Object coordinate and data acquisition method and device, storage medium and electronic equipment

Abstract

The invention provides an object coordinate and data acquisition method and device, a storage medium and electronic equipment, and relates to the field of data processing. The method comprises the following steps: acquiring a to-be-acquired depth of an object model relative to a calibration plane; a laser emitter is controlled to emit laser towards the calibration plane, an emission point of the laser emitter is located on a model plane where the object model is located, and the model plane is parallel to the calibration plane; acquiring a first coordinate offset between a target key point coordinate of the object model on the model plane and a transmitting point coordinate of the laser transmitter, and acquiring a two-dimensional coordinate of a projection point of laser on the calibration plane as a calibration two-dimensional coordinate; offsetting the calibrated two-dimensional coordinate according to the first coordinate offset to obtain a target key point two-dimensional coordinate corresponding to a target key point of the object model; and combining the two-dimensional coordinate of the target key point with the depth to be collected to obtain a three-dimensional coordinate of the target key point corresponding to the target key point of the object model. According to the invention, accurate acquisition of the three-dimensional coordinates of the object is realized.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to a method and device for collecting object coordinates and data, a storage medium, and an electronic device. Background Art

[0002] Data collection is of great significance to data processing. For example, by collecting the spatial three-dimensional coordinates of key points in the object model, verification data can be provided for the key point spatial distance measurement model of the object to verify the accuracy of the distance measurement of the key point spatial distance measurement model of the object in the three dimensions of x, y, and z. The collected spatial three-dimensional coordinates can also be used as training data to train the spatial distance measurement model to complete or improve the corresponding business scenarios. However, for some objects that are difficult to fix, the spatial three-dimensional coordinates of the key points of the object cannot be measured, so the spatial three-dimensional coordinates of the key points of the object cannot be accurately collected.

[0003] Therefore, in order to solve the above problems, the embodiments of the present disclosure provide a method and device for collecting object coordinates and data, a storage medium and an electronic device. Summary of the invention

[0004] The purpose of the present disclosure is to provide an object coordinate and data acquisition method and device, a storage medium and an electronic device, thereby solving to a certain extent the problems existing in the related technology that for some objects that are difficult to fix, the spatial three-dimensional coordinates of the key points of the object cannot be measured, and therefore the spatial three-dimensional coordinates of the key points of the object cannot be accurately acquired.

[0005] According to a first aspect of the present disclosure, there is provided an object coordinate acquisition method, comprising: acquiring a depth to be acquired of an object model relative to a calibration plane; controlling a laser emitter to emit a laser toward the calibration plane, wherein an emission point of the laser emitter is located on a model plane where the object model is located, and the model plane is parallel to the calibration plane; acquiring a first coordinate offset between the coordinates of a target key point of the object model on the model plane and the coordinates of the emission point of the laser emitter, and acquiring two-dimensional coordinates of a projection point of the laser on the calibration plane as calibration two-dimensional coordinates; offsetting the calibration two-dimensional coordinates according to the first coordinate offset to obtain two-dimensional coordinates of a target key point corresponding to the target key point of the object model; combining the two-dimensional coordinates of the target key point with the depth to be acquired to obtain three-dimensional coordinates of the target key point corresponding to the target key point of the object model.

[0006] In an exemplary embodiment of the present disclosure, the key points of the object model include the target key point and at least one other key point; the method also includes: offsetting the calibration plane according to the first coordinate offset to obtain a measurement plane; obtaining a second coordinate offset between the target key point and the other key points on the model plane, each of the other key points corresponding to one second coordinate offset; offsetting the three-dimensional coordinates of the target key point according to the second coordinate offset to obtain the corresponding three-dimensional coordinates of the other key points.

[0007] According to a second aspect of the present disclosure, there is provided an object data acquisition method, comprising: controlling a binocular camera to acquire an image of the object model; acquiring three-dimensional coordinates of key points of the object model according to the above-mentioned object coordinate acquisition method, wherein the calibration plane is located on the imaging plane of the binocular camera; and storing the acquired image and the three-dimensional coordinates of the key points as a set of object data.

