Three-dimensional scanning data processing method, three-dimensional scanning method, device, equipment and storage medium

Abstract

The disclosed embodiment relates to a method for processing three-dimensional scanning data, a three-dimensional scanning method, an apparatus, a device and a storage medium, the method comprising: obtaining a first coordinate set sequence obtained by measuring a first target ball group when a target optical tracker is in a plurality of different target positions, wherein the position of the first target ball group remains unchanged; obtaining a second coordinate set sequence obtained by measuring a second target ball group when a laser tracker is in a plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target ball group to the target optical tracker remains unchanged; based on the first coordinate set sequence and the second coordinate set sequence, determining a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker. According to the disclosed embodiment, the transfer station expansion accuracy can be improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of computer technology, and in particular to a three-dimensional scanning data processing method, a three-dimensional scanning method, a device, a equipment, and a storage medium. Background Art

[0002] The optical tracker can accurately track and locate the scanner in three dimensions in real time, and is mainly used in large-scale three-dimensional scanning in industries such as aerospace, automobiles, shipbuilding, and energy. The optical tracker is limited by its principle and has a fixed field of view (i.e., the spatial cone range constraint). If the scanner needs to be tracked and located in a space outside the field of view during use, some public markers need to be set on or around the scanned object, and the coordinates of the public markers are used to unify the coordinate system of the optical tracker before and after the position is moved, so as to achieve station expansion.

[0003] However, if the public markers are displaced relative to the scanned object, or if the public markers are not arranged properly (such as being distributed in a small area of ​​the field of view), resulting in weak constraints on the spatial position, the transfer accuracy will be reduced. And when the volume of the scanned object is large, the optical tracker needs to move the position multiple times, and then gradually transfer and expand multiple times, so that the transfer expansion error will continue to accumulate. It can be seen that the transfer expansion accuracy based on public markers is low. There is currently no effective solution to this problem. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the embodiments of the present disclosure provide a method, device, equipment and storage medium for processing three-dimensional scanning data.

[0005] A first aspect of an embodiment of the present disclosure provides a method for processing three-dimensional scanning data, the method comprising:

[0006] Acquire a first coordinate set sequence obtained by measuring a first target ball group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target ball group remains unchanged;

[0007] Acquire a second coordinate set sequence obtained by measuring the second target sphere group by the laser tracker when the target optical tracker is at the multiple different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target sphere group and the target optical tracker remains unchanged;

[0008] Based on the first coordinate set sequence and the second coordinate set sequence, a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker is determined.

[0009] A second aspect of the embodiments of the present disclosure provides a three-dimensional scanning method, the method comprising:

[0010] A first coordinate set sequence is obtained by measuring a first target ball group when the target optical tracker is at a plurality of different target positions, and a second coordinate set sequence is obtained by measuring a second target ball group when the target optical tracker is at a plurality of different target positions using a laser tracker, wherein the position of the first target ball group remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged;

[0011] The laser tracker is used to measure the second target ball group when the target optical tracker is in the pre-transfer position to obtain a third coordinate set, and the scanner is used to scan the scanned object when the target optical tracker is in the pre-transfer position to obtain first scanning data;

[0012] The laser tracker is used to measure the second target ball group when the target optical tracker is in the post-transfer position to obtain a fourth coordinate set, and the scanner is used to scan the scanned object when the target optical tracker is in the post-transfer position to obtain second scanning data.

[0013] A third aspect of the embodiments of the present disclosure provides a three-dimensional scanning data processing device, the device comprising:

[0014] A first acquisition module is used to acquire a first coordinate set sequence obtained by measuring a first target ball group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target ball group remains unchanged;

[0015] A second acquisition module is used to acquire a second coordinate set sequence obtained by the laser tracker measuring the second target ball group when the target optical tracker is at the multiple different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged;

[0016] The first determination module is used to determine a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0017] A third aspect of the embodiments of the present disclosure provides a three-dimensional scanning device, the device comprising:

[0018] A first measurement module is used to measure a first target ball group by the target optical tracker when the target optical tracker is at a plurality of different target positions to obtain a first coordinate set sequence while keeping the laser tracker fixed, and to measure a second target ball group by the laser tracker when the target optical tracker is at a plurality of different target positions to obtain a second coordinate set sequence, wherein the position of the first target ball group remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged;

[0019] A first scanning module is used to measure the second target ball group by a laser tracker when the target optical tracker is in a pre-transfer position to obtain a third coordinate set, and to scan the scanned object by a scanner when the target optical tracker is in a pre-transfer position to obtain first scanning data;

[0020] The second scanning module is used to measure the second target ball group by a laser tracker when the target optical tracker is in the post-transfer position to obtain a fourth coordinate set, and to scan the scanned object by a scanner when the target optical tracker is in the post-transfer position to obtain second scanning data.

