Cloud point splicing method, terminal equipment and computer storage medium

Abstract

The invention provides a cloud point splicing method, terminal equipment and a computer storage medium. The point cloud splicing method comprises the following steps: acquiring two point clouds obtained by scanning around the same rotating shaft; based on the two point clouds, obtaining a rotation translation matrix through calculation; obtaining a direction vector of a rotating shaft based on therotation translation matrix, and acquiring rotation angles of other point clouds based on the two point clouds; acquiring rotation translation matrixes of the other point clouds and the two point clouds based on the direction vector and the rotation angles, performing rotation translation on the other point clouds according to the corresponding rotation translation matrixes; and splicing the point clouds after rotation translation. According to the cloud point splicing method, the rotation translation matrixes of the other point clouds are obtained through calculation according to the rotation axis obtained through the two point clouds, and the situation that the calculation amount of the rotation translation matrixes is directly calculated multiple times is avoided, and the point cloud splicing efficiency is effectively improved.

Description

technical field [0001] The present application relates to the technical field of three-dimensional scanning, in particular to a cloud point splicing method, a terminal device, and a computer storage medium. Background technique [0002] With the development of 3D point cloud scanning technology, the hardware equipment is getting cheaper and cheaper, and the acquisition of 3D point cloud data is becoming more and more convenient. 3D point cloud data is applied to various fields, such as hospital diagnosis and treatment, ceramic processing and repair, architectural stereoscopic imaging, automobile profile detection, etc. The digitized point cloud data is obtained through non-contact scanning. During the data acquisition process, due to the limitation of the field of view of the measuring equipment, usually only a partial surface view of the measured object can be obtained, and it is difficult to obtain a complete 3D point cloud of the object. Model. Therefore, it is necessar...

AI Technical Summary

Problems solved by technology

[0003] The existing methods mainly include: 1) Use some pan-tilts to determine the position change relationship between the measured object and multiple viewpoints, and directly calculate the coordinate change relationship between the point cloud geometric data under multiple viewpoints through the motion parameters of the pan-tilt. The method is stable and reliable, and has high precision, but requires additional high-precision mechanical equipment, which leads to complex structure of multi-viewpoint acquisition equipment and cannot measure larger objects

2) Manually select the matching feature points for pre-matching, and then complete the splicing of point cloud geometric data through existing commercial software processing algorithms. The degree of intelligence is low and the algorithm is complex

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