Control method and device for 3D system, electronic equipment and storage medium

Abstract

The application provides a control method and device for a 3D system, electronic equipment and a storage medium, the control method comprising: obtaining information of a photographed object and information of a plurality of obstacles; creating sets 3RList, 3SList and 3BList with initial states being empty; continuously performing the following processing: searching for a bounding box from the set 3BList that satisfies the condition that the bounding box does not intersect all bounding boxes Box1 in the set 3SList, and a ray from the bounding box to the center coordinate of the photographed object does not intersect all bounding boxes Box1 in the set 3SList, and putting all the found bounding boxes into the set 3RList and all the segmented sub-bounding boxes into the set 3BList; and until the set 3RList is empty. The control method avoids the obstacles, so that the photographed object can be clearly photographed.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and in particular to a control method, apparatus, electronic device, and storage medium for a 3D system. Background Technology

[0002] In design, cameras are frequently used to obtain a 3D model of an object. The process typically involves: Step 1: Preparing one or more cameras with high-quality lenses and sensors. These cameras can capture the detailed texture and shape of the object. A stable shooting platform is also needed to ensure the cameras remain fixed during shooting. Step 2: Before shooting, the cameras need to be calibrated. This process includes determining the camera's internal parameters (such as focal length and principal point) and external parameters (such as the camera's position and orientation). Calibration ensures that the subsequently captured images accurately reflect the true size and position of the object. Step 3: Placing the object in front of the camera and taking photos of it from multiple angles and distances. These photos should cover all surfaces of the object to allow for the reconstruction of its complete 3D shape. Step 4: Preprocessing the captured photos, including noise removal, brightness and contrast adjustment, and distortion correction. These steps improve image quality and provide more accurate data for subsequent 3D reconstruction. Step 5: Feature extraction and matching, 3D reconstruction, model optimization, and model export.

[0003] In step 3, in practice, it is necessary to first determine which locations on the shooting platform are suitable for installing cameras. It is understood that when cameras are installed in these locations, there should be no obstacles between the camera and the object being photographed. Therefore, if there are obstacles between the camera and the object being photographed, how to determine these locations becomes an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a control method, device, electronic device, and storage medium for a 3D system.

[0005] To achieve one of the aforementioned objectives, an embodiment of the present invention provides a control method for a 3D imaging system. The 3D imaging system includes a shooting platform and a camera. A tray is provided on the shooting platform for storing objects to be photographed. The camera can be located at any position in the space above the shooting platform and can photograph the objects located on the tray. The method includes the following steps: acquiring information about the objects to be photographed on the tray, and information about several obstacles; creating three sets (3RList, 3SList, and 3BList) initially empty; acquiring a bounding box (Box2) containing the objects to be photographed; acquiring a bounding box (Box1) containing each obstacle; and separating all objects that do not intersect with the bounding box (Box2). All bounding boxes Box1 are added to set 3SList; bounding boxes Box2 are added to set 3BList; the following processing continues: from set 3BList, find bounding boxes that satisfy the condition "the bounding box does not intersect with any of the bounding boxes Box1 in set 3SList, and the ray from the bounding box to the center coordinate of the object being photographed does not intersect with any of the bounding boxes Box1 in set 3SList", and put all the found bounding boxes into set 3RList. If set 3RList is not empty, stop the subsequent processing; otherwise, take out all bounding boxes from set 3BList and clear set 3BList. Then, divide each taken bounding box into several sub-bounding boxes and put all the sub-bounding boxes into set 3BList.

[0006] As a further improvement to one embodiment of the present invention, the method further includes the following step: displaying the bounding boxes in the set 3RList.

[0007] As a further improvement of one embodiment of the present invention, a driving device is provided on the shooting platform, which can drive the camera to move to any position on the shooting platform; the method further includes the following steps: selecting several bounding boxes from the set 3RList, and controlling the camera to move to the position of the selected several bounding boxes through the driving device.

[0008] As a further improvement of one embodiment of the present invention, the step of "obtaining a bounding box Box1 containing the obstacle for each obstacle" specifically includes: for each obstacle, the following processing is performed: the maximum value XMax and minimum value XMin of the three-dimensional coordinates coord1 of the obstacle's Num1 vertices are obtained, as well as the maximum value YMax and minimum value YMin of the coordinates on the Y axis and the maximum value ZMax and minimum value ZMin of the coordinates on the Z axis. The 8 vertices of the bounding box Box1 containing the obstacle are [(XMin,YMax,ZMax),(XMin,YMax,ZMin),(XMax,YMax,ZMax),(XMax,YMax,ZMin),(XMax,YMax,ZMin),(XMax,YMin,ZMin),(XMax,YMin,ZMin),(XMin,YMin,ZMin)].