[0008] In an exemplary embodiment of the present disclosure, before controlling the binocular camera to capture the image of the object model, it also includes: controlling the object model to move in a direction perpendicular to the calibration plane until the vertical distance between the model plane where the object model is located and the calibration plane is the target distance, and using the target distance as the depth to be captured.

[0009] In an exemplary embodiment of the present disclosure, before controlling the binocular camera to collect the image of the object model, the method further includes: controlling the object model to move on the model plane until the object model moves to a target position.

[0010] In an exemplary embodiment of the present disclosure, before controlling the binocular camera to capture the image of the object model, it also includes: adjusting the baseline length of the binocular camera to a target length, and / or adjusting the angle between the optical axis of the binocular camera and the horizontal plane to a target angle.

[0011] According to a third aspect of the present disclosure, there is provided an object coordinate acquisition device, comprising: a depth acquisition module, for acquiring a depth to be acquired of an object model relative to a calibration plane; a laser emission module, for controlling a laser emitter to emit a laser toward the calibration plane, wherein an emission point of the laser emitter is located on a model plane where the object model is located, and the model plane is parallel to the calibration plane; a coordinate acquisition unit, for acquiring a first coordinate offset between the coordinates of a target key point of the object model on the model plane and the coordinates of an emission point of the laser emitter, and acquiring two-dimensional coordinates of a projection point of the laser on the calibration plane as calibration two-dimensional coordinates; a two-dimensional coordinate determination unit, for offsetting the calibration two-dimensional coordinates according to the first coordinate offset to obtain two-dimensional coordinates of a target key point corresponding to the target key point of the object model; and a three-dimensional coordinate determination unit, for combining the two-dimensional coordinates of the target key point with the depth to be acquired to obtain three-dimensional coordinates of the target key point corresponding to the target key point of the object model.

[0012] According to a fourth aspect of the present disclosure, an object data acquisition device is provided, comprising: an image acquisition module, used to control a binocular camera to acquire an acquired image of the object model; the above-mentioned object coordinate acquisition device, used to obtain the three-dimensional coordinates of the key points of the object model according to the above-mentioned object coordinate acquisition method, wherein the calibration plane is located on the imaging plane of the binocular camera; and a data storage module, storing the acquired image and the three-dimensional coordinates of the key points as a set of object data.

[0013] According to a fifth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute any one of the above-mentioned methods by executing the executable instructions.

[0014] According to a sixth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, any one of the methods described above is implemented.

[0015] The exemplary embodiments of the present disclosure may have some or all of the following beneficial effects:

[0016] In the object coordinate acquisition method provided in the example implementation mode of the present disclosure, the depth to be acquired of the object model relative to the calibration plane is acquired; the laser emitter is controlled to emit laser toward the calibration plane, the emission point of the laser emitter is located on the model plane where the object model is located, and the model plane is parallel to the calibration plane; the first coordinate offset between the coordinates of the target key point of the object model on the model plane and the emission point coordinates of the laser emitter is acquired, and the two-dimensional coordinates of the projection point of the laser on the calibration plane are acquired as the calibration two-dimensional coordinates; the calibration two-dimensional coordinates are offset according to the first coordinate offset to obtain the two-dimensional coordinates of the target key point corresponding to the target key point of the object model; the two-dimensional coordinates of the target key point are combined with the depth to be acquired to obtain the three-dimensional coordinates of the target key point corresponding to the target key point of the object model. The object coordinate acquisition method provided in the embodiment of the present disclosure offsets the calibrated two-dimensional coordinates according to the first coordinate offset between the target key point coordinates of the object model on the model plane and the emission point coordinates of the laser emitter to obtain the two-dimensional coordinates of the target key points corresponding to the target key points of the object model, and uses the depth to be acquired as the third dimension to obtain the three-dimensional coordinates of the target key points of the object model, which solves the problem of difficulty in acquiring the three-dimensional coordinates of the object due to the difficulty in fixing the object in actual scenes, and realizes the accurate measurement of the coordinates of the key points of the object.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0019] Figure 1 The following is a schematic diagram showing a flow chart of a method for acquiring object coordinates according to an embodiment of the present disclosure;