[0021] A fifth aspect of an embodiment of the present disclosure provides an electronic device, which includes: a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method of the first aspect above.

[0022] A sixth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of the first aspect described above can be implemented.

[0023] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0024] In the disclosed embodiment, a first coordinate set sequence is obtained by measuring a first target ball group when the target optical tracker is in a plurality of different target positions, wherein the position of the first target ball group remains unchanged; a second coordinate set sequence is obtained by measuring a second target ball group when the target optical tracker is in a plurality of different target positions by a laser tracker, wherein the position of the laser tracker remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged; based on the first coordinate set sequence and the second coordinate set sequence, a target conversion matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker is determined. It can be seen that by adopting the above technical solution, a laser tracker can be used to obtain a second coordinate set sequence with a higher accuracy, and then a target conversion matrix with a higher accuracy between the coordinate system of the target optical tracker and the coordinate system of the laser tracker is determined based on the first coordinate set sequence and the second coordinate set sequence with a higher accuracy. In this way, when the target optical tracker moves from one position to another in order to track the scanner, it is not necessary to use a common marker point, and a high-precision transfer station expansion can be achieved based on a high-precision target matrix, which is conducive to improving the transfer station accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0027] Figure 1 is a flow chart of a method for processing three-dimensional scanning data provided by an embodiment of the present disclosure;

[0028] Figure 2 is a scene graph for determining a target transformation matrix provided by an embodiment of the present disclosure;

[0029] Figure 3 is a flowchart of another method for processing three-dimensional scanning data provided by an embodiment of the present disclosure;

[0030] Figure 4 is a three-dimensional scanning scene graph provided by an embodiment of the present disclosure;

[0031] Figure 5 is a flow chart of a three-dimensional scanning method provided by an embodiment of the present disclosure;

[0032] Figure 6 is a schematic diagram of the structure of a three-dimensional scanning data processing device provided by an embodiment of the present disclosure;

[0033] Figure 7 is a structural schematic diagram of a three-dimensional scanning device provided by an embodiment of the present disclosure;

[0034] Figure 8 It is a structural schematic diagram of an electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0036] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0037] Figure 1 1 is a flowchart of a method for processing three-dimensional scanning data provided by an embodiment of the present disclosure, and the method can be performed by an electronic device. The electronic device can be exemplarily understood as a device such as an optical tracker, a laser tracker, a scanner, a mobile phone, a tablet computer, a laptop computer, a desktop computer, a smart TV, etc. Figure 1 As shown, the method provided in this embodiment includes the following steps:

[0038] S110, acquiring a first coordinate set sequence obtained by measuring a first target ball group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target ball group remains unchanged.

[0039] S120, obtaining a second coordinate set sequence obtained by measuring the second target ball group by the laser tracker when the target optical tracker is at a plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged.

[0040] Specifically, the first target ball group includes a plurality of first target balls, and the positions of the first target balls relative to the ground remain unchanged.

[0041] Optionally, the first target ball group can be set on the ground. Specifically, the first target ball is fixed on the ground through a target seat. In this way, the difficulty of setting the first target ball group can be reduced.

[0042] Optionally, the first target ball group can be set on other optical trackers whose positions remain unchanged. Specifically, when performing three-dimensional scanning on a large scanned object, multiple optical trackers are often required to track and locate the scanner. Therefore, the first target ball can be set on an optical tracker other than the target optical tracker whose position relative to the ground remains unchanged. In this way, after a three-dimensional scan is completed, the first target ball group does not need to be removed, so the first target ball group can be directly used in the next three-dimensional scan without having to be installed again, which is conducive to saving labor costs.

[0043] Specifically, the second target ball group includes a plurality of second target balls, and the positions of the second target balls relative to the target optical tracker remain unchanged.

