Three-dimensional scanning method, three-dimensional scanning device and three-dimensional scanning system

Abstract

The present application discloses a three-dimensional scanning method, a three-dimensional scanning device, and a three-dimensional scanning system. The three-dimensional scanning method is used for texture mapping of an object to be measured that has no texture or has repeated texture. The three-dimensional scanning method includes: placing a texture sticker on the object to be measured, wherein the texture of the texture sticker is unique so that the texture sticker can change the original texture of the object to be measured; obtaining a scanned image set and a texture image set of the object to be measured with the texture sticker placed thereon; performing three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be measured; and performing texture mapping on the first three-dimensional model to obtain a second three-dimensional model of the object to be measured with the texture sticker placed thereon. The three-dimensional scanning device can implement the above three-dimensional scanning method. The three-dimensional scanning system includes the above three-dimensional scanning device. Through the above settings, the accuracy and efficiency of texture splicing can be improved.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional scanning technology, and in particular to a three-dimensional scanning method, a three-dimensional scanning device, and a three-dimensional scanning system. Background Art

[0002] In the prior art, a three-dimensional scanning system is used to reconstruct the image of the object to be measured. There are three main stitching methods for reconstructing the image of the object to be measured: feature stitching, texture stitching, and marker stitching. Among them, texture stitching relies on the plane texture captured by the color camera and has the advantages of high stitching accuracy.

[0003] However, if the object to be tested does not contain a flat texture (such as a white tabletop) or contains a large number of repeated textures (such as cultural relics), it will have a greater impact on texture stitching, resulting in failure to stitch or mis-splice, thereby reducing the accuracy and efficiency of texture stitching. Summary of the invention

[0004] In order to address the deficiencies of the prior art, the purpose of the present application is to provide a three-dimensional scanning method, a three-dimensional scanning device and a three-dimensional scanning system, which can improve the accuracy and efficiency of texture stitching.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] A three-dimensional scanning method is used for texture mapping of an object to be tested that has no texture or has repeated texture. The three-dimensional scanning method comprises: placing a texture sticker on the object to be tested, wherein the texture of the texture sticker is unique so that the texture sticker can change the original texture of the object to be tested; obtaining a scanned image set and a texture image set of the object to be tested with the texture sticker placed thereon; performing three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be tested; and performing texture mapping on the first three-dimensional model to obtain a second three-dimensional model of the object to be tested with the texture sticker placed thereon.

[0007] Further, performing three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be measured includes:

[0008] Based on the scanned images in the scanned image set, texture matching and binocular reconstruction are performed to obtain a first three-dimensional model of the object to be measured.

[0009] Further, the features of the texture sticker placed on the object to be measured are obtained according to the pre-input sticker database to remove the sticker area where the texture sticker is located on the second three-dimensional model;

[0010] According to the texture image of the object to be tested in the texture image set, a first texture image consistent with the texture around the sticker area is obtained;

[0011] A second texture image consistent with the posture of the sticker area is obtained according to the first texture image, and the second texture image is covered on the sticker area.

[0012] Furthermore, each texture image in the texture image set has a texture image of at least one texture sticker.

[0013] Furthermore, a plurality of texture stickers are provided, each of which has a unique shape, and the shape of the texture sticker is one of a triangle, a quadrilateral, ... an n-gon, where n is a positive integer greater than or equal to 3;

[0014] Or, each texture sticker has a consistent shape.

[0015] Furthermore, the features of the texture sticker placed on the object to be tested are obtained according to the pre-input sticker database, including:

[0016] Obtain corresponding sticker data in a sticker database according to the texture image of the texture sticker;

[0017] A preset reference point of the texture sticker is obtained according to the sticker data, and a margin of the texture sticker is obtained according to the preset reference point of the texture sticker.

[0018] Further, removing the sticker area where the texture sticker is located on the second three-dimensional model includes:

[0019] Obtaining the position and posture of the sticker area on the second three-dimensional model according to the texture image of the texture sticker;

[0020] According to the preset reference point and margin of the texture sticker, the boundary of the sticker area is obtained to remove the sticker area on the second three-dimensional model.