[0020] Figure 2 A schematic diagram of an object coordinate acquisition device according to an embodiment of the present disclosure is schematically shown;

[0021] Figure 3 A deviation reference diagram of an object coordinate acquisition method according to an embodiment of the present disclosure is schematically shown;

[0022] Figure 4 A schematic diagram of a process of determining three-dimensional coordinates of other key points in a method for acquiring object coordinates according to an embodiment of the present disclosure is schematically shown;

[0023] Figure 5 The following is a schematic diagram showing a flow chart of a method for collecting object data according to an embodiment of the present disclosure;

[0024] Figure 6 A block diagram of an object coordinate acquisition device according to an embodiment of the present disclosure is schematically shown;

[0025] Figure 7 A block diagram of an object data collection device according to an embodiment of the present disclosure is schematically shown;

[0026] Figure 8 A schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0027] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0028] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0029] Data collection is of great significance to data processing. For example, by collecting the spatial three-dimensional coordinates of key points in the object model, verification data can be provided for the key point spatial distance measurement model of the object to verify the accuracy of the distance measurement of the key point spatial distance measurement model of the object in the three dimensions of x, y, and z. The collected spatial three-dimensional coordinates can also be used as training data to train the spatial distance measurement model to complete or improve the corresponding business scenarios. However, for some objects that are difficult to fix, the spatial three-dimensional coordinates of the key points of the object cannot be measured, so the spatial three-dimensional coordinates of the key points of the object cannot be accurately collected.

[0030] In order to solve the problems existing in the above methods, this exemplary embodiment proposes an object coordinate acquisition method, an object coordinate acquisition device, an object data acquisition method, an object data acquisition device, an electronic device, and a computer-readable storage medium. The technical solution of the embodiment of the present disclosure is described in detail below:

[0031] This exemplary embodiment first provides a method for collecting object coordinates. Figure 1 As shown, the object coordinate acquisition method specifically includes the following steps:

[0032] Step S110: obtaining the depth of the object model to be collected relative to the calibration plane;

[0033] Step S120: Control the laser emitter to emit laser toward the calibration plane, the emission point of the laser emitter is located on the model plane where the object model is located, and the model plane is parallel to the calibration plane;

[0034] Step S130: obtaining a first coordinate offset between the coordinates of a target key point of the object model on the model plane and the coordinates of the emission point of the laser emitter, and obtaining the two-dimensional coordinates of the projection point of the laser on the calibration plane as the calibration two-dimensional coordinates;

[0035] Step S140: offset the calibration two-dimensional coordinates according to the first coordinate offset to obtain the two-dimensional coordinates of the target key point corresponding to the target key point of the object model;

[0036] Step S150: combining the two-dimensional coordinates of the target key points with the depth to be collected to obtain the three-dimensional coordinates of the target key points corresponding to the target key points of the object model.

[0037] The object coordinate acquisition method provided in the embodiment of the present disclosure offsets the calibrated two-dimensional coordinates according to the first coordinate offset between the target key point coordinates of the object model on the model plane and the emission point coordinates of the laser emitter to obtain the two-dimensional coordinates of the target key points corresponding to the target key points of the object model, and uses the depth to be acquired as the third dimension to obtain the three-dimensional coordinates of the target key points of the object model, which solves the problem of difficulty in acquiring the three-dimensional coordinates of the object due to the difficulty in fixing the object in actual scenes, and realizes the accurate measurement of the coordinates of the key points of the object.

[0038] Next, in another embodiment, the above steps are described in more detail.