[0044] Optionally, the second target ball group is arranged on the top of the target optical tracker. Specifically, the second target balls are evenly distributed on the top of the target optical tracker through the target seat. In this way, the risk of the second target ball group being blocked can be reduced, which is conducive to fully exposing the second target ball group to the laser tracker, so that the laser tracker can obtain the coordinates of each second target ball in the second target ball group. In addition, it can be better ensured that the second target ball group moves with the target optical tracker to better ensure that the position of the second target ball relative to the target optical tracker remains unchanged.

[0045] In the disclosed embodiment, in order to obtain the target conversion matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker, first, the first target ball group and the second target ball group are set. Then, when the laser tracker remains unchanged relative to the ground, the target optical tracker is moved multiple times continuously so that the target optical tracker passes through multiple different target positions in sequence (the number of target positions is greater than or equal to 3). When the target optical tracker is at each target position, the target optical tracker can perform coordinate measurement on the first target ball group to obtain a first coordinate set corresponding to the target position, wherein the first coordinate set includes the first coordinate of each first target ball in the first target ball group, and the laser tracker can perform coordinate measurement on the second target ball group to obtain a second coordinate set corresponding to the target position, wherein the second coordinate set includes the second coordinate of each second target ball in the second target ball group. Multiple first coordinate sets corresponding to multiple different target positions constitute a first coordinate sequence, and multiple second coordinate sets corresponding to multiple different target positions constitute a second coordinate sequence. It should be noted that the electronic device can receive the first coordinate set sequence sent by the target optical tracker and receive the second coordinate set sequence sent by the laser tracker. Of course, the first coordinate set sequence and the second coordinate set sequence may also be stored in a storage device (such as a USB flash drive). In this case, the electronic device may read the first coordinate set sequence and the second coordinate set sequence from the storage device.

[0046] For example, Figure 2 is a scene graph for determining a target transformation matrix provided by an embodiment of the present disclosure. Figure 2 As shown, first, the first target ball group BQ1 is fixed on the ground, and the second target ball group BQ2 is evenly fixed on the top of the target optical tracker GX. Then, while the laser tracker JG remains unchanged relative to the ground, the target optical tracker GX is moved twice in succession so that the target optical tracker GX passes through three different target positions S1, S2, and S3 in sequence. When the target optical tracker GX is at the target position S1, the target optical tracker GX can measure the first target ball group BQ1 to obtain the first coordinate set P11 corresponding to the target position S1, and the laser tracker JG can measure the second target ball group BQ2 to obtain the second coordinate set P21 corresponding to the target position S1. Similarly, when the target optical tracker GX moves from the target position S1 to the target position S2, the target optical tracker GX can measure the first target ball group BQ1 to obtain the first coordinate set P12 corresponding to the target position S2, and the laser tracker JG can measure the second target ball group BQ2 to obtain the second coordinate set P22 corresponding to the target position S2. Similarly, when the target optical tracker GX moves from the target position S2 to the target position S3, the target optical tracker GX can measure the first target ball group BQ1 to obtain the first coordinate set P13 corresponding to the target position S3, and the laser tracker JG can measure the second target ball group BQ2 to obtain the second coordinate set P23 corresponding to the target position S3. In this way, the electronic device can obtain a first coordinate set sequence including the first coordinate set P11, the first coordinate set P12, and the first coordinate set P13, and can obtain a second coordinate set sequence including the second coordinate set P21, the second coordinate set P22, and the second coordinate set P23.

[0047] S130: Determine a target transformation matrix between a coordinate system of a target optical tracker and a coordinate system of a laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0048] Among them, the target transformation matrix is ​​used to unify the first scanning data and the second scanning data into the same coordinate system. The first scanning data is obtained by scanning the scanned object when the target optical tracker is in the pre-transfer position, and the second scanning data is obtained by scanning the scanned object when the target optical tracker is in the post-transfer position.

[0049] In some embodiments, S130 may include: S131, for two first coordinate sets corresponding to two adjacent target positions in the first coordinate set sequence, determining a first transformation matrix corresponding to the two adjacent target positions based on the two first coordinate sets; S132, for two second coordinate sets corresponding to two adjacent target positions in the second coordinate set sequence, determining a second transformation matrix corresponding to the two adjacent target positions based on the two second coordinate sets; S133, determining a target transformation matrix based on the first transformation matrix and the second transformation matrix.

