Three-dimensional scanning method, device, computer equipment and storage medium

Abstract

The application relates to a three-dimensional scanning method, device, computer equipment and computer readable storage medium, which comprises the following steps: obtaining a three-dimensional laser point cloud of a scanned object; determining the deviation between the three-dimensional laser point cloud and a standard three-dimensional model of the scanned object; wherein the standard three-dimensional model is a pre-stored standard three-dimensional scanning model, and the three-dimensional laser point cloud and the standard three-dimensional model are in the same coordinate system; judging whether the deviation meets a preset condition, and eliminating the three-dimensional laser point cloud whose deviation does not meet the preset condition. According to the application, the deviation between the three-dimensional laser point cloud of the scanned object and the standard three-dimensional model of the scanned object is determined by taking the standard three-dimensional model as a reference, so that the flying points and noise points generated in the three-dimensional scanning process are removed, the calculation method is simple, and the removal efficiency of the flying points and noise points generated in the three-dimensional scanning process is effectively improved.

Description

Technical Field

[0001] This application relates to the field of 3D scanning technology, and in particular to a 3D scanning method, apparatus, computer equipment, and storage medium. Background Technology

[0002] With the development of 3D scanning technology, 3D scanners are now widely used in industrial product inspection, reverse engineering, simulation, and positioning. A common problem encountered when using 3D scanners is the generation of excessive flying point noise during the scanning process, which interferes with the actual object model. To avoid this interference and to achieve a more satisfactory point cloud effect without creating a visual discrepancy, it is necessary to remove the flying point noise generated during scanning to achieve the best possible representation of the scanned object.

[0003] In existing technologies, post-processing algorithms such as filtering and density filtering, including median filtering and moving least squares filtering, are mainly used to remove noise generated during the scanning process. However, these post-processing algorithms take too long, resulting in low efficiency in removing flying spots and noise generated during 3D scanning. Summary of the Invention

[0004] Therefore, it is necessary to provide a three-dimensional scanning method, apparatus, computer equipment, and computer-readable storage medium to address the aforementioned technical problems and solve the problem of low efficiency in removing flying spots and noise generated during the three-dimensional scanning process in related technologies.

[0005] In a first aspect, embodiments of this application provide a three-dimensional scanning method, the method comprising the following steps:

[0006] Obtain the 3D laser point cloud of the scanned object;

[0007] Determine the deviation between the three-dimensional laser point cloud and the standard three-dimensional model of the scanned object; wherein, the standard three-dimensional model is a pre-stored standard three-dimensional scanning model, and the three-dimensional laser point cloud and the standard three-dimensional model are in the same coordinate system;

[0008] Determine whether the deviation meets the preset conditions, and discard the three-dimensional laser point cloud whose deviation does not meet the preset conditions.

[0009] In some embodiments, acquiring the three-dimensional laser point cloud of the scanned object includes the following steps:

[0010] During the real-time scanning of the object by the 3D scanner, the 3D laser point cloud obtained by 3D reconstruction is acquired.

[0011] In some embodiments, acquiring the three-dimensional laser point cloud of the scanned object includes the following steps:

[0012] After the real-time scanning process of the 3D scanner is completed, all the 3D laser point clouds saved in the scan frame file are obtained.

[0013] In some embodiments, determining the deviation between the three-dimensional laser point cloud and a standard three-dimensional model of the scanned object includes the following steps:

[0014] The deviation between the three-dimensional laser point cloud and the standard three-dimensional model is determined at least based on the distance between the three-dimensional laser point cloud and the standard three-dimensional model.

[0015] In some embodiments, the method further includes:

[0016] If the deviation meets the preset condition, the three-dimensional laser point cloud is taken as a valid three-dimensional laser point cloud, and the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model is determined.

[0017] The normal vector of the corresponding point on the standard 3D model is used as the reference vector of the effective 3D laser point cloud.

[0018] In some embodiments, the method further includes:

[0019] If the deviation meets the preset condition, the three-dimensional laser point cloud is taken as a valid three-dimensional laser point cloud, and the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model is determined.

[0020] If no corresponding point of the effective 3D laser point cloud can be found on the standard 3D model, the reference vector of the effective 3D laser point cloud is determined based on the normal vector of the point on the standard 3D model that is within a preset range from the effective 3D laser point cloud.