[0039] In step S110 , the depth to be collected of the object model relative to the calibration plane is obtained.

[0040] In the embodiment of the present disclosure, the above-mentioned object model is a model of any object whose three-dimensional spatial coordinates need to be collected. Exemplarily, the object model can be a human body model, such as a human hand model. The embodiment of the present disclosure can obtain the three-dimensional spatial coordinates of each point of the human hand model.

[0041] For example, the object coordinate acquisition method provided by the embodiment of the present disclosure can be performed as follows: Figure 2 The object coordinate acquisition device shown collects the spatial coordinates of each point of the above object model, such as Figure 2 As shown, the object coordinate acquisition device includes a binocular camera 201, a laser emitter 202, an object model 203 (human hand model), and a calibration plane 204. The calibration plane 204 is parallel to the model plane where the object model is located. The emission point of the laser emitter is located on the model plane where the object model is located. The human hand model and the laser emitter are fixed on the same horizontal plane by two slide rails 205 and 206 and a highly retractable bracket 207 disposed at the bottom and located on the same horizontal plane. A third slide rail 208 is installed on the horizontal plane where the human hand model and the laser emitter are located, so that the highly retractable bracket 207 can move along the two slide rails 205 and 206 at the bottom, and the human hand model 203 and the laser emitter 202 can move along the third slide rail 208. The depth to be collected is the vertical distance between the model plane where the object model is located and the calibration plane. By sliding the highly retractable bracket 207, the spatial coordinates of each point of the object model can be collected at different depths to be collected.

[0042] In step S120, the laser emitter is controlled to emit laser toward the calibration plane, and the emission point of the laser emitter is located on the model plane where the object model is located, and the model plane is parallel to the calibration plane.

[0043] In step S110, the depth of the object model to be collected relative to the calibration plane is obtained, for example, Figure 2 After the object model and the laser emitter are moved to the depth to be collected by moving the highly retractable bracket 207 and the value of the depth to be collected is obtained, the laser emitter is controlled to emit laser toward the calibration plane.

[0044] In step S130, a first coordinate offset between the target key point coordinates of the object model on the model plane and the emission point coordinates of the laser emitter is obtained, and the two-dimensional coordinates of the projection point of the laser on the calibration plane are obtained as calibration two-dimensional coordinates.

[0045] The target key point is any point selected on the object model, and the object coordinate acquisition method provided in the embodiment of the present disclosure is used to acquire the three-dimensional coordinates of the target key point. The emission point is the point where the laser emitter emits the laser, that is, the optical center of the laser emitter, and the first coordinate offset is the coordinate offset value of the target key point and the laser emission point in the model plane.

[0046] With the above Figure 2 Taking the object coordinate acquisition device shown in FIG. 1 as an example, the metacarpophalangeal joint 9 at the bottom of the middle finger is selected as the above-mentioned target key point in the hand model. Figure 3 is the deviation reference diagram, such as Figure 3 As shown, the measured coordinate offset between the target key point coordinate and the laser emitter emission point coordinate is (Δx, Δy), that is, the above-mentioned first coordinate offset is (Δx, Δy).

[0047] The above-mentioned projection point is the light spot emitted by the laser transmitter that hits the calibration plane. The two-dimensional coordinates of the projection point can be obtained by reading the coordinates in the calibration plane, and the two-dimensional coordinates of the projection point are used as the calibration two-dimensional coordinates.

[0048] In step S140, the calibration two-dimensional coordinates are offset according to the first coordinate offset to obtain the two-dimensional coordinates of the target key points corresponding to the target key points of the object model.

[0049] In the embodiment of the present disclosure, after the first coordinate offset of the target key point coordinates and the emission point coordinates in the model plane and the calibrated two-dimensional coordinates of the projection point corresponding to the emission point in the calibration plane are known, the two-dimensional coordinates of the target key point in the calibration plane can be determined by the first coordinate offset and the calibrated two-dimensional coordinates.