[0050] Specifically, the first transformation matrix corresponding to the two target positions refers to the transformation matrix between the optical tracker coordinate system when the target optical tracker is at one target position and the optical tracker coordinate system when the target optical tracker is at another target position. It can also be said to refer to the position transformation of the first target ball group in the optical tracker coordinate system.

[0051] Exemplarily, referring to the previous example, for the first coordinate set sequence including the first coordinate set P11, the first coordinate set P12, and the first coordinate set P13, the first transformation matrix A1 corresponding to the target position S1 and the target position S2 is determined based on the first coordinate set P11 and the first coordinate set P12, and the first transformation matrix A2 corresponding to the target position S2 and the target position S3 is determined based on the first coordinate set P12 and the first coordinate set P13.

[0052] Specifically, the second transformation matrix corresponding to the two target positions refers to a transformation matrix when the target optical tracker is moved from one target position to another target position in the laser tracker coordinate system.

[0053] Exemplarily, continuing to refer to the previous example, for the second coordinate set sequence including the second coordinate set P21, the second coordinate set P22, and the second coordinate set P23, based on the second coordinate set P21 and the second coordinate set P22, the second transformation matrix B1 corresponding to the target position S1 and the target position S2 is determined, and based on the second coordinate set P22 and the second coordinate set P23, the second transformation matrix B2 corresponding to the target position S2 and the target position S3 is determined.

[0054] Specifically, the target conversion matrix can be solved based on the hand-eye calibration relationship AX=XB, where A is the first conversion matrix, X is the target conversion matrix, and B is the second conversion matrix.

[0055] Exemplarily, referring to the above example, the target transformation matrix is ​​solved jointly based on A1X=XB1 and A2X=XB2.

[0056] Of course, in other embodiments, S130 may include: inputting the first coordinate set sequence and the second coordinate set sequence into a pre-trained first network model, and obtaining a target transformation matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker output by the first network model.

[0057] The disclosed embodiment can utilize a laser tracker to obtain a second coordinate set sequence with higher accuracy, and then determine a target transformation matrix with higher accuracy between the coordinate system of the target optical tracker and the coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence with higher accuracy. In this way, when the target optical tracker moves from one position to another in order to track the movement of the scanner, high-precision station transfer expansion can be achieved based on the high-precision target matrix without the aid of common marking points, which is conducive to improving station transfer accuracy.

[0058] Figure 3 The flowchart of another method for processing three-dimensional scanning data provided by the embodiment of the present disclosure is shown. The embodiment of the present disclosure is optimized on the basis of the above embodiment, and the embodiment of the present disclosure can be combined with various optional solutions in one or more of the above embodiments.

[0059] like Figure 3 As shown, the method for processing three-dimensional scanning data may include the following steps.

[0060] S310, acquiring a first coordinate set sequence obtained by measuring a first target ball group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target ball group remains unchanged.

[0061] Specifically, S310 is similar to S110 and will not be described in detail here.

[0062] S320, obtaining a second coordinate set sequence obtained by measuring the second target ball group by the laser tracker when the target optical tracker is at a plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged.

[0063] Specifically, S320 is similar to S120 and will not be described in detail here.

[0064] S330: Determine a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0065] Specifically, S330 is similar to S130 and will not be described in detail here.

[0066] S340, obtaining a third coordinate set obtained by measuring the second target ball group by the laser tracker when the target optical tracker is in the pre-transfer position.

[0067] S350, obtaining a fourth coordinate set obtained by measuring the second target ball group by the laser tracker when the target optical tracker is in the post-transfer position.

[0068] In the embodiment of the present disclosure, after obtaining the target transformation matrix, first, the position of the laser tracker relative to the ground is not changed, that is, the laser tracker is kept fixed, and the first target ball group is removed. Then, when the laser tracker continues to remain in the same position relative to the ground, when the target optical tracker is in the position before the transfer station, the laser tracker can measure the coordinates of the second target ball group to obtain a third coordinate set (the third coordinate set includes the third coordinates of each second target ball in the second target ball group), the target optical tracker can track and locate the scanner in the field of view space when it is in the position before the transfer station, and the scanner can perform a three-dimensional scan on the scanned object. When the scanner moves out of the field of view space, the target optical tracker can move from the position before the transfer station to the position after the transfer station. When the target optical tracker is in the position after the transfer station, the laser tracker can measure the coordinates of the second target ball group to obtain a fourth coordinate set (the third coordinate set includes the fourth coordinates of each second target ball in the second target ball group), and the target optical tracker can track and locate the scanner in the field of view space when it is in the position after the transfer station. It should be noted that the electronic device can receive the third coordinate set and the fourth coordinate set sent by the laser tracker. Of course, the third coordinate set and the fourth coordinate set may also be stored in a storage device (such as a USB flash drive). In this case, the electronic device may read the third coordinate set and the fourth coordinate set from the storage device.