[0009] As a further improvement of one embodiment of the present invention, the "acquiring of the bounding box Box2 containing the photographed object" specifically includes: acquiring the center coordinates (Xt, Yt, Zt) of the photographed object and a second preset threshold d, d>0; the 8 vertices of the bounding box Box2 containing the photographed object are [(Xt+d, Yt+d, Zt+d), (Xt+d, Yt+d, Zt-d), (Xt+d, Yt-d, Zt+d), (Xt+d, Yt-d, Zt-d), (Xt-d, Yt+d, Zt+d), (Xt-d, Yt+d, Zt+d), (Xt-d, Yt+d, Zt-d), (Xt-d, Yt-d, Zt+d), (Xt-d, Yt-d, Zt-d)].

[0010] As a further improvement to one embodiment of the present invention, the step of "dividing each extracted bounding box into several sub-bounding boxes" specifically includes: performing the following processing on each extracted bounding box: dividing the length, width, and height of the bounding box into Num equal parts, thereby dividing it into Num... 3 There are 3 bounding boxes, where Num is a natural number and Num≥2.

[0011] As a further improvement of one embodiment of the present invention, Num = 2.

[0012] This invention also provides a control device for a 3D imaging system. The 3D imaging system includes: a shooting platform and a camera. A tray is provided on the shooting platform for storing the object to be photographed. The camera can be located at any position in the space above the shooting platform and can photograph the object located on the tray. The device includes the following modules: an information module for acquiring information about the object to be photographed on the tray and information about several obstacles; an initialization module for creating three sets (3RList, 3SList, and 3BList) that are initially empty; acquiring a bounding box (Box2) containing the object to be photographed; acquiring a bounding box (Box1) containing each obstacle; and separating all bounding boxes (Box2) that do not intersect with the bounding box (Box2). All bounding boxes ox1 are added to set 3SList; bounding boxes Box2 are added to set 3BList; the processing module continuously performs the following processing: it searches for bounding boxes in set 3BList that satisfy the condition "the bounding box does not intersect with any of the bounding boxes Box1 in set 3SList, and the ray from the bounding box to the center coordinate of the object being photographed does not intersect with any of the bounding boxes Box1 in set 3SList", and puts all the found bounding boxes into set 3RList. If set 3RList is not empty, the subsequent processing stops; otherwise, all bounding boxes in set 3BList are taken out and set 3BList is cleared. Then, each taken out bounding box is divided into several sub-bounding boxes, and all the sub-bounding boxes are put into set 3BList.

[0013] This invention also provides an electronic device, including: a memory for storing executable instructions; and a processor for implementing the above-described control method for a 3D system when executing the executable instructions stored in the memory.

[0014] This invention also provides a storage medium storing executable instructions for inducing a processor to execute the aforementioned control method for a 3D system.

[0015] Compared to existing technologies, the technical advantages of this invention are as follows: This invention provides a control method, device, electronic device, and storage medium for a 3D imaging system. The control method includes: acquiring information about the object being photographed and information about several obstacles; creating sets 3RList, 3SList, and 3BList, initially empty; and continuously performing the following processing: searching for bounding boxes in set 3BList that satisfy the condition "the bounding box does not intersect with any bounding boxes Box1 in set 3SList, and the ray from the bounding box to the center coordinate of the object being photographed does not intersect with any bounding boxes Box1 in set 3SList," and adding all the found bounding boxes to set 3RList, and adding all the sub-bounding boxes obtained from the segmentation to set 3BList; until set 3RList is empty. This control method avoids obstacles, thereby clearly photographing the object being photographed. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the control method for a 3D system according to an embodiment of the present invention. Detailed Implementation

[0017] The following description and accompanying drawings fully illustrate specific embodiments described herein to enable those skilled in the art to practice them. Some embodiments may include or substitute parts and features of other embodiments. The scope of the embodiments herein encompasses the entire scope of the claims and all available equivalents thereof. Throughout this document, the terms “first,” “second,” etc., are used only to distinguish one element from another without requiring or implying any actual relationship or order between the elements. Indeed, a first element can also be referred to as a second element, and vice versa. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a structure, apparatus, or device. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the structure, apparatus, or device that includes said element. The various embodiments described herein are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments; similar or identical parts between embodiments can be referred to interchangeably.