[0050] For example, the calibration two-dimensional coordinates may be offset according to the first coordinate offset to obtain the two-dimensional coordinates of the target key points corresponding to the target key points of the object model. Figure 2Taking the object coordinate acquisition device shown as an example, the first coordinate offset (Δx, Δy) is obtained through steps S110 to S130. Assuming that the calibrated two-dimensional coordinates of the laser projection point on the calibration plane are (x, y), the two-dimensional coordinates of the target key point corresponding to the above-mentioned target key point are (x+Δx, y+Δy).

[0051] In step S150, the two-dimensional coordinates of the target key points are combined with the depth to be collected to obtain the three-dimensional coordinates of the target key points corresponding to the target key points of the object model.

[0052] In the embodiment of the present disclosure, after obtaining the two-dimensional coordinates of the target key point, the depth to be collected is used as the coordinate of the third dimension of the target key point, and the three-dimensional coordinates of the target key point are obtained by combining.

[0053] Preferably, in another embodiment of the present disclosure, after the three-dimensional coordinates of the above-mentioned target key point are collected, the three-dimensional coordinates of other key points can be determined based on the three-dimensional coordinates of the target key point and the positional relationship between the target key point and other key points.

[0054] The process of determining the three-dimensional coordinates of other key points, such as Figure 4 As shown, the specific steps include:

[0055] In step S410, the calibration plane is offset according to the first coordinate offset to obtain a measurement plane.

[0056] In the embodiment of the present disclosure, the above process can be implemented as follows: taking the origin of the calibration plane as the reference point, translating the measurement plane by the first coordinate offset (Δx, Δy) to obtain the position of the measurement plane, wherein the calibration plane can be a rectangular plate of a specified size made as needed, and a grid block of a specified size can also be drawn in the rectangular plate.

[0057] In step S420, the second coordinate offset between the target key point and other key points on the model plane is obtained, and each other key point corresponds to a second coordinate offset.

[0058] In the embodiment of the present disclosure, the above Figure 2 Taking the scene shown as an example, the metacarpophalangeal joint at the bottom of the middle finger is selected as the target key point in the hand model, and the other joint points of the fingers are used as the other key points, and the second coordinate offsets (Δxi, Δyi) of each key point and the target key point are determined.

[0059] In step S430, the three-dimensional coordinates of the target key point are offset according to the second coordinate offset to obtain the corresponding three-dimensional coordinates of other key points.

[0060] In this step, the three-dimensional coordinates of the target key point are offset according to the second coordinate offset to obtain the corresponding three-dimensional coordinates of other key points. Figure 2 Taking the scene shown as an example, assuming that the collected coordinates of the target key point are (x, y, z), the above-mentioned second coordinate offsets (Δxi, Δyi) can be obtained by offsetting the coordinates of the target key point to obtain the three-dimensional coordinates of each other key point i as (x+Δxi, y+Δyi, z).

[0061] Furthermore, the present disclosure also provides an object data collection method, such as Figure 5 As shown, the object data collection specifically includes the following steps:

[0062] Step S510: controlling the binocular camera to collect images of the object model;

[0063] Step S520: acquiring the three-dimensional coordinates of the key points of the object model according to the above-mentioned object coordinate acquisition method, wherein the calibration plane is located on the imaging plane of the binocular camera;

[0064] Step S530: storing the captured image and the three-dimensional coordinates of the key points as a set of object data.

[0065] In the object data acquisition method provided in the embodiment of the present disclosure, the binocular camera is controlled to acquire an image of the object model, and the three-dimensional coordinates of the object model are acquired through the object coordinate acquisition method provided in the above steps S110 to S150. The acquired image and the corresponding three-dimensional coordinates are stored as a set of object data, and the acquired object data can be used to train and verify the spatial ranging model.

[0066] In step S510, the binocular camera is controlled to collect an image of the object model.