[0021] In some embodiments, determining the reference vector of the effective 3D laser point cloud based on the normal vector of points within a preset range on the standard 3D model includes the following steps:

[0022] The reference vector of the effective 3D laser point cloud is obtained by averaging the normal vectors of the points on the standard 3D model that are within a preset distance from the effective 3D laser point cloud.

[0023] Secondly, this application embodiment provides a three-dimensional scanning device, which includes an acquisition module, a determination module, and a rejection module;

[0024] The acquisition module is used to acquire the three-dimensional laser point cloud of the scanned object;

[0025] The determining module is used to determine the deviation between the three-dimensional laser point cloud and the standard three-dimensional model of the scanned object; wherein, the standard three-dimensional model is a pre-stored standard three-dimensional scanning model, and the three-dimensional laser point cloud and the standard three-dimensional model are in the same coordinate system;

[0026] The rejection module is used to determine whether the deviation meets the preset conditions, and to reject the three-dimensional laser point cloud whose deviation does not meet the preset conditions.

[0027] Thirdly, this embodiment provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in the first aspect above.

[0028] Fourthly, this embodiment provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect above.

[0029] The aforementioned 3D scanning method, apparatus, computer equipment, and computer-readable storage medium acquire a 3D laser point cloud of the scanned object; determine the deviation between the 3D laser point cloud and a standard 3D model of the scanned object; wherein the standard 3D model is a pre-stored standard 3D scanning model, and the 3D laser point cloud and the standard 3D model are in the same coordinate system; determine whether the deviation meets preset conditions, and discard 3D laser point clouds whose deviation does not meet the preset conditions. This application, by using a standard 3D model as a reference to determine the deviation between the 3D laser point cloud of the scanned object and the standard 3D model of the scanned object, removes flying points and noise generated during the 3D scanning process. The calculation method is simple and effectively improves the efficiency of removing flying points and noise generated during the 3D scanning process. Attached Figure Description

[0030] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0031] Figure 1 This is a schematic diagram of the structure of a three-dimensional scanning system provided according to an embodiment of this application;

[0032] Figure 2 This is a flowchart of a three-dimensional scanning method provided according to an embodiment of this application;

[0033] Figure 3 A schematic diagram of the structure of a three-dimensional scanning device provided in the embodiments of this application;

[0034] Figure 4A schematic diagram of the structure of a computer device provided in the embodiments of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0036] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0037] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0038] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0039] The three-dimensional scanning method proposed in this application can be applied to, for example... Figure 1 The illustrated 3D scanning system includes a scanning device 101 and a processing device 102. The scanning device 101 is used to acquire a 3D laser point cloud of the scanned object, and the processing device 102 is used to determine the deviation between the 3D laser point cloud and a standard 3D model of the scanned object. The standard 3D model is a pre-stored standard 3D scanning model, and the 3D laser point cloud and the standard 3D model are in the same coordinate system. The processing device 102 is also used to determine whether the deviation meets a preset condition and to discard 3D laser point clouds whose deviation does not meet the preset condition.

[0040] This embodiment provides a three-dimensional scanning method. Figure 2 This is a flowchart of the three-dimensional scanning method in this embodiment, as follows: Figure 2 As shown, the process includes the following steps:

[0041] Step S210: Obtain the three-dimensional laser point cloud of the scanned object.

[0042] A 3D laser point cloud is the laser point information of a scanned object, representing the 3D surface data of the scanned object. The 3D laser point cloud can be obtained by a 3D scanner.

[0043] Step S220: Determine the deviation between the 3D laser point cloud and the standard 3D model of the scanned object; wherein, the standard 3D model is a pre-stored standard 3D scanning model, and the 3D laser point cloud and the standard 3D model are in the same coordinate system.

[0044] The standard 3D model of the scanned object is either the 3D model corresponding to the standard mold of the scanned object, or a 3D model of the scanned object manufactured under ideal conditions and with ideal parameters. Specifically, in a 3D scanning system, importing the file containing 3D information corresponding to the standard mold of the scanned object allows the construction of a standard 3D model of the scanned object. This file containing 3D information can be a point cloud file, a mesh file, or a digital model file, and can be output after modeling using 3D modeling software. Pre-storing the standard 3D model of the scanned object before implementing the 3D scanning method of this application can effectively improve the implementation efficiency of the 3D scanning method. Furthermore, this pre-stored standard 3D scanning model can be reused.

