫描角度，一个所述空间体素对应一组扫描角度和扫描距离；
根据所述至少三个空间体素的至少三组扫描距离和扫描角度，确定至少三个目标空间点；
基于所述至少三个目标空间点，构建所述目标物体的表面。
本申请实施方式中，通过至少三个空间体素的至少三组扫描距离和扫描角度，确定至少三个目标空间点，然后根据至少三个目标空间点，构建目标 物体的表面，这样，由于三个目标空间点确定一个平面，通过先确定至少三个目标空间点，从而可以确定目标物体的表面所在位置，进而构建目标物体的表面，使得目标物体的表面的构建结果的准确度较高。
另外，参见图13，物体A2表面左侧的A，D两点有相近的扫描方向，表面右侧的B，C两点有相近的扫描方向。所以A与B，C与D之间存一个扁平的物体。
沿着ABCD四点的扫描方向和扫描距离，将找到四个位于表面上的点,如图13中的点A11、B11、C11和D11。将这四个点投影在平面ABCD上。分别连接AD，BC对应的投影点(即点A11、B11、C11和D11)，会形成两条直线。他们与AB线段和CD线段形成的交点就是表面与网格ABCD的交点(即点A12、B12、C12和D12)。在交点处插入两个表面，如图13中的点A12、B12、C12和D12代表平面所在的位置，而上述插入的两个表面可以根据空间体素的位置确定上述两个表面的位置，并可以构建得到上述两个表面，从而避免上述两个表面被漏构建。
另外，如果上述插入的两个表面分布于不同的空间体素中，则可以根据上述两个表面分布的空间体素的位置信息进行构建得到。参见图15，图15中的A、D、C、B、E和F点分别位于两个不同的空间体素上，因此，可以按照图13所示方法，连接交点，最终确定插入平面的位置点，并根据上述A、D、C、B、E和F点的位置信息构建插入的平面。
需要说明的是，本申请实施例中，上述电子设备可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)、个人数字助理(Personal Digital Assistant，简称PDA)、移动上网装置(Mobile Internet Device，MID)或可穿戴式设备(Wearable Device)等等。
本申请实施例中，通过步骤101至步骤102，通过计算第一扫描数据与第二扫描数据之间的目标差值，且在目标差值满足预设条件时，保留第一目标扫描数据和第二目标扫描数据，并根据第一目标扫描数据和第二目标扫描数据构建目标物体的表面，避免了扁平物体表面重建时由于存在系统误差而存在错误判断的情况，从而使得最终构建得到的目标物体的表面的准确率较 高。
需要说明的是，本申请实施例提供的表面构建方法，执行主体可以为表面构建装置，或者该表面构建装置中的用于执行表面构建的控制模块。本申请实施例中以表面构建装置执行表面构建为例，说明本申请实施例提供的表面构建装置。
参见图17，图17为本申请实施例提供的一种表面构建装置的结构示意图，如图17所示，表面构建装置1700，包括：
计算模块1701，用于计算第一扫描数据和第二扫描数据的目标差值，所述第一扫描数据和所述第二扫描数据为目标物体相对空间体素的扫描数据；
构建模块1702，用于在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第一目标扫描数据为所述第一扫描数据中大于零的数据，所述第二目标扫描数据为所述第二扫描数据中大于零的数据。
可选地，所述目标差值包括第一差值和第二差值，所述计算模块1701包括：
第一计算子模块，用于计算所述第一扫描数据与所述第二扫描数据之差的绝对值，得到所述第一差值；
第二计算子模块，用于计算第三扫描数据与所述第二扫描数据之差的绝对值，得到所述第二差值，所述第三扫描数据为所述第一扫描数据的相反数；
所述构建模块，还用于在所述第一差值大于所述第二差值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第一扫描数据的绝对值大于扫描设备标准差的三倍，所述第二扫描数据的绝对值大于扫描设备标准差的三倍。
可选地，所述第一扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述第二扫描数据包括所述目标物体相对至少两个空间体素的扫描数据；
所述目标差值包括第三差值和第四差值，所述计算模块1701包括：
第三计算子模块，用于计算所述第一扫描数据与所述第二扫描数据之差 的绝对值之和，得到所述第三差值；
第四计算子模块，用于计算第四扫描数据与所述第二扫描数据之差的绝对值之和，得到所述第四差值，所述第四扫描数据为所述第一扫描数据的相反数；
所述构建模块1702，还用于在所述第三差值大于所述第四差值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面。
可选地，所述目标差值为所述第一扫描数据与所述第二扫描数据差值的绝对值；
所述构建模块1702，还用于：
在所述目标差值大于第三目标扫描数据的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第三目标扫描数据为所述第一扫描数据和所述第二扫描数据的绝对值中的最大值；
所述第一扫描数据的绝对值大于扫描设备标准差的三倍，所述第二扫描数据的绝对值大于扫描设备标准差的三倍。
可选地，所述第一扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述第二扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述目标差值为所述第一扫描数据与所述第二扫描数据差值的绝对值之和；
所述构建模块1702，还用于：
在所述目标差值大于第四目标扫描数据的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，第四目标扫描数据为每一所述第一扫描数据和每一所述第二扫描数据的绝对值中最大值之和。
可选地，所述第一扫描数据包括第一角度，所述第二扫描数据包括第二角度；
所述构建模块1702，还用于：
在所述第一角度与所述第二角度之差大于预设角度阈值的情况下，根据 第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面。
可选地，所述构建模块1702，包括：