[0018] The terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" used in this document to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this document and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. In the description herein, unless otherwise specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two elements, or direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0019] Embodiment 1 of the present invention provides a control method for a 3D imaging system. The 3D imaging system includes a shooting platform and a camera. A tray is provided on the shooting platform for storing the object to be photographed. The camera can be located at any position in the space above the shooting platform and can photograph the object located on the tray. Here, a support bracket for the camera can be provided on the shooting platform. The support bracket can support the camera and fix it at any position in the space above the shooting platform. Optionally, the support bracket can be controlled to move and fix the camera. A driving device can also be provided on the support bracket to move and fix the camera. In practice, the shooting platform can be a virtual platform, such as the ground.

[0020] like Figure 1 As shown, it includes the following steps:

[0021] Step 101: Obtain information about the object being photographed on the tray, as well as information about several obstacles; here, the information about the object being photographed and the information about the obstacles can include: the shape of the object being photographed, its center coordinates, etc. Here, the distance between the obstacles and the object being photographed can be less than a preset threshold.

[0022] Step 102: Create sets 3RList, 3SList, and 3BList, all initially empty; obtain the bounding box Box2 containing the object being photographed; for each obstacle, obtain the bounding box Box1 containing the obstacle; add all bounding boxes Box1 that do not intersect with the bounding box Box2 to set 3SList; add the bounding box Box2 to set 3BList.

[0023] Step 103: Continue to perform the following processing: Find bounding boxes in set 3BList that satisfy the condition "the bounding box does not intersect with any of the bounding boxes Box1 in set 3SList, and the ray from the bounding box to the center coordinate of the object being photographed does not intersect with any of the bounding boxes Box1 in set 3SList", and put all the found bounding boxes into set 3RList. If set 3RList is not empty, stop the subsequent processing; otherwise, take out all bounding boxes from set 3BList and clear set 3BList. Then, divide each taken bounding box into several sub-bounding boxes and put all the sub-bounding boxes into set 3BList.

[0024] Here, for an obstacle, its corresponding bounding box is a box that surrounds the obstacle, which can be a cuboid, a cylinder, or a sphere, etc.

[0025] In each processing step, first iterate through all bounding boxes in the 3BList collection to obtain the bounding box Box3 that satisfies the condition that "the bounding box does not intersect with any of the bounding boxes Box1". Then, from all the bounding boxes Box3, select the bounding box Box4 that satisfies the condition that "the ray from the bounding box to the center coordinate of the object being photographed does not intersect with any of the bounding boxes Box1". If a bounding box Box4 exists, no further processing is required.

[0026] It is understandable that if the camera is placed in the bounding box of the 3RList and facing the object being photographed, there are no obstacles between the object being photographed and the camera.

[0027] This embodiment also includes the following step: displaying the bounding boxes in the 3RList. Here, a display screen or speaker can be used to display the bounding boxes in the 3RList, especially the location information of the bounding boxes. In practice, some or all of the bounding boxes can be displayed.

[0028] In this embodiment, a driving device is provided on the shooting platform, which can drive the camera to move to any position on the shooting platform;

[0029] It also includes the following steps: selecting several bounding boxes from the set 3RList, and controlling the camera to move to the position of the selected bounding boxes through the driving device.

[0030] In this embodiment, the step of "obtaining a bounding box Box1 containing each obstacle" specifically includes the following processing for each obstacle: obtaining the maximum and minimum values ​​of the three-dimensional coordinates (coord1) of the obstacle's Num1 vertices along the X-axis (XMax and XMin), Y-axis (YMax and YMin), and Z-axis (ZMax and ZMin). The eight vertices of the bounding box Box1 containing the obstacle are [(XMin,YMax,ZMax),(XMin,YMax,ZMin),(XMax,YMax,ZMax),(XMax,YMax,ZMin),(XMax,YMax,ZMin),(XMax,YMin,ZMin),(XMax,YMin,ZMax),(XMin,YMin,ZMin),(XMin,YMin,ZMin)]. Here, the bounding box is a cuboid region that surrounds the obstacle.