[0067] The above binocular camera is used to collect images of object models. Figure 2 As an example of the object coordinate acquisition device shown in the figure, the binocular camera can be deployed in Figure 2 Before controlling the binocular camera to collect the image of the object model, in order to collect the three-dimensional coordinates of the object model at the specified depth to be collected, the object model can be controlled to move in a direction perpendicular to the calibration plane until the vertical distance between the model plane where the object model is located and the calibration plane is the target distance, which is the depth to be collected. Specifically, Figure 2 In the scene shown, the object model can be placed at the depth to be collected by controlling the highly retractable bracket 207 to move along the two bottom slide rails 205 and 206 .

[0068] In addition, before controlling the binocular camera to collect the image of the object model, the embodiment of the present disclosure can also control the object model to move on the model plane until the object model moves to the target position. Figure 2 In the scene shown, the object model can be controlled to move along the third slide rail 209 to the target position to determine the three-dimensional coordinates of the object model at the position.

[0069] In step S520, the three-dimensional coordinates of the key points of the object model are obtained according to the above-mentioned object coordinate acquisition method, wherein the calibration plane is located on the imaging plane of the binocular camera.

[0070] In this step, the embodiment of the present disclosure collects the three-dimensional coordinates of each key point in the object model through the above-mentioned object coordinate collection method. This process has been described in detail in the corresponding position of the above-mentioned object coordinate collection method, so it will not be repeated here.

[0071] In step S530, the captured image and the three-dimensional coordinates of the key points are stored as a set of object data.

[0072] Preferably, before controlling the binocular camera to capture the image of the object model, the embodiment of the present disclosure can also adjust the baseline length of the binocular camera to the target length, and / or adjust the angle between the optical axis of the binocular camera and the horizontal plane to the target angle, so as to determine the capture image and three-dimensional coordinates of key points of the above-mentioned object model under different baseline and optical axis inclination angles.

[0073] by Figure 2 Taking the specific scene shown as an example, the embodiment of the present disclosure uses a tripod and a pan / tilt to fix the binocular camera, which can ensure that the binocular camera can collect image data at different baselines and inclinations; uses a slide rail and a lifting platform to ensure accuracy during movement; the laser emitter and the object model are fixed on the same mobile platform, and the relative offset of the optical center of the laser emitter relative to the key point of the object model on the plane of the mobile platform can be calculated, so that the calculated offset can be used to obtain the coordinates of the key point of the object model in the measurement plane according to the coordinates of the laser in the calibration plane, and then determine the spatial coordinates of the key point of the object model, which solves the problem of difficulty in measuring and collecting coordinates due to the difficulty in fixing the object in the actual scene, and realizes the accurate measurement of the coordinates of the key point of the object. In addition, the embodiment of the present disclosure can also provide verification data for the spatial ranging model of the key point of the object, verify the accuracy of the model in ranging in the three dimensions of x, y, and z, and provide a training data set for the model.

[0074] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0075] Correspondingly, in this exemplary embodiment, a device for collecting object coordinates is also provided, referring to Figure 6 As shown, the object coordinate acquisition device 600 may include a depth acquisition module 610, a laser emission module 620, a coordinate acquisition unit 630, a two-dimensional coordinate determination unit 640 and a three-dimensional coordinate determination unit 650, wherein:

[0076] The depth acquisition module 610 may be used to acquire the depth of the object model to be collected relative to the calibration plane;

[0077] The laser emitting module 620 may be used to control a laser emitter to emit a laser toward a calibration plane, wherein an emission point of the laser emitter is located on a model plane where an object model is located, and the model plane is parallel to the calibration plane;

[0078] The coordinate acquisition unit 630 may be used to acquire a first coordinate offset between the coordinates of a target key point of the object model on the model plane and the coordinates of an emission point of the laser emitter, and to acquire the two-dimensional coordinates of the projection point of the laser on the calibration plane as calibration two-dimensional coordinates;

[0079] The two-dimensional coordinate determining unit 640 may be used to offset the calibration two-dimensional coordinate according to the first coordinate offset to obtain the two-dimensional coordinate of the target key point corresponding to the target key point of the object model;

[0080] The three-dimensional coordinate determination unit is used to combine the two-dimensional coordinates of the target key point with the depth to be collected to obtain the three-dimensional coordinates of the target key point corresponding to the target key point of the object model.