[0021] Further, according to the texture image of the object to be tested in the texture image set, a first texture image consistent with the texture around the sticker area is obtained, including:

[0022] The texture image of the object to be tested in the texture image set and the third texture image around the sticker area are compared to obtain a first texture image having a texture consistent with the third texture image.

[0023] Further, obtaining a second texture image consistent with the sticker area posture according to the first texture image, and covering the sticker area with the second texture image, including:

[0024] According to the relative posture of the third texture image and the sticker area, a fourth texture image is obtained from the texture image set, wherein the posture of the fourth texture image relative to the first texture image is consistent with the posture of the sticker area relative to the third texture image;

[0025] combining the first texture image and the fourth texture image to obtain a second texture image;

[0026] The first texture image in the second texture image is matched with the third texture image to cover the sticker area with the second texture image.

[0027] Furthermore, the area of ​​the fourth texture image is larger than the area of ​​the sticker area.

[0028] To achieve the above objectives, this application adopts the following technical solutions:

[0029] A three-dimensional scanning device, the three-dimensional scanning device comprising:

[0030] A first acquisition module is used to acquire a set of scanned images of the object to be tested with the texture sticker placed thereon;

[0031] A second acquisition module is used to acquire a texture image set of the object to be tested with the texture sticker placed thereon;

[0032] A processing module, the processing module can perform three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be measured; the processing module can perform texture mapping on the first three-dimensional model to obtain a second three-dimensional model of the object to be measured with a texture sticker placed thereon;

[0033] and / or,

[0034] The processing module can obtain the features of the texture stickers placed on the object to be tested according to the pre-input sticker database to remove the sticker area where the texture stickers are located on the second three-dimensional model; the processing module can obtain a first texture image consistent with the texture around the sticker area based on the texture image of the object to be tested in the texture image set; the processing module can obtain a second texture image consistent with the posture of the sticker area based on the first texture image, and cover the second texture image on the sticker area.

[0035] To achieve the above objectives, this application adopts the following technical solutions:

[0036] A three-dimensional scanning system comprises the three-dimensional scanning device mentioned above.

[0037] The above-mentioned three-dimensional scanning method, three-dimensional scanning device and three-dimensional scanning system can perform image matching according to the texture of the texture sticker, which is beneficial to the texture splicing of the object to be measured, so as to avoid the texture being unable to be spliced ​​or being spliced ​​incorrectly, thereby improving the accuracy and efficiency of texture splicing. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a hardware structure block diagram of a terminal of the three-dimensional scanning method according to an embodiment of the present application.

[0039] Figure 2 This is a flow chart of a three-dimensional scanning method according to an embodiment of the present application.

[0040] Figure 3 This is a specific flow chart of the three-dimensional scanning method of an embodiment of the present application.

[0041] Figure 4 This is a subsequent flow chart of the three-dimensional scanning method according to an embodiment of the present application.

[0042] Figure 5 This is a specific flow chart of step S5 of the three-dimensional scanning method of an embodiment of the present application.

[0043] Figure 6 This is a specific flow chart of step S6 of the three-dimensional scanning method of an embodiment of the present application.

[0044] Figure 7 This is a specific flow chart of step S7 of the three-dimensional scanning method of an embodiment of the present application.

[0045] Figure 8 This is a structural block diagram of a three-dimensional scanning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the specific implementation manner of the present application will be clearly and completely described below in conjunction with the drawings in the implementation manner of the present application.

[0047] It should be noted that the words "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "a" do not indicate a quantitative limitation, but indicate the existence of at least one. "Multiple" or "several" means at least two. Unless otherwise specified, words such as "front", "back", "left", "right", "bottom" and / or "top" are only for the convenience of description and are not limited to one position or one spatial orientation. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