[0031] In this embodiment, "obtaining the bounding box Box2 containing the photographed object" specifically includes: obtaining the center coordinates (Xt, Yt, Zt) of the photographed object and a second preset threshold d, where d > 0; the eight vertices of the bounding box Box2 containing the photographed object are [(Xt+d, Yt+d, Zt+d), (Xt+d, Yt+d, Zt-d), (Xt+d, Yt-d, Zt+d), (Xt+d, Yt-d, Zt-d), (Xt-d, Yt+d, Zt+d), (Xt-d, Yt+d, Zt+d), (Xt-d, Yt-d, Zt-d), (Xt-d, Yt-d, Zt+d), (Xt-d, Yt-d, Zt-d)]. Here, there is generally an optimal distance of 2*d between the photographed object and the camera. That is, when the distance between the photographed object and the camera is < 2*d, the camera can capture a relatively clear image, thereby generating a relatively detailed 3D model of the photographed object.

[0032] In this embodiment, the step of "dividing each extracted bounding box into several sub-bounding boxes" specifically includes: performing the following processing on each extracted bounding box: dividing the length, width, and height of the bounding box into Num equal parts, thereby dividing it into Num... 3 There are 3 bounding boxes, where Num is a natural number and Num≥2.

[0033] In this embodiment, Num = 2.

[0034] Embodiment 2 of the present invention provides a control device for a 3D imaging system. The 3D imaging system includes: a shooting platform and a camera. A tray is provided on the shooting platform for storing the object to be photographed. The camera can be located at any position in the space above the shooting platform and can photograph the object located on the tray. It includes the following modules:

[0035] An information module is used to acquire information about the object being photographed located on the tray, as well as information about several obstacles;

[0036] An initialization module is used to create three sets, 3RList, 3SList, and 3BList, all initially empty; obtain the bounding box Box2 containing the object being photographed; for each obstacle, obtain the bounding box Box1 containing the obstacle; add all bounding boxes Box1 that do not intersect with the bounding box Box2 to the set 3SList; and add the bounding box Box2 to the set 3BList.

[0037] The processing module continuously performs the following processing: It searches the set 3BList for bounding boxes that satisfy the condition "the bounding box does not intersect with any of the bounding boxes Box1 in the set 3SList, and the ray from the bounding box to the center coordinate of the object being photographed does not intersect with any of the bounding boxes Box1 in the set 3SList", and adds all the found bounding boxes to the set 3RList. If the set 3RList is not empty, it stops the subsequent processing; otherwise, it removes all bounding boxes from the set 3BList and clears the set 3BList. Then, it divides each removed bounding box into several sub-bounding boxes and adds all the sub-bounding boxes to the set 3BList.

[0038] Embodiment 3 of the present invention provides an electronic device, including: a memory for storing executable instructions; and a processor for implementing the control method for a 3D system in Embodiment 1 when executing the executable instructions stored in the memory.

[0039] Embodiment 4 of the present invention provides a storage medium storing executable instructions, which, when executed by a processor, implement the control method for a 3D system described in Embodiment 1.

[0040] It should be noted that although the steps are described in a specific order above, it does not mean that the steps must be executed in the above specific order. In fact, some of these steps can be executed concurrently, or even in a different order, as long as the required function can be achieved.

[0041] This invention can be a system, method, and / or computer program product. A computer program product may include a readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0042] A readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. Readable storage media can include, for example, but not limited to, electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof.

[0043] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A control method for a 3Dization system, the 3Dization system comprising: A shooting platform and a camera, a tray is arranged on the shooting platform, the tray is used for storing a photographed object, the camera can be located at any position of the upper space of the shooting platform and can shoot the photographed object located on the tray; characterized in that, comprising the following steps: Obtaining information of the photographed object located on the tray and information of a plurality of obstacles; Creating an empty set 3RList, an empty set 3SList and an empty set 3BList; obtaining a bounding box Box2 containing the photographed object; obtaining a bounding box Box1 containing each obstacle; adding all the bounding boxes Box1 that are not intersected with the bounding box Box2 to the set 3SList; adding the bounding box Box2 to the set 3BList; Continuously performing the following processing: finding a bounding box from the set 3BList that satisfies the condition "the bounding box is not intersected with all the bounding boxes Box1 in the set 3SList, and a ray from the bounding box to the center coordinate of the photographed object is not intersected with all the bounding boxes Box1 in the set 3SList", and putting all the found bounding boxes into the set 3RList, if the set 3RList is not empty, stopping the subsequent processing, otherwise taking out all the bounding boxes in the set 3BList and emptying the set 3BList, and then dividing each taken out bounding box into a plurality of sub-bounding boxes and putting all the divided sub-bounding boxes into the set 3BList.