[0069] For example, Figure 4 is a scene graph of three-dimensional scanning provided by an embodiment of the present disclosure. Figure 2 and Figure 4 As shown, first, the laser tracker JG is kept fixed and the first target ball group BQ1 is removed. Then, when the laser tracker JG continues to remain unchanged relative to the ground, when the target optical tracker GX is at the position Z1 before the transfer station, the laser tracker JG can measure the coordinates of the second target ball group BQ2 to obtain the third coordinate set P3, the target optical tracker GX can track and locate the scanner SMY in the field of view space when it is at the position before the transfer station, and the scanner SMY can perform a three-dimensional scan on the scanned object BS. When the scanner SMY moves from the position Y1 to the position Y2 and moves out of the field of view space, the target optical tracker GX can move from the position Z1 before the transfer station to the position Z2 after the transfer station, and when the target optical tracker GX is at the position Z2 after the transfer station, the laser tracker JG can measure the coordinates of the second target ball group BQ2 to obtain the fourth coordinate set P4, the target optical tracker GX can track and locate the scanner SMY in the field of view space when it is at the position Z2 after the transfer station, and the scanner SMY can perform a three-dimensional scan on the scanned object BS. In this way, the electronic device can obtain the third coordinate set P3 and the fourth coordinate set P4.

[0070] S360: Determine a third transformation matrix corresponding to the position before the transfer and the position after the transfer based on the third coordinate set, the fourth coordinate set and the target transformation matrix.

[0071] Specifically, the third transformation matrix is ​​understood as follows: a transformation matrix between the optical tracker coordinate system when the target optical tracker is in the pre-transfer position and the optical tracker coordinate system when the target optical tracker is in the post-transfer position.

[0072] In some embodiments, S360 may include: S361, determining the fourth transformation matrix corresponding to the position before and after the transfer station based on the third coordinate set and the fourth coordinate set; S362, performing an inverse matrix transformation on the target transformation matrix to obtain a target inverse matrix; S363, determining the third transformation matrix based on the fourth transformation matrix, the target transformation matrix, and the target inverse matrix.

[0073] Specifically, the fourth transformation matrix is ​​understood as follows: in the laser tracker coordinate system, it is a transformation matrix when the target optical tracker is moved from the position before the transfer station to the position after the transfer station.

[0074] Exemplarily, referring to the above example, based on the third coordinate set P3 and the fourth coordinate set P4, the fourth transformation matrix T1 corresponding to the pre-transfer position Z1 and the post-transfer position Z2 is determined.

[0075] Specifically, based on T2=X -1 *T1*X can solve the third transformation matrix. Among them, T1 is the fourth transformation matrix, X is the target transformation matrix, and X -1 is the target inverse matrix, and T2 is the third transformation matrix.

[0076] It can be understood that, based on the third transformation matrix, the positions tracked by the scanner before and after the target optical tracker switches stations can be unified into the same optical tracker coordinate system, thereby achieving switch station expansion.

[0077] In some embodiments, optionally, the method further includes: S370, acquiring first scanning data obtained by the scanner when the target optical tracker is in a pre-transfer position on the scanned object; S380, acquiring second scanning data obtained by the scanner when the target optical tracker is in a post-transfer position on the scanned object; S390, unifying the first scanning data and the second scanning data into the same coordinate system based on a third transformation matrix.

[0078] Specifically, the first scanning data is an image frame obtained by the scanner acquiring an image of the scanned object when the target optical tracker is at the pre-transfer position.

[0079] Specifically, the second scanning data is an image frame obtained by the scanner acquiring images of the scanned object when the target optical tracker is in the post-transfer position.

[0080] It can be understood that, as mentioned above, based on the third transformation matrix, the position (i.e., posture) tracked by the scanner before and after the target optical tracker turns the station can be unified into the same optical tracker coordinate system. In this way, the first scan data and the second scan data can be spliced ​​based on the posture of the scanner in the same optical tracker coordinate system, thereby unifying the first scan data and the second scan data into the same coordinate system.