[0048] The singular forms "a", "said" and "the" used in this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0049] The method embodiment provided in this embodiment can be executed in the terminal 100, a computer or a similar computing device. For example, running on the terminal 100, Figure 1 1 is a hardware structure block diagram of a terminal 100 for executing a three-dimensional scanning method according to an embodiment of the present application. Figure 1 As shown, the terminal 100 may include one or more ( Figure 1 Only one is shown in the figure) processor 11 and memory 12 for storing data, wherein the processor 11 may include but is not limited to a processing device such as a microcontroller unit (MCU) or a programmable logic device (Field Programmable Gate Array, FPGA). The terminal 100 may also include a transmission device 13 and an input / output device 14 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the terminal 100. For example, the terminal 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0050] The memory 12 can be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to a three-dimensional scanning method in this embodiment. The processor 11 executes various functional applications and data processing by running the computer program stored in the memory 12, that is, to implement the above method. The memory 12 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 12 may further include a memory 12 remotely arranged relative to the processor 11, and these remote memories 12 may be connected to the terminal 100 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0051] The transmission device 13 is used to receive or send data via a network. The above network includes a wireless network provided by a communication provider of the terminal 100. In one example, the transmission device 13 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 13 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0052] This embodiment provides a three-dimensional scanning method. Figure 2 It is a flow chart of a three-dimensional scanning method according to an embodiment of the present application, and the three-dimensional scanning method is used for texture mapping of an object to be measured that has no texture or has repeated texture.

[0053] It should be noted that, since some objects to be tested do not contain plane textures (such as white desktops, etc.) or contain a large number of repeated textures (such as cultural relics, etc.), these textureless or repeated textures will have a greater impact on texture splicing, resulting in failure to splice or mis-splice, thereby reducing the accuracy and efficiency of texture splicing. Therefore, the three-dimensional scanning method of the present application is provided with a texture sticker, the texture of which is unique, that is, the texture of the texture sticker is completely different from the texture of the object to be tested.

[0054] Exemplarily, when the number of texture stickers is not unique, the textures of any two texture stickers are different.

[0055] Exemplarily, the texture of the texture sticker can be numbers, words, letters, colors, etc., or the texture of the texture sticker can also be a combination of at least two of numbers, words, and colors. This application is not limited to this, and it is only necessary that the textures of the texture stickers are different from each other.

[0056] like Figure 2 As shown, the three-dimensional scanning method of the present application includes the following steps:

[0057] S1: A texture sticker is placed on the object to be tested, wherein the texture of the texture sticker is unique so that the texture sticker can change the original texture of the object to be tested.

[0058] Specifically, one or more texture stickers can be provided in step S1, that is, the number of texture stickers can be adjusted according to actual needs. And because the texture of the texture sticker is unique, the texture sticker can change the original texture of the object to be tested that has no texture or has repeated texture, so that the object to be tested has texture or has non-repeating texture, which is beneficial to subsequent texture splicing, thereby improving the efficiency and accuracy of texture splicing.

[0059] It should be noted that the texture sticker can be placed on the object to be tested by bonding, and the present application does not limit the way in which the texture sticker is placed on the object to be tested.

[0060] S2: Obtain a scanned image set and a texture image set of the object to be tested with the texture sticker placed thereon;

[0061] S3: performing three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be measured;

[0062] S4: Performing texture mapping on the first three-dimensional model to obtain a second three-dimensional model of the object to be tested with the texture sticker placed thereon.

[0063] Specifically, in step S3, the processor 11 can obtain a first three-dimensional model of the object to be measured by three-dimensional reconstruction. The object to be measured here is an object that needs texture mapping.

[0064] Specifically, in step S2, the processor 11 obtains a texture image set of the object to be tested, where the texture image set is a texture image set of the object to be tested with a texture map placed thereon.

[0065] like Figure 3 As shown, more specifically, step S3 includes the following steps:

[0066] S31: Based on the scanned images in the scanned image set, texture matching and binocular reconstruction are performed to obtain a first three-dimensional model of the object to be measured. That is, in this application, the three-dimensional reconstruction method is texture matching and binocular reconstruction. The specific three-dimensional reconstruction method is described below and will not be repeated here.

[0067] As an optional implementation, the texture image set of the object to be tested can be divided into a first texture image set and a second texture image set, the first texture image set and the second texture image set are sets of texture images of the object to be tested collected by different devices, and the scanned image set and the first texture image set are data collected by the same device. Among them, the second texture image set is a set of texture images to be texture mapped, and the image quality of the texture images in the second texture image set is higher than the image quality of the texture images in the first texture image set. Optionally, the scanned image set can be collected by a binocular camera.