2. The control method according to claim 1, characterized by, Further comprising the following steps: Displaying the bounding boxes in the set 3RList.

3. The control method according to claim 1, characterized in that, A driving device is arranged on the shooting platform, the driving device can drive the camera to move to any position on the shooting platform; Further comprising the following steps: selecting a plurality of bounding boxes from the set 3RList and controlling the camera to move to the positions of the selected plurality of bounding boxes by the driving device.

4. The control method according to claim 1, characterized by, The "obtaining a bounding box Box1 containing each obstacle" specifically comprises: For each obstacle, the following processing is performed: obtaining the maximum value XMax and the minimum value XMin of the coordinate value on the X-axis, the maximum value YMax and the minimum value YMin of the coordinate value on the Y-axis, and the maximum value ZMax and the minimum value ZMin of the coordinate value on the Z-axis of the three-dimensional coordinates coord1 of Num1 vertices of the obstacle, and the eight vertices of the bounding box Box1 containing the obstacle are [(XMin, YMax, ZMax), (XMin, YMax, ZMin), (XMax, YMax, ZMax), (XMax, YMax, ZMin), (XMax, YMin, ZMin), (XMax, YMin, ZMax), (XMin, YMin, ZMin), (XMin, YMin, ZMax)].

5. The control method according to claim 1, characterized by, The "obtaining a bounding box Box2 containing the photographed object" specifically comprises: obtaining the center coordinates (Xt, Yt, Zt) of the photographed object and a second preset threshold d, d>0; 8 vertices of the bounding box Box2 containing the photographed object are [(Xt+d, Yt+d, Zt+d), (Xt+d, Yt+d, Zt-d), (Xt+d, Yt-d, Zt+d), (Xt+d, Yt-d, Zt-d), (Xt-d, Yt+d, Zt+d), (Xt-d, Yt+d, Zt-d), (Xt-d, Yt-d, Zt+d), (Xt-d, Yt-d, Zt-d)].

6. The control method according to claim 1, characterized by The "dividing each obtained bounding box into a plurality of sub-bounding boxes" specifically comprises: Each of the extracted bounding boxes is processed as follows: the length, width and height of the bounding box are each divided by Num, and the bounding box is divided into Num 3 sub-bounding boxes, where Num is a natural number, Num≥2.

7. The control method according to claim 6, characterized in that, Num=2.

8. A control device for a 3Dization system, the 3Dization system comprising: A shooting platform and a camera, the shooting platform is provided with a tray for storing the photographed object, and the camera can be located at any position of the upper space of the shooting platform and can shoot the photographed object located on the tray; characterized by comprising the following modules: An information module for obtaining information of the photographed object located on the tray and information of a plurality of obstacles; An initialization module for creating an empty set 3RList, an empty set 3SList, and an empty set 3BList; obtaining a bounding box Box2 containing the photographed object; for each obstacle, obtaining a bounding box Box1 containing the obstacle; adding all bounding boxes Box1 that do not intersect with the bounding box Box2 to the set 3SList; adding the bounding box Box2 to the set 3BList; A processing module for continuously performing the following processing: finding a bounding box from the set 3BList that satisfies the condition "the bounding box does not intersect with all bounding boxes Box1 in the set 3SList, and a ray from the bounding box to the center coordinates of the photographed object does not intersect with all bounding boxes Box1 in the set 3SList", and putting all found bounding boxes into the set 3RList; if the set 3RList is not empty, stopping the subsequent processing, otherwise taking out all bounding boxes in the set 3BList and emptying the set 3BList, and then dividing each obtained bounding box into a plurality of sub-bounding boxes and putting all sub-bounding boxes obtained by division into the set 3BList.

9. An electronic device, comprising: Comprise: a memory for storing executable instructions; a processor for executing the executable instructions stored in the memory to implement the control method for a 3D system according to any one of claims 1 to 7.

10. A storage medium, characterized by executable instructions stored in the memory for causing the processor to execute to implement the control method for a 3D system according to any one of claims 1 to 7.

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