第五计算子模块，用于计算所述第一目标扫描数据和所述第二目标扫描数据的均值，得到第五目标扫描数据，所述第五目标扫描数据包括至少三个空间体素的至少三组扫描距离和扫描角度，一个所述空间体素对应一组扫描角度和扫描距离；
确定子模块，用于根据所述至少三个空间体素的至少三组扫描距离和扫描角度，确定至少三个目标空间点；
构建子模块，用于基于所述至少三个目标空间点，构建所述目标物体的表面。
可选地，所述第一扫描数据和所述第二扫描数据包括扫描距离和扫描角度，所述表面构建装置1700，还包括：
加权平均计算模块，用于在所述目标差值不满足预设条件的情况下，对所述第一扫描数据和所述第二扫描数据进行加权平均计算，得到第五扫描数据；所述第五扫描数据中包括第一组空间体素对应的第六目标扫描数据、第二组空间体素对应的第七目标扫描数据，所述第一组空间体素与所述第二组空间体素相邻，所述第六目标扫描数据的扫描距离和所述第七目标扫描数据的扫描距离中的一者大于零，另一者小于零；
线性插值模块，用于在所述第六目标扫描数据和所述第七目标扫描数据之间进行线性插值，构建所述目标物体的表面。
本申请实施例同样可以具有与上述表面构建方法实施例相同的有益技术效果。
本申请实施例中的表面构建装置可以是装置，也可以是终端中的部件、集成电路、或芯片。该装置可以是移动电子设备，也可以为非移动电子设备。示例性的，移动电子设备可以为手机、平板电脑、笔记本电脑、掌上电脑、车载电子设备、可穿戴设备、超级移动个人计算机(ultra-mobile personal computer，UMPC)、上网本或者个人数字助理(personal digital assistant，PDA)等，非移动电子设备可以为服务器、网络附属存储器(Network Attached Storage， NAS)、个人计算机(personal computer，PC)、电视机(television，TV)、柜员机或者自助机等，本申请实施例不作具体限定。
本申请实施例中的表面构建装置可以为具有操作系统的装置。该操作系统可以为安卓(Android)操作系统，可以为ios操作系统，还可以为其他可能的操作系统，本申请实施例不作具体限定。
本申请实施例提供的表面构建装置能够实现图1至图16的方法实施例实现的各个过程，为避免重复，这里不再赘述。
可选的，如图18所示，本申请实施例还提供一种电子设备1800，包括处理器1801，存储器1802，存储在存储器1802上并可在所述处理器1801上运行的程序或指令，该程序或指令被处理器1801执行时实现上述表面构建方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
需要说明的是，本申请实施例中的电子设备包括上述所述的移动电子设备和非移动电子设备。
图19为实现本申请实施例的一种电子设备的硬件结构示意图。
该电子设备1900包括但不限于：射频单元1901、网络模块1902、音频输出单元1903、输入单元1904、传感器1905、显示单元1906、用户输入单元1907、接口单元1908、存储器1909、以及处理器1910等部件。
本领域技术人员可以理解，电子设备1900还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器1910逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图19中示出的电子设备结构并不构成对电子设备的限定，电子设备可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
其中，处理器1910，用于：
计算第一扫描数据和第二扫描数据的目标差值，所述第一扫描数据和所述第二扫描数据为目标物体相对空间体素的扫描数据；
在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第一目标扫描数据为所述第一扫描数据中大于零的数据，所述第二目标扫描数据为所述第二扫描数据中大于零的数据。
可选地，所述目标差值包括第一差值和第二差值，处理器1910执行的所述计算第一扫描数据和第二扫描数据的目标差值包括：
计算所述第一扫描数据与所述第二扫描数据之差的绝对值，得到所述第一差值；
计算第三扫描数据与所述第二扫描数据之差的绝对值，得到所述第二差值，所述第三扫描数据为所述第一扫描数据的相反数；
处理器1910执行的所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述第一差值大于所述第二差值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第一扫描数据的绝对值大于扫描设备标准差的三倍，所述第二扫描数据的绝对值大于扫描设备标准差的三倍。
可选地，所述第一扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述第二扫描数据包括所述目标物体相对至少两个空间体素的扫描数据；
所述目标差值包括第三差值和第四差值，处理器1910，执行的所述计算第一扫描数据和第二扫描数据的目标差值包括：
计算所述第一扫描数据与所述第二扫描数据之差的绝对值之和，得到所述第三差值；
计算第四扫描数据与所述第二扫描数据之差的绝对值之和，得到所述第四差值，所述第四扫描数据为所述第一扫描数据的相反数；
处理器1910，执行的所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述第三差值大于所述第四差值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面。
可选地，所述目标差值为所述第一扫描数据与所述第二扫描数据差值的 绝对值；
处理器1910，执行的所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述目标差值大于第三目标扫描数据的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，所述第三目标扫描数据为所述第一扫描数据和所述第二扫描数据的绝对值中的最大值；
所述第一扫描数据的绝对值大于扫描设备标准差的三倍，所述第二扫描数据的绝对值大于扫描设备标准差的三倍。
可选地，所述第一扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述第二扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述目标差值为所述第一扫描数据与所述第二扫描数据差值的绝对值之和；