[0045] Since this embodiment requires using a standard 3D model of the scanned object as a reference to calculate the deviation between the 3D laser point cloud and the standard 3D model of the scanned object, the 3D laser point cloud and the standard 3D model need to be in the same coordinate system. Therefore, before implementing this embodiment, the 3D laser point cloud data needs to be unified to the coordinate system of the standard 3D model. Specifically, a feature alignment method can be used to construct corresponding planar features on the standard 3D model and the scanned object respectively, and align the corresponding planar features, thereby unifying the scanned object to the coordinate system of the standard 3D model. There are many other methods for unifying coordinate systems in related fields, which will not be elaborated here.

[0046] Step S230: Determine whether the deviation meets the preset conditions, and discard the three-dimensional laser point cloud whose deviation does not meet the preset conditions.

[0047] Due to technological limitations, scanned objects produced in reality cannot achieve ideal results. However, it is foreseeable that the 3D model of a scanned object produced in reality needs to be infinitely close to a standard 3D model. Therefore, in this embodiment, the deviation between the 3D laser point cloud and the standard 3D model of the scanned object is determined. The larger the deviation, the greater the possibility that the 3D laser points are flying points or noise. By judging whether the deviation meets preset conditions, 3D laser point clouds with deviations that do not meet the preset conditions are identified as flying points or noise and are discarded, thereby effectively improving the quality and accuracy of the final 3D model. Judging whether the deviation meets the preset conditions can involve judging whether the deviation exceeds a set threshold or whether the ratio of the deviation to a set value is within a certain range. The specific preset conditions can be adjusted according to actual needs.

[0048] In existing technologies, post-processing algorithms such as filtering and density filtering, including median filtering and moving least squares filtering, are mainly used to remove noise generated during the scanning process. However, these post-processing algorithms take too long, resulting in low efficiency in removing flying spots and noise generated during 3D scanning.

[0049] To address the aforementioned problems, this application proposes a 3D scanning method. This method involves acquiring a 3D laser point cloud of the scanned object; determining the deviation between the 3D laser point cloud and a standard 3D model of the scanned object; wherein the standard 3D model is a pre-stored standard 3D scanning model, and the 3D laser point cloud and the standard 3D model are in the same coordinate system; and determining whether the deviation meets preset conditions, discarding 3D laser point clouds whose deviations do not meet the preset conditions. This application uses a standard 3D model as a reference to determine the deviation between the 3D laser point cloud of the scanned object and the standard 3D model of the scanned object, thereby removing flying points and noise generated during the 3D scanning process. The calculation method is simple and effectively improves the efficiency of removing flying points and noise generated during 3D scanning.

[0050] In one embodiment, step S210 above, which acquires the three-dimensional laser point cloud of the scanned object, includes the following steps:

[0051] Step S211: During the real-time scanning of the object by the 3D scanner, the 3D laser point cloud obtained by 3D reconstruction is acquired.

[0052] During the real-time scanning of the object by the 3D scanner, the 3D laser point cloud obtained by 3D reconstruction is obtained. It is a 2D image of the laser outline projected onto the surface of the scanned object by the 3D scanner based on the camera, and the 3D laser point cloud obtained by 3D reconstruction based on mathematical calculation.

[0053] Since some users are particularly concerned about the quality of real-time scanning, a feature can be developed for these users: 3D laser point clouds can be acquired during the real-time scanning process of the object being scanned by the 3D scanner. The deviation between the 3D laser point cloud and the standard 3D model of the scanned object can be determined, and 3D laser point clouds whose deviation does not meet preset conditions can be discarded, thereby improving the quality of real-time scanning.

[0054] In one embodiment, step S210 above, which acquires the three-dimensional laser point cloud of the scanned object, includes the following steps:

[0055] Step S212: After the real-time scanning process of the 3D scanner is completed, obtain all the 3D laser point clouds saved in the scan frame file.

[0056] In existing 3D scanning technologies, the 3D laser point clouds obtained through 3D reconstruction during real-time scanning are stored in scan frame files, which are then stored in the memory or disk of the 3D scanning system. Since some users are more concerned with real-time scanning speed, a new approach can be developed for these users: after the real-time scanning process is complete, all the 3D laser point clouds stored in the scan frame files can be retrieved. Deviations in these point clouds can be calculated, and those that do not meet preset deviation criteria can be removed. This method improves real-time scanning speed while simultaneously eliminating flying spots and noise.