[0081] According to the disclosed embodiment, a high-precision laser tracker can be used in conjunction with a target optical tracker to determine the third conversion matrix corresponding to the target optical tracker before and after the station transfer, thereby realizing station transfer expansion, so that the target optical tracker station transfer does not require the use of markers and has high accuracy, and because the measurement range of the laser tracker is large (usually the radius can reach 160 meters), it can meet the needs of the target optical tracker for multiple consecutive station transfer expansions, thereby realizing the expansion of a large-scale tracking work area. In addition, based on the third conversion matrix, the first scan data and the second scan data can be unified into the same coordinate system, thereby realizing a large-scale expansion of a large-scale scanning space.

[0082] Figure 5 1 is a flow chart of a three-dimensional scanning method provided by an embodiment of the present disclosure. The three-dimensional scanning method can be performed by an electronic device. The electronic device can be exemplarily understood as a device such as a three-dimensional scanning system. Exemplarily, the three-dimensional scanning system can include a laser tracker, a target optical tracker, and a scanner. Figure 5 As shown, the method provided in this embodiment includes the following steps:

[0083] S510, measuring a first target ball group when a target optical tracker is in a plurality of different target positions to obtain a first coordinate set sequence, and measuring a second target ball group when the target optical tracker is in the plurality of different target positions to obtain a second coordinate set sequence by a laser tracker, wherein the position of the first target ball group remains unchanged, and the relative position of the second target ball group to the target optical tracker remains unchanged.

[0084] Specifically, for the understanding of S510, please refer to the above explanations about S110 and S120, which will not be repeated here.

[0085] S520, measuring the second target ball group by the laser tracker when the target optical tracker is in the pre-transfer position to obtain a third coordinate set, and scanning the scanned object by the scanner when the target optical tracker is in the pre-transfer position to obtain first scanning data.

[0086] Specifically, for the understanding of S520, please refer to the previous explanation of S340 and S370, which will not be repeated here.

[0087] S530, measuring the second target ball group by the laser tracker when the target optical tracker is in the post-transfer position to obtain a fourth coordinate set, and scanning the scanned object by the scanner when the target optical tracker is in the post-transfer position to obtain second scanning data.

[0088] Specifically, for the understanding of S520, please refer to the previous explanation of S350 and S380, which will not be repeated here.

[0089] The disclosed embodiments can use a high-precision laser tracker in conjunction with a target optical tracker to achieve station expansion, so that the target optical tracker can transfer stations without the aid of marker points and with high accuracy. In addition, since the laser tracker has a large measurement range, it can meet the needs of continuous multiple station expansions of the target optical tracker, thereby achieving large-scale three-dimensional scanning.

[0090] Figure 6 1 is a schematic diagram of the structure of a three-dimensional scanning data processing device provided by an embodiment of the present disclosure. The three-dimensional scanning data processing device can be understood as the above-mentioned electronic device or a part of the functional modules in the above-mentioned electronic device. Figure 6 As shown, the 3D scanning data processing device 600 includes:

[0091] A first acquisition module 610 is used to acquire a first coordinate set sequence obtained by measuring a first target ball group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target ball group remains unchanged;

[0092] A second acquisition module 620 is used to acquire a second coordinate set sequence obtained by the laser tracker measuring the second target ball group when the target optical tracker is at the multiple different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged;

[0093] The first determination module 630 is configured to determine a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0094] In another embodiment of the present disclosure, the first determination module 630 is specifically configured to determine, for two first coordinate sets corresponding to two adjacent target positions in the first coordinate set sequence, a first transformation matrix corresponding to the two adjacent target positions based on the two first coordinate sets;

[0095] For two second coordinate sets corresponding to two adjacent target positions in the second coordinate set sequence, determining a second transformation matrix corresponding to the two adjacent target positions based on the two second coordinate sets;

[0096] The target transformation matrix is ​​determined based on the first transformation matrix and the second transformation matrix.

[0097] In another embodiment of the present disclosure, the device further comprises:

[0098] A third acquisition module, used for acquiring a third coordinate set obtained by the laser tracker measuring the second target ball group when the target optical tracker is in a pre-transfer position;

[0099] A fourth acquisition module, used for acquiring a fourth coordinate set obtained by the laser tracker measuring the second target ball group when the target optical tracker is in a post-transfer position;

[0100] The second determination module is used to determine the third transformation matrix corresponding to the position before the transfer and the position after the transfer based on the third coordinate set, the fourth coordinate set and the target transformation matrix.