处理器1910，执行的所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述目标差值大于第四目标扫描数据的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
其中，第四目标扫描数据为每一所述第一扫描数据和每一所述第二扫描数据的绝对值中最大值之和。
可选地，所述第一扫描数据包括第一角度，所述第二扫描数据包括第二角度；
处理器1910，执行的所述根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
在所述第一角度与所述第二角度之差大于预设角度阈值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面。
可选地，处理器1910，执行的所述根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
计算所述第一目标扫描数据和所述第二目标扫描数据的均值，得到第五 目标扫描数据，所述第五目标扫描数据包括至少三个空间体素的至少三组扫描距离和扫描角度，一个所述空间体素对应一组扫描角度和扫描距离；
根据所述至少三个空间体素的至少三组扫描距离和扫描角度，确定至少三个目标空间点；
基于所述至少三个目标空间点，构建所述目标物体的表面。
可选地，所述第一扫描数据和所述第二扫描数据包括扫描距离和扫描角度，处理器1910，还用于：
在所述目标差值不满足预设条件的情况下，对所述第一扫描数据和所述第二扫描数据进行加权平均计算，得到第五扫描数据；
所述第五扫描数据中包括第一组空间体素对应的第六目标扫描数据、第二组空间体素对应的第七目标扫描数据，所述第一组空间体素与所述第二组空间体素相邻，所述第六目标扫描数据的扫描距离和所述第七目标扫描数据的扫描距离中的一者大于零，另一者小于零；
在所述第六目标扫描数据和所述第七目标扫描数据之间进行线性插值，构建所述目标物体的表面。
本申请实施例同样具有与上述表面构建方法实施例相同的有益技术效果。
应理解的是，本申请实施例中，输入单元1904可以包括图形处理器(Graphics Processing Unit，GPU)19041和麦克风19042，图形处理器19041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元1906可包括显示面板19061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板19061。用户输入单元1907包括触控面板19071以及其他输入设备19072。触控面板19071，也称为触摸屏。触控面板19071可包括触摸检测装置和触摸控制器两个部分。其他输入设备19072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。存储器1909可用于存储软件程序以及各种数据，包括但不限于应用程序和操作系统。处理器1910可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以 理解的是，上述调制解调处理器也可以不集成到处理器1190中。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述表面构建方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的电子设备中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述表面构建方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片、系统芯片、芯片系统或片上系统芯片等。
本申请实施例另提供了一种计算机程序产品，其中，所述计算机程序产品被存储在非瞬态的可读存储介质中，所述计算机程序产品被至少一个处理执行以实现上述图1方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例另提供了一种电子设备，被配置为执行如图1方法实施例的步骤。
需要说明的是，在本文中，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、物品或者装置不仅包括那些要素，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、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例 如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (14)

  1. 一种表面构建方法，包括：
    计算第一扫描数据和第二扫描数据的目标差值，所述第一扫描数据和所述第二扫描数据为目标物体相对空间体素的扫描数据；
    在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
    其中，所述第一目标扫描数据为所述第一扫描数据中大于零的数据，所述第二目标扫描数据为所述第二扫描数据中大于零的数据。
  2. 根据权利要求1所述的方法，其中，所述目标差值包括第一差值和第二差值，所述计算第一扫描数据和第二扫描数据的目标差值包括：
    计算所述第一扫描数据与所述第二扫描数据之差的绝对值，得到所述第一差值；
    计算第三扫描数据与所述第二扫描数据之差的绝对值，得到所述第二差值，所述第三扫描数据为所述第一扫描数据的相反数；
    所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
    在所述第一差值大于所述第二差值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
    其中，所述第一扫描数据的绝对值大于扫描设备标准差的三倍，所述第二扫描数据的绝对值大于扫描设备标准差的三倍。
  3. 根据权利要求1所述的方法，其中，所述第一扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述第二扫描数据包括所述目标物体相对至少两个空间体素的扫描数据；