[0068] Exemplarily, the image quality of the texture images in the second texture image set is higher than the image quality of the texture images in the first texture image set. The clarity of the texture images in the second texture image set may be higher than the clarity of the texture images in the first texture image set, or the resolution of the texture images in the second texture image set may be higher than the resolution of the texture images in the first texture image set. This application does not limit this.

[0069] Take the acquisition of a scanned image set by a binocular camera as an example. First, after the device acquires the scanned image set and the first texture image set, binocular reconstruction is achieved by texture matching of the scanned images in the scanned image set to form a single-frame point cloud. Secondly, a point cloud model is formed by splicing single-frame point clouds, and the point cloud model is meshed to form a first three-dimensional model. Finally, the first three-dimensional model can be mapped using the first texture image set, or it can be mapped without mapping the first three-dimensional model, and then the first three-dimensional model can be mapped using the second texture image set.

[0070] It should be noted that the texture matching of the scanned images in the scanned image set is the texture matching of the images captured by the two cameras in the binocular camera.

[0071] Specifically, the processor 11 performs image matching on the texture images in the first texture image set and the texture images in the second texture image set. Since the object to be tested has no texture or has repeated texture, the image matching in the present application can be performed according to the texture of the texture sticker, which is beneficial to the texture splicing of the object to be tested, so as to avoid the texture being unable to be spliced ​​or mis-spliced, thereby improving the accuracy and efficiency of texture splicing.

[0072] It should be noted that each texture image in the texture image set has a texture image of at least one texture sticker, that is, the first texture image set and the second texture image set each have a texture image of at least one texture sticker, so that texture splicing can be performed according to the texture images of the texture stickers, which is beneficial to improve the accuracy and efficiency of texture splicing.

[0073] More specifically, a first transformation matrix set is determined based on the matching result. The first transformation matrix set is a set of first transformation matrices of the second texture image in the second texture image set in the camera coordinate system and the first three-dimensional model of the target object in the world coordinate system. It should be noted that the camera coordinate system may be a camera coordinate system of a device that collects the second texture image set.

[0074] Specifically, the processor 11 performs texture mapping on the first three-dimensional model to be mapped according to the second texture image set and the determined first transformation matrix set of the second texture image set to obtain a second three-dimensional model of the object to be measured with the texture sticker placed thereon.

[0075] It should be noted that the above-mentioned texture mapping method is only one of the implementation methods of texture mapping, and this application does not limit the implementation method of texture mapping.

[0076] As an implementation method, in order to obtain a three-dimensional model of the object to be tested without texture stickers, the present application needs to perform texture sticker removal processing on the second three-dimensional model output by the above steps.

[0077] Therefore, if Figure 4 As shown, the three-dimensional scanning method of the present application also includes the following steps:

[0078] S5: Acquire features of the texture sticker placed on the object to be measured according to the pre-input sticker database to remove the sticker area where the texture sticker is located on the second three-dimensional model.

[0079] Specifically, the sticker database in step S5 can be stored in the memory 12. The sticker database stores feature information of texture stickers, such as the shape, texture, size, etc. of the texture stickers; and the sticker database contains feature information of all texture stickers placed on the object to be tested, so that the processor 11 can obtain the sticker data in the sticker database, thereby obtaining the feature information of the corresponding texture sticker.

[0080] More specifically, after the processor 11 obtains the features of the texture sticker, the size, shape, etc. of the area occupied by the texture sticker on the second three-dimensional model can be obtained, so that the sticker area on the second three-dimensional model can be removed.

[0081] S6: Acquire a first texture image consistent with the texture around the sticker area according to the texture image of the object to be measured in the texture image set.

[0082] Specifically, the texture image set in step S6 includes the original texture image of the object to be tested. More specifically, since the object to be tested has no texture or has repeated texture, the texture sticker can only change part of the repeated texture of the object to be tested, or the texture sticker can make the object to be tested have partial texture, so the processor 11 of the present application can obtain the original texture of the object to be tested that is not covered by the texture sticker, so that the processor 11 can obtain the first texture image consistent with the texture around the sticker area.