[0057] As one implementation method, step S220 above, which determines the deviation between the three-dimensional laser point cloud and the standard three-dimensional model of the scanned object, includes the following steps:

[0058] Step S221: Determine the deviation between the 3D laser point cloud and the standard 3D model based at least on the distance between the 3D laser point cloud and the standard 3D model.

[0059] Specifically, the distance between the 3D laser point cloud and the standard 3D model, i.e., the distance between the 3D laser point cloud and the surface of the standard 3D model, can be calculated using the formula for a point-to-surface distance. The greater the distance between the 3D laser point cloud and the standard 3D model, the greater the deviation between them, and the higher the probability that the 3D laser point cloud is a flying point or noise point. Therefore, the deviation between the 3D laser point cloud and the standard 3D model can be effectively determined based on the distance between them. Furthermore, the deviation between the 3D laser point cloud and the standard 3D model can also be determined based on multi-dimensional parameters such as the variance of the distance between them.

[0060] In one embodiment, the three-dimensional scanning method further includes the following steps:

[0061] Step S240: If the deviation meets the preset conditions, the three-dimensional laser point cloud is taken as a valid three-dimensional laser point cloud, and the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model is determined.

[0062] Step S250: Use the normal vector of the corresponding point on the standard 3D model as the reference vector of the effective 3D laser point cloud.

[0063] Specifically, the higher the accuracy of the reference vector for constructing the 3D laser point cloud of the scanned object, the higher the accuracy of the normal vector of the final 3D laser point cloud. A higher accuracy of the normal vector leads to a better quality 3D model. If the normal vector of the 3D laser point cloud is incorrect, it will cause unevenness and pits in the area where the 3D laser point cloud is located in the constructed 3D model during subsequent calculations, affecting the quality of the final 3D model. In existing technologies, the direction of the 3D scanner is used as the reference direction for the 3D point cloud. However, different users have different habits when using 3D scanners, and their hand postures vary, resulting in different acquired scanner directions. Therefore, it is impossible to uniquely and accurately determine the reference direction of the 3D laser point cloud.

[0064] In this embodiment, if the 3D laser point cloud is valid, its corresponding point on the standard 3D model is determined. Specifically, a point on the standard 3D model with coordinates identical or very close to that of the valid 3D laser point cloud is found. This point is the corresponding point of the valid 3D laser point cloud on the standard 3D model, and its normal vector is used as the reference vector for the valid 3D laser point cloud. By using the normal vector of the corresponding point on the standard 3D model as the reference vector for the 3D laser point cloud, the uniqueness and accuracy of the reference vector's direction are ensured, thereby effectively improving the quality of the final 3D model.

[0065] In one embodiment, the three-dimensional scanning method further includes the following steps:

[0066] Step S260: If the deviation meets the preset conditions, the three-dimensional laser point cloud is taken as a valid three-dimensional laser point cloud, and the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model is determined.

[0067] Step S270: If no corresponding point of the valid 3D laser point cloud can be found on the standard 3D model, determine the reference vector of the valid 3D laser point cloud based on the normal vector of the point within a preset range on the standard 3D model that is far from the valid 3D laser point cloud.

[0068] Specifically, if no point with coordinates identical or closely similar to those of the valid 3D laser point cloud can be found on the standard 3D model, this embodiment determines the reference vector of the valid 3D laser point cloud by using the normal vector of a point on the standard 3D model that is within a preset range from the valid 3D laser point cloud. This ensures the uniqueness and accuracy of the reference vector of the 3D laser point cloud. Specifically, the preset range can be adjusted according to actual needs.

[0069] As one implementation method, the normal vectors of points within a preset distance range of the effective 3D laser point cloud on the standard 3D model can be averaged to obtain the reference vector of the effective 3D laser point cloud.

[0070] It should be understood that while the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order constraint on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart above may include multiple steps or stages, which are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0071] Figure 3 This is a schematic diagram of the three-dimensional scanning device 30 in an embodiment of this application, as shown below. Figure 3 As shown, the three-dimensional scanning device 30 includes an acquisition module 31, a determination module 32, and a rejection module 33;

[0072] The acquisition module 31 is used to acquire the three-dimensional laser point cloud of the scanned object;

[0073] The determination module 32 is used to determine the deviation between the three-dimensional laser point cloud and the standard three-dimensional model of the scanned object; wherein, the standard three-dimensional model is a pre-stored standard three-dimensional scanning model, and the three-dimensional laser point cloud and the standard three-dimensional model are in the same coordinate system;

[0074] The elimination module 33 is used to determine whether the deviation meets the preset conditions and to eliminate the three-dimensional laser point cloud whose deviation does not meet the preset conditions.