    所述目标差值包括第三差值和第四差值，所述计算第一扫描数据和第二扫描数据的目标差值包括：
    计算所述第一扫描数据与所述第二扫描数据之差的绝对值之和，得到所述第三差值；
    计算第四扫描数据与所述第二扫描数据之差的绝对值之和，得到所述第四差值，所述第四扫描数据为所述第一扫描数据的相反数；
    所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
    在所述第三差值大于所述第四差值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面。
  4. 根据权利要求1所述的方法，其中，所述目标差值为所述第一扫描数据与所述第二扫描数据差值的绝对值；
    所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
    在所述目标差值大于第三目标扫描数据的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
    其中，所述第三目标扫描数据为所述第一扫描数据和所述第二扫描数据的绝对值中的最大值；
    所述第一扫描数据的绝对值大于扫描设备标准差的三倍，所述第二扫描数据的绝对值大于扫描设备标准差的三倍。
  5. 根据权利要求1所述的方法，其中，所述第一扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述第二扫描数据包括所述目标物体相对至少两个空间体素的扫描数据，所述目标差值为所述第一扫描数据与所述第二扫描数据差值的绝对值之和；
    所述在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
    在所述目标差值大于第四目标扫描数据的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
    其中，第四目标扫描数据为每一所述第一扫描数据和每一所述第二扫描数据的绝对值中最大值之和。
  6. 根据权利要求1中所述的方法，其中，所述第一扫描数据包括第一角度，所述第二扫描数据包括第二角度；
    所述根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
    在所述第一角度与所述第二角度之差大于预设角度阈值的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面。
  7. 根据权利要求6中所述的方法，其中，所述根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面包括：
    计算所述第一目标扫描数据和所述第二目标扫描数据的均值，得到第五目标扫描数据，所述第五目标扫描数据包括至少三个空间体素的至少三组扫描距离和扫描角度，一个所述空间体素对应一组扫描角度和扫描距离；
    根据所述至少三个空间体素的至少三组扫描距离和扫描角度，确定至少三个目标空间点；
    基于所述至少三个目标空间点，构建所述目标物体的表面。
  8. 根据权利要求1所述的方法，其中，所述第一扫描数据和所述第二扫描数据包括扫描距离和扫描角度，所述方法还包括：
    在所述目标差值不满足预设条件的情况下，对所述第一扫描数据和所述第二扫描数据进行加权平均计算，得到第五扫描数据；
    所述第五扫描数据中包括第一组空间体素对应的第六目标扫描数据、第二组空间体素对应的第七目标扫描数据，所述第一组空间体素与所述第二组空间体素相邻，所述第六目标扫描数据的扫描距离和所述第七目标扫描数据的扫描距离中的一者大于零，另一者小于零；
    在所述第六目标扫描数据和所述第七目标扫描数据之间进行线性插值，构建所述目标物体的表面。
  9. 一种表面构建装置，包括：
    计算模块，用于计算第一扫描数据和第二扫描数据的目标差值，所述第一扫描数据和所述第二扫描数据为目标物体相对空间体素的扫描数据；
    构建模块，用于在所述目标差值满足预设条件的情况下，根据第一目标扫描数据和第二目标扫描数据，构建所述目标物体的表面；
    其中，所述第一目标扫描数据为所述第一扫描数据中大于零的数据，所 述第二目标扫描数据为所述第二扫描数据中大于零的数据。
  10. 一种电子设备，其中，包括处理器，存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1-8中任一项所述的表面构建方法的步骤。
  11. 一种可读存储介质，其中，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1-8中任一项所述的表面构建方法的步骤。
  12. 一种芯片，包括处理器和通信接口，其中，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如权利要求1-8中任一项所述的表面构建方法的步骤。
  13. 一种计算机程序产品，其中，所述计算机程序产品被存储在非瞬态的存储介质中，所述计算机程序产品被至少一个处理器执行以实现如权利要求1-8中任一项所述的表面构建方法的步骤。
  14. 一种电子设备，被配置为执行如权利要求1至8中任一项所述的表面构建方法的步骤。
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US20180360408A1 (en) * 2017-06-15 2018-12-20 Shanghai United Imaging Healthcare Co., Ltd. Imaging systems and methods thereof
CN109064447A (zh) * 2018-06-29 2018-12-21 沈阳东软医疗系统有限公司 骨密度展示方法、装置及设备
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CN109064447A (zh) * 2018-06-29 2018-12-21 沈阳东软医疗系统有限公司 骨密度展示方法、装置及设备
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