[0083] It should be noted that, since the sticker area has been determined in step S5, the processor 11 only needs to compare the texture image around the sticker area with the original texture image of the object to be measured to obtain a first texture image consistent with the texture around the sticker area.

[0084] S7: Acquire a second texture image consistent with the sticker area in position and posture according to the first texture image, and cover the sticker area with the second texture image.

[0085] Specifically, in step S7, since the sticker area has been determined in step S5, the processor 11 can obtain the position of the second texture image relative to the first texture image based on the position of the sticker area relative to the surrounding texture and the first texture image, thereby obtaining the second texture image, and then covering the second texture image on the sticker area to obtain a three-dimensional model of the object to be tested without a texture sticker.

[0086] As an implementation method, in order to improve the uniqueness and complexity of the texture sticker, the texture sticker of the present application is provided with a plurality of texture stickers, each of which has a unique shape, and the shape of the texture sticker is one of a triangle, a quadrilateral, ... an n-gon, where n is a positive integer greater than or equal to 3. Through the above setting, the texture and shape of the texture stickers can be different, which is conducive to improving the accuracy of the processor 11 in obtaining the feature information of the texture stickers, and further improving the reliability of the texture sticker removal.

[0087] For example, the texture sticker of the present application can be set to one, and the shape of the texture sticker is one of a triangle, a quadrilateral, ... an n-gon. That is, the number of texture stickers can be adjusted according to actual conditions, and it is only necessary to ensure that each texture image in the texture image set has a texture image of at least one texture sticker.

[0088] Exemplarily, when there are multiple texture stickers, the multiple texture stickers can be cut from the same sticker. For example, multiple texture stickers of different shapes are cut on the same sticker, so that the multiple texture stickers are irregular in shape. It should be noted that in order to make the texture of each texture sticker unique, at least one of numbers, colors, words, and letters can be set on each texture sticker.

[0089] It is understandable that the shape of each texture sticker can also be set to be consistent, as long as the texture of each problem sticker is unique.

[0090] like Figure 5 As shown, as an implementation method, step S5 includes the following steps:

[0091] S51: Acquire corresponding sticker data in a sticker database according to the texture image of the texture sticker.

[0092] Specifically, in step S51, the processor 11 can obtain sticker data of the texture sticker in the sticker database according to the texture image of the texture sticker, that is, the processor 11 can obtain the characteristics of the texture sticker, thereby obtaining the shape, texture, size, etc. of the texture sticker.

[0093] S52: Obtaining a preset reference point of the texture sticker according to the sticker data, and obtaining a margin of the texture sticker according to the preset reference point of the texture sticker.

[0094] Specifically, in step S52, the preset reference point may be the center point of the texture sticker, and the center point of the texture sticker has been stored in the sticker database, so that when the processor 11 obtains the features of the texture sticker, the center point data of the corresponding texture sticker can be obtained.

[0095] Specifically, in step S52, the distance from the center point of the texture sticker to each edge can be obtained according to the center point data of the texture sticker, that is, the processor 11 can obtain the margin of the texture sticker, which is conducive to obtaining the shape and size of the texture sticker. The margin of the texture sticker can also be stored in the sticker database as feature information of the texture sticker, which is conducive to the processor 11 obtaining the shape and size of the texture sticker by calculation.

[0096] It should be noted that the preset reference point can also be other points on the texture sticker, and this application is not limited thereto.

[0097] In this embodiment, step S5 further includes the following steps:

[0098] S53: acquiring the position and posture of the sticker area on the second three-dimensional model according to the texture image of the texture sticker;

[0099] S54: According to the preset reference point and margin of the texture sticker, a boundary of the sticker area is obtained to remove the sticker area on the second three-dimensional model.

[0100] Specifically, the characteristic information of the texture sticker has been obtained in step S52, so that the position and posture of the sticker area on the second three-dimensional model can be obtained according to the characteristic information of the texture sticker, and the sticker area on the second three-dimensional model can be accurately removed.

[0101] like Figure 6 As shown, as an implementation method, step S6 includes the following steps:

[0102] S61: Compare the texture image of the object to be tested in the texture image set with the third texture image around the sticker area to obtain a first texture image having a texture consistent with the third texture image.