[0075] The aforementioned 3D scanning device 30 acquires a 3D laser point cloud of the scanned object; determines the deviation between the 3D laser point cloud and the standard 3D model of the scanned object; wherein the standard 3D model is a pre-stored standard 3D scanning model, and the 3D laser point cloud and the standard 3D model are in the same coordinate system; determines whether the deviation meets preset conditions, and discards 3D laser point clouds whose deviation does not meet the preset conditions. This application, by using the standard 3D model as a reference, determines the deviation between the 3D laser point cloud of the scanned object and the standard 3D model of the scanned object, thereby removing flying points and noise generated during the 3D scanning process. The calculation method is simple and effectively improves the efficiency of removing flying points and noise generated during the 3D scanning process.

[0076] In one embodiment, the acquisition module 31 is further configured to acquire the three-dimensional laser point cloud obtained by three-dimensional reconstruction during the process of the three-dimensional scanner scanning the scanned object in real time.

[0077] In one embodiment, the acquisition module 31 is further configured to acquire all the three-dimensional laser point clouds saved in the scan frame file after the real-time scanning process of the three-dimensional scanner is completed.

[0078] In one embodiment, the determining module 32 is further configured to determine the deviation between the three-dimensional laser point cloud and the standard three-dimensional model based at least on the distance between the three-dimensional laser point cloud and the standard three-dimensional model.

[0079] In one embodiment, the three-dimensional scanning device 30 further includes a calculation module, which is used to, if the deviation meets the preset conditions, take the three-dimensional laser point cloud as a valid three-dimensional laser point cloud and determine the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model; and take the normal vector of the corresponding point on the standard three-dimensional model as the reference vector of the valid three-dimensional laser point cloud.

[0080] In one embodiment, the calculation module is further configured to, if the deviation meets the preset conditions, regard the three-dimensional laser point cloud as a valid three-dimensional laser point cloud and determine the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model; if the valid three-dimensional laser point cloud cannot find a corresponding point on the standard three-dimensional model, determine the reference vector of the valid three-dimensional laser point cloud based on the normal vector of the point on the standard three-dimensional model that is within the preset range from the valid three-dimensional laser point cloud.

[0081] In one embodiment, the calculation module is further configured to average the normal vectors of points on the standard 3D model that are within a preset distance range from the effective 3D laser point cloud, to obtain the reference vector of the effective 3D laser point cloud.

[0082] It should be noted that the above modules can be functional modules or program modules, and can be implemented in software or hardware. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or they can be stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0083] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores a set of preset configuration information. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a 3D scanning method.

[0084] In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, memory, a network interface, a display screen, and an input device connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it implements a three-dimensional scanning method. The display screen may be a liquid crystal display (LCD) or an electronic ink display. The input device may be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0085] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0086] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0087] Obtain the 3D laser point cloud of the scanned object;

[0088] Determine the deviation between the 3D laser point cloud and the standard 3D model of the scanned object; wherein, the standard 3D model is a pre-stored standard 3D scanning model, and the 3D laser point cloud and the standard 3D model are in the same coordinate system;

[0089] Determine whether the deviation meets the preset conditions, and discard the 3D laser point cloud whose deviation does not meet the preset conditions.

[0090] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0091] During the real-time scanning of the object by the 3D scanner, a 3D laser point cloud is obtained through 3D reconstruction.

[0092] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0093] After the real-time scanning process of the 3D scanner is completed, all the 3D laser point clouds saved in the scan frame file are obtained.

[0094] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0095] The deviation between the 3D laser point cloud and the standard 3D model should be determined at least based on the distance between the 3D laser point cloud and the standard 3D model.

[0096] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0097] If the deviation meets the preset conditions, the three-dimensional laser point cloud is taken as the valid three-dimensional laser point cloud, and the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model is determined.

[0098] The normal vector of the corresponding point on the standard 3D model is used as the reference vector of the effective 3D laser point cloud.

[0099] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0100] If the deviation meets the preset conditions, the three-dimensional laser point cloud is taken as the valid three-dimensional laser point cloud, and the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model is determined.