[0101] In yet another embodiment of the present disclosure, the second determination module is specifically configured to determine a fourth transformation matrix corresponding to the position before the transfer station and the position after the transfer station based on the third coordinate set and the fourth coordinate set;

[0102] Performing an inverse matrix transformation on the target transformation matrix to obtain a target inverse matrix;

[0103] The third transformation matrix is ​​determined based on the fourth transformation matrix, the target transformation matrix, and the target inverse matrix.

[0104] In another embodiment of the present disclosure, the device further comprises:

[0105] A fifth acquisition module, used for acquiring first scanning data obtained by the scanner when the target optical tracker is in the pre-transfer position on the scanned object;

[0106] A sixth acquisition module, used for acquiring second scanning data obtained by the scanner when the target optical tracker is in the post-transfer position.

[0107] A unification module is used to unify the first scanning data and the second scanning data into the same coordinate system based on the third transformation matrix.

[0108] In yet another embodiment of the present disclosure, the first target ball group is disposed on the ground, or on other optical trackers whose positions remain unchanged.

[0109] In yet another embodiment of the present disclosure, the second target ball group is disposed on top of the target optical tracker.

[0110] The device provided in this embodiment can execute the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0111] An embodiment of the present disclosure further provides an electronic device, which includes: a memory, in which a computer program is stored; and a processor, for executing the computer program. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented.

[0112] Figure 7 is a schematic diagram of the structure of a three-dimensional scanning device provided by an embodiment of the present disclosure. The three-dimensional scanning data processing device can be understood as the above-mentioned electronic device or a part of the functional modules in the above-mentioned electronic device. Figure 7 As shown, the three-dimensional scanning data processing device 700 includes:

[0113] The first measurement module 710 is used to measure the first target ball group by the target optical tracker when the target optical tracker is at a plurality of different target positions to obtain a first coordinate set sequence while keeping the laser tracker fixed, and to measure the second target ball group by the laser tracker when the target optical tracker is at a plurality of different target positions to obtain a second coordinate set sequence, wherein the position of the first target ball group remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged;

[0114] The first scanning module 720 is used to measure the second target ball group by a laser tracker when the target optical tracker is in the pre-transfer position to obtain a third coordinate set, and to scan the scanned object by a scanner when the target optical tracker is in the pre-transfer position to obtain first scanning data;

[0115] The second scanning module 730 is used to measure the second target ball group by a laser tracker when the target optical tracker is in the post-transfer position to obtain a fourth coordinate set, and to scan the scanned object by a scanner when the target optical tracker is in the post-transfer position to obtain second scanning data.

[0116] For example, Figure 8 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 8 , which shows a schematic diagram of the structure of an electronic device 800 suitable for implementing the embodiment of the present disclosure. The electronic device 800 in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0117] like Figure 8 As shown, the electronic device 800 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the electronic device 800 are also stored. The processing device 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0118] Typically, the following devices may be connected to the I / O interface 805: input devices 806 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 808 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 809. The communication device 809 may allow the electronic device 800 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 8 The electronic device 800 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0119] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 809, or installed from a storage device 808, or installed from a ROM 802. When the computer program is executed by the processing device 801, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0120] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0121] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0122] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0123] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains a first coordinate set sequence obtained by measuring a first target ball group when a target optical tracker is in a plurality of different target positions, wherein the position of the first target ball group remains unchanged; obtains a second coordinate set sequence obtained by measuring a second target ball group when a laser tracker is in the plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target ball group to the target optical tracker remains unchanged; and determines a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0124] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0125] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0127] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0128] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0129] The embodiments of the present disclosure further provide a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0130] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0131] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for processing three-dimensional scanning data, characterized in that: include: Acquire a first coordinate set sequence obtained by measuring a first target ball group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target ball group remains unchanged; Acquire a second coordinate set sequence obtained by measuring the second target sphere group by the laser tracker when the target optical tracker is at the multiple different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target sphere group and the target optical tracker remains unchanged; Based on the first coordinate set sequence and the second coordinate set sequence, a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker is determined.