[0081] In an exemplary embodiment of the present disclosure, the key points of the above-mentioned object model include a target key point and at least one other key point; the above-mentioned object coordinate acquisition device is also used to: offset the calibration plane according to the first coordinate offset to obtain a measurement plane; obtain the second coordinate offset between the target key point and other key points on the model plane, each other key point corresponds to a second coordinate offset; offset the three-dimensional coordinates of the target key point according to the second coordinate offset to obtain the corresponding three-dimensional coordinates of other key points.

[0082] The present disclosure also provides an object data collection device, referring to Figure 7As shown, the object data acquisition device 700 may include an image acquisition module 710, the object coordinate acquisition device 720 and a data storage module 730, wherein:

[0083] An image acquisition module, used to control the binocular camera to acquire images of the object model;

[0084] The above-mentioned object coordinate acquisition device is used for acquiring the three-dimensional coordinates of key points of the object model by the above-mentioned object coordinate acquisition method, wherein the calibration plane is located on the imaging plane of the binocular camera;

[0085] The data storage module stores the collected image and the three-dimensional coordinates of the key points as a set of object data. In the embodiment of the present disclosure, the above-mentioned object data collection device also includes a movement control module, which is used to: before controlling the binocular camera to collect the collected image of the object model, control the object model to move in a direction perpendicular to the calibration plane until the vertical distance between the model plane where the object model is located and the calibration plane is the target distance, and use the target distance as the depth to be collected; and control the object model to move on the model plane until the object model moves to the target position;

[0086] Before controlling the binocular camera to capture an image of the object model, the mobile control module is further used to: adjust the baseline length of the binocular camera to the target length, and / or adjust the angle between the optical axis of the binocular camera and the horizontal plane to the target angle.

[0087] The implementation details of the above-mentioned object coordinate acquisition device and object data acquisition device have been described in detail in the corresponding positions of the above-mentioned object coordinate acquisition method and object data acquisition method, so they will not be repeated here.

[0088] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0089] Figure 8 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 8 , which shows a structural schematic diagram of an electronic device 800 suitable for implementing the embodiments of the present disclosure. Figure 8 The 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.

[0090] like Figure 8As 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 to a random access memory (RAM) 803 to implement the voice control method of the embodiment described in the present disclosure. 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 404. An input / output (I / O) interface 805 is also connected to the bus 804.

[0091] 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.

[0092] 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 includes a program code for executing the method shown in the flowchart, thereby implementing the voice control method as described above. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 809, or installed from the storage device 808, or installed from the 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.

[0093] 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.

[0094] 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.

[0095] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0096] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device:

[0097] Obtaining the depth of the object model to be collected relative to the calibration plane;

[0098] Controlling the laser emitter to emit laser toward the calibration plane, the emission point of the laser emitter is located on the model plane where the object model is located, and the model plane is parallel to the calibration plane;

[0099] Obtaining a first coordinate offset between the coordinates of a target key point of the object model on the model plane and the coordinates of the emission point of the laser emitter, and obtaining the two-dimensional coordinates of the projection point of the laser on the calibration plane as the calibration two-dimensional coordinates;

[0100] The calibration two-dimensional coordinates are offset according to the first coordinate offset to obtain the two-dimensional coordinates of the target key points corresponding to the target key points of the object model;

[0101] The two-dimensional coordinates of the target key points are combined with the depth to be collected to obtain the three-dimensional coordinates of the target key points corresponding to the target key points of the object model.

[0102] Optionally, when the above one or more programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.

[0103] 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).