[0101] If a valid 3D laser point cloud cannot find a corresponding point on the standard 3D model, the reference vector of the valid 3D laser point cloud is determined based on the normal vector of the point within a preset range on the standard 3D model that is far from the valid 3D laser point cloud.

[0102] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0103] The reference vector of the effective 3D laser point cloud is obtained by averaging the normal vectors of the points within a preset distance range of the effective 3D laser point cloud on the standard 3D model.

[0104] The aforementioned storage medium acquires a 3D laser point cloud of the scanned object; determines the deviation between the 3D laser point cloud and a standard 3D model of the scanned object; wherein the standard 3D model is a pre-stored standard 3D scanning model, and the 3D laser point cloud and the standard 3D model are in the same coordinate system; it determines whether the deviation meets preset conditions, and discards 3D laser point clouds whose deviations do not meet the preset conditions. This application, by using a standard 3D model as a reference to determine the deviation between the 3D laser point cloud of the scanned object and the standard 3D model of the scanned object, removes flying points and noise generated during the 3D scanning process. The calculation method is simple and effectively improves the efficiency of removing flying points and noise generated during the 3D scanning process.

[0105] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0106] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0107] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0108] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0109] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0110] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A three-dimensional scanning method, characterized in that, The method includes the following steps: Obtain the 3D laser point cloud of the scanned object; Determine the deviation between the three-dimensional laser point cloud and the standard three-dimensional model of the scanned object; wherein, the standard three-dimensional model is a pre-stored standard three-dimensional scanning model, and the three-dimensional laser point cloud and the standard three-dimensional model are in the same coordinate system; Determine whether the deviation meets the preset conditions, and discard the three-dimensional laser point cloud whose deviation does not meet the preset conditions; The method further includes: If the deviation meets the preset condition, the three-dimensional laser point cloud is taken as a valid three-dimensional laser point cloud, and the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model is determined. If the effective 3D laser point cloud cannot find a corresponding point on the standard 3D model, the normal vectors of the points on the standard 3D model that are within a preset distance range from the effective 3D laser point cloud are averaged to obtain the reference vector of the effective 3D laser point cloud.

2. The three-dimensional scanning method according to claim 1, characterized in that, The process of acquiring the three-dimensional laser point cloud of the scanned object includes the following steps: During the real-time scanning of the object by the 3D scanner, the 3D laser point cloud obtained by 3D reconstruction is acquired.

3. The three-dimensional scanning method according to claim 1, characterized in that, The process of acquiring the three-dimensional laser point cloud of the scanned object includes the following steps: After the real-time scanning process of the 3D scanner is completed, all the 3D laser point clouds saved in the scan frame file are obtained.

4. The three-dimensional scanning method according to any one of claims 1 to 3, characterized in that, Determining the deviation between the three-dimensional laser point cloud and the standard three-dimensional model of the scanned object includes the following steps: The deviation between the three-dimensional laser point cloud and the standard three-dimensional model is determined at least based on the distance between the three-dimensional laser point cloud and the standard three-dimensional model.

5. The three-dimensional scanning method according to claim 1, characterized in that, The method further includes: If the deviation meets the preset condition, the three-dimensional laser point cloud is taken as a valid three-dimensional laser point cloud, and the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model is determined. The normal vector of the corresponding point on the standard 3D model is used as the reference vector of the effective 3D laser point cloud.

6. A three-dimensional scanning device, characterized in that, The device includes an acquisition module, a determination module, a rejection module, and a calculation module; The acquisition module is used to acquire the three-dimensional laser point cloud of the scanned object; The determining module is used to determine the deviation between the three-dimensional laser point cloud and the standard three-dimensional model of the scanned object; wherein, the standard three-dimensional model is a pre-stored standard three-dimensional scanning model, and the three-dimensional laser point cloud and the standard three-dimensional model are in the same coordinate system; The rejection module is used to determine whether the deviation meets the preset conditions, and to reject the three-dimensional laser point cloud whose deviation does not meet the preset conditions; The calculation module is used to, if the deviation meets the preset conditions, take the three-dimensional laser point cloud as a valid three-dimensional laser point cloud and determine the corresponding point of the valid three-dimensional laser point cloud on the standard three-dimensional model; if the valid three-dimensional laser point cloud cannot find a corresponding point on the standard three-dimensional model, average the normal vectors of the points on the standard three-dimensional model that are within a preset distance range from the valid three-dimensional laser point cloud to obtain the reference vector of the valid three-dimensional laser point cloud.

7. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

Images