2. The method according to claim 1, characterized in that The step of determining a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence comprises: For two first coordinate sets corresponding to two adjacent target positions in the first coordinate set sequence, determining a first transformation matrix corresponding to the two adjacent target positions based on the two first coordinate sets; For two second coordinate sets corresponding to two adjacent target positions in the second coordinate set sequence, determining a second transformation matrix corresponding to the two adjacent target positions based on the two second coordinate sets; The target transformation matrix is ​​determined based on the first transformation matrix and the second transformation matrix.

3. The method according to claim 1, characterized in that Also includes: Acquire a third coordinate set obtained by the laser tracker measuring the second target ball group when the target optical tracker is in the pre-transfer position; Acquire a fourth coordinate set obtained by measuring the second target ball group by the laser tracker when the target optical tracker is in the post-transfer position; Based on the third coordinate set, the fourth coordinate set and the target transformation matrix, a third transformation matrix corresponding to the position before the transfer and the position after the transfer is determined.

4. The method according to claim 3, characterized in that The determining, based on the third coordinate set, the fourth coordinate set and the target transformation matrix, a third transformation matrix corresponding to the position before the transfer station and the position after the transfer station comprises: Based on the third coordinate set and the fourth coordinate set, determining a fourth transformation matrix corresponding to the position before the transfer station and the position after the transfer station; Performing an inverse matrix transformation on the target transformation matrix to obtain a target inverse matrix; The third transformation matrix is ​​determined based on the fourth transformation matrix, the target transformation matrix, and the target inverse matrix.

5. The method according to claim 3, characterized in that: Also includes: Acquire first scanning data obtained by scanning the scanned object by the scanner when the target optical tracker is in the pre-transfer position; Acquire second scanning data obtained by the scanner when the target optical tracker is in the post-transfer position and scanning the scanned object; The first scan data and the second scan data are unified into the same coordinate system based on the third transformation matrix.

6. The method according to any one of claims 1 to 5, characterized in that: The first target ball group is arranged on the ground, or on other optical trackers whose positions remain unchanged; and / or; The second target ball group is arranged on the top of the target optical tracker.

7. A three-dimensional scanning method, characterized in that: The position of the laser tracker remains unchanged during the three-dimensional scanning process, wherein the method comprises: A first coordinate set sequence is obtained by measuring a first target ball group when a target optical tracker is in a plurality of different target positions, and a second coordinate set sequence is obtained by measuring a second target ball group when the target optical tracker is in the plurality of different target positions by a laser tracker, wherein the position of the first target ball group remains unchanged, and the relative position of the second target ball group to the target optical tracker remains unchanged; The laser tracker is used to measure the second target ball group when the target optical tracker is in the pre-transfer position to obtain a third coordinate set, and the scanner is used to scan the scanned object when the target optical tracker is in the pre-transfer position to obtain first scanning data; The laser tracker measures the second target ball group to obtain a fourth coordinate set when the target optical tracker is in the post-transfer position, and the scanner scans the scanned object to obtain second scanning data when the target optical tracker is in the post-transfer position.

8. A three-dimensional scanning data processing device, characterized in that: include: A first acquisition module is used to acquire a first coordinate set sequence obtained by measuring a first target ball group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target ball group remains unchanged; A second acquisition module is used to acquire a second coordinate set sequence obtained by the laser tracker measuring the second target ball group when the target optical tracker is at the multiple different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged; The first determination module is used to determine a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

9. A three-dimensional scanning device, characterized in that: include: a first measurement module, configured to measure a first target ball group by using a target optical tracker when the target optical tracker is at a plurality of different target positions to obtain a first coordinate set sequence while keeping the laser tracker stationary, and to measure a second target ball group by using a laser tracker when the target optical tracker is at the plurality of different target positions to obtain a second coordinate set sequence, wherein the position of the first target ball group remains unchanged, and the relative position of the second target ball group to the target optical tracker remains unchanged; A first scanning module, configured to measure the second target ball group by the laser tracker to obtain a third coordinate set when the target optical tracker is in a pre-transfer position, and to scan the scanned object by the scanner to obtain first scanning data when the target optical tracker is in a pre-transfer position; The second scanning module is used to measure the second target ball group by the laser tracker when the target optical tracker is in the post-transfer position to obtain a fourth coordinate set, and to scan the scanned object by the scanner when the target optical tracker is in the post-transfer position to obtain second scanning data.

10. An electronic device, characterized in that: include: A processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 6 or the method according to claim 7.

11. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 or the method according to claim 7 is implemented.

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