[0103] Specifically, in step S61, the processor 11 can compare the original texture image of the object to be tested and the third texture image around the sticker area, so as to match the texture image consistent with the third texture image in the texture image and obtain the first texture image that is successfully matched.

[0104] like Figure 7 As shown, as an implementation method, step S7 includes the following steps:

[0105] S71: According to the relative posture of the third texture image and the sticker area, a fourth texture image is obtained from the texture image set, and the posture of the fourth texture image relative to the first texture image is consistent with the posture of the sticker area relative to the third texture image.

[0106] Specifically, in step S71, since the third texture image is a texture image around the sticker area, the processor 11 is able to obtain the relative posture of the third texture image and the sticker area.

[0107] More specifically, the relative pose of the third texture image and the sticker area is defined as a texture pose, and the relative pose of the fourth texture image consistent with the texture pose and the first texture image is matched in the texture image set, so that the processor 11 can obtain the fourth texture image.

[0108] S72: Combine the first texture image and the fourth texture image to obtain a second texture image.

[0109] Specifically, since there is no texture sticker on the second three-dimensional model of the object to be tested at this time, the fourth texture image cannot match the texture image of the sticker area. Therefore, the present application combines the first texture image and the fourth texture image to obtain the second texture image, that is, the second texture image is the product of the addition of the first texture image and the fourth texture image.

[0110] S73: Matching the first texture image in the second texture image with the third texture image to cover the sticker area with the second texture image.

[0111] Specifically, step S73 can match the first texture image with the third texture image so that the fourth texture image can correspond to the sticker area, so that the sticker area can be covered by the fourth texture image, and then the sticker area can restore the original texture of the object to be tested, so as to obtain a three-dimensional model of the object to be tested without texture stickers.

[0112] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0113] In this embodiment, the area of ​​the fourth texture image is larger than the area of ​​the sticker area.

[0114] Exemplarily, the outer contour of the fourth texture image is substantially consistent with the outer contour of the sticker area, that is, the shape of the fourth texture image may be a geometrically enlarged shape of the sticker area.

[0115] Exemplarily, the outer contour of the fourth texture image is inconsistent with the shape of the outer contour of the sticker area, that is, the shape of the fourth texture image is not unique at this time, and it is only necessary to make the fourth texture image cover the sticker area.

[0116] Through the above settings, the error caused by the processing process of the processor 11 can be avoided, so that the sticker area can be completely covered by the fourth texture image, which is beneficial to improving the accuracy and reliability of the three-dimensional model of the object to be tested without texture stickers.

[0117] As an implementation, the present application also provides a three-dimensional scanning device 200, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. The terms "module", "unit", "subunit", etc. used below may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0118] Figure 8 is a structural block diagram of a three-dimensional scanning device 200 according to an embodiment of the present application. Figure 8 As shown, the three-dimensional scanning device 200 includes a first acquisition module 21 , a second acquisition module 22 and a processing module 23 .

[0119] Among them, the first acquisition module 21 is used to scan the object to be tested, so as to obtain a scanned image set of the object to be tested with a texture sticker placed thereon. The second acquisition module 22 is used to obtain a texture image set of the object to be tested with a texture sticker placed thereon. The processing module 23 can perform three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be tested, and the processing module 23 can also perform texture mapping on the first three-dimensional model to obtain a second three-dimensional model of the object to be tested with a texture sticker placed thereon. The first acquisition module 21 and the second acquisition module 22 are electrically connected to the processing module 23, respectively.

[0120] It should be noted that the second acquisition module 22 includes a first acquisition unit and a second acquisition unit, the first acquisition unit is used to acquire a first texture image set of the object to be tested, and the second acquisition unit is used to acquire a second texture image set of the object to be tested. The first acquisition unit and the first acquisition module 21 can be the same device or module.

[0121] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor 11; or the above modules can be located in different processors 11 in any combination.

[0122] This embodiment also provides an electronic device, including a memory 12 and a processor 11, wherein the memory 12 stores a computer program, and the processor 11 is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0123] Optionally, the electronic device may further include a transmission device 13 and an input / output device 14 , wherein the transmission device 13 is connected to the processor 11 , and the input / output device 14 is connected to the processor 11 .