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0109] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0110] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A method for collecting object coordinates, characterized in that: include: Obtaining the depth of the object model to be collected relative to the calibration plane; Controlling a laser emitter to emit laser toward the calibration plane, wherein an emission point of the laser emitter is located on a model plane where the object model is located, and the model plane is parallel to the calibration plane; Acquire a first coordinate offset between the coordinates of a target key point of the object model on the model plane and the coordinates of an emission point of the laser emitter, and acquire the two-dimensional coordinates of a projection point of the laser on the calibration plane as calibration two-dimensional coordinates; offsetting the calibrated two-dimensional coordinates according to the first coordinate offset to obtain the two-dimensional coordinates of the target key points corresponding to the target key points of the object model; The two-dimensional coordinates of the target key points are combined with the depth to be collected to obtain the three-dimensional coordinates of the target key points corresponding to the target key points of the object model.

2. The object coordinate acquisition method according to claim 1, characterized in that: The key points of the object model include the target key point and at least one other key point; The method further comprises: offsetting the calibration plane according to the first coordinate offset to obtain a measurement plane; Acquire a second coordinate offset between the target key point and the other key points on the model plane, each of the other key points corresponding to one second coordinate offset; The three-dimensional coordinates of the target key point are offset according to the second coordinate offset to obtain the corresponding three-dimensional coordinates of the other key points.

3. A method for collecting object data, characterized in that: include: Controlling the binocular camera to collect images of the object model; The object coordinate acquisition method according to claim 1 or 2 obtains the three-dimensional coordinates of the key points of the object model, wherein the calibration plane is located on the imaging plane of the binocular camera; The collected image and the three-dimensional coordinates of the key points are stored as a set of object data.

4. The object data collection method according to claim 3, characterized in that: Before controlling the binocular camera to collect the image of the object model, the method further includes: The object model is controlled to move in a direction perpendicular to the calibration plane until a vertical distance between a model plane where the object model is located and the calibration plane is equal to a target distance, and the target distance is used as the depth to be collected.

5. The object data collection method according to claim 3, characterized in that: Before controlling the binocular camera to collect the image of the object model, the method further includes: The object model is controlled to move on the model plane until the object model moves to a target position.

6. The object data collection method according to claim 3, characterized in that: Before controlling the binocular camera to collect the image of the object model, the method further includes: Adjust the baseline length of the binocular camera to the target length, and / or The angle between the optical axis of the binocular camera and the horizontal plane is adjusted to a target angle.

7. An object coordinate acquisition device, characterized in that: include A depth acquisition module, used to acquire the depth of the object model to be collected relative to the calibration plane; A laser emitting module, used for controlling a laser emitter to emit a laser toward the calibration plane, wherein an emitting point of the laser emitter is located on a model plane where the object model is located, and the model plane is parallel to the calibration plane; A coordinate acquisition unit, used to acquire a first coordinate offset between the coordinates of a target key point of the object model on the model plane and the coordinates of an emission point of the laser emitter, and to acquire a two-dimensional coordinate of a projection point of the laser on the calibration plane as a calibration two-dimensional coordinate; a two-dimensional coordinate determination unit, configured to offset the calibrated two-dimensional coordinate according to the first coordinate offset to obtain the two-dimensional coordinate of the target key point corresponding to the target key point of the object model; The three-dimensional coordinate determination unit is used to combine the two-dimensional coordinates of the target key point with the depth to be collected to obtain the three-dimensional coordinates of the target key point corresponding to the target key point of the object model.

8. An object data collection device, characterized in that: include: An image acquisition module, used to control the binocular camera to acquire an image of the object model; The object coordinate acquisition device according to claim 7, used for acquiring the three-dimensional coordinates of the key points of the object model according to the object coordinate acquisition method according to claim 1 or 2, wherein the calibration plane is located on the imaging plane of the binocular camera; The data storage module stores the collected image and the three-dimensional coordinates of the key points as a set of object data.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: include: processor; A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 6 by executing the executable instructions.

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