[0124] Optionally, in this embodiment, the processor 11 may be configured to perform the following steps through a computer program:

[0125] S1: placing a texture sticker on the object to be tested, wherein the texture of the texture sticker is unique so that the texture sticker can change the original texture of the object to be tested;

[0126] S2: Obtain a scanned image set and a texture image set of the object to be tested with the texture sticker placed thereon;

[0127] S3: performing three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be measured;

[0128] S4: performing texture mapping on the first three-dimensional model to obtain a second three-dimensional model of the object to be tested with the texture sticker placed thereon;

[0129] S5: acquiring features of the texture sticker placed on the object to be measured according to a pre-input sticker database, so as to remove a sticker area where the texture sticker is located on the second three-dimensional model;

[0130] S6: obtaining a first texture image consistent with the texture around the sticker area according to the texture image of the object to be tested in the texture image set;

[0131] S7: Acquire a second texture image consistent with the sticker area in position and posture according to the first texture image, and cover the sticker area with the second texture image.

[0132] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0133] In addition, in combination with a three-dimensional scanning method provided in the above embodiment, a storage medium may be provided in this embodiment to implement the three-dimensional scanning method. The storage medium stores a computer program; when the computer program is executed by the processor 11, any three-dimensional scanning method in the above embodiment is implemented.

[0134] As an implementation method, the present application also provides a three-dimensional scanning system, which includes the three-dimensional scanning device 200 mentioned above.

[0135] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the claims attached to this application.

Claims

1. A three-dimensional scanning method for texture mapping of an object to be measured without texture or with repeated texture, characterized in that: The three-dimensional scanning method comprises: A texture sticker is placed on the object to be tested, wherein the texture of the texture sticker is unique so that the texture sticker can change the original texture of the object to be tested; Acquire a scanned image set and a texture image set of the object to be tested on which the texture sticker is placed; Performing three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be measured; Performing texture mapping on the first three-dimensional model to obtain a second three-dimensional model of the object to be measured with the texture sticker placed thereon; The performing three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be measured includes: Based on the scanned images in the scanned image set, texture matching and binocular reconstruction are performed to form a point cloud model by splicing single-frame point clouds, and the point cloud model is meshed to obtain a first three-dimensional model of the object to be measured; Acquire the features of the texture sticker placed on the object to be measured according to a pre-input sticker database, so as to remove the sticker area where the texture sticker is located on the second three-dimensional model; According to the texture image of the object to be measured in the texture image set, a first texture image consistent with the texture around the sticker area is obtained; Acquire a second texture image consistent with the posture of the sticker area according to the first texture image, and cover the sticker area with the second texture image; The step of obtaining a first texture image consistent with the texture around the sticker area according to the texture image of the object to be tested in the texture image set includes: Comparing the texture image of the object to be tested in the texture image set with a third texture image around the sticker area to obtain the first texture image having a texture consistent with the third texture image; The step of acquiring a second texture image consistent with the posture of the sticker area according to the first texture image, and covering the sticker area with the second texture image includes: According to the relative posture of the third texture image and the sticker area, a fourth texture image is obtained from the texture image set, wherein the posture of the fourth texture image relative to the first texture image is consistent with the posture of the sticker area relative to the third texture image; combining the first texture image and the fourth texture image to obtain the second texture image; The first texture image in the second texture image is matched with the third texture image to cover the sticker area with the second texture image.

2. The three-dimensional scanning method according to claim 1, characterized in that: Each texture image in the texture image set has a texture image of at least one texture sticker.

3. The three-dimensional scanning method according to claim 2, characterized in that: There are a plurality of texture stickers, each of which has a unique shape, and the shape of the texture sticker is one of a triangle, a quadrilateral, ... an n-gon, where n is a positive integer greater than or equal to 3; Alternatively, each of the texture stickers has the same shape.

4. The three-dimensional scanning method according to claim 1, characterized in that: The step of acquiring the features of the texture sticker placed on the object to be tested according to the pre-input sticker database includes: Acquire corresponding sticker data in the sticker database according to the texture image of the texture sticker; A preset reference point of the texture sticker is obtained according to the sticker data, and a margin of the texture sticker is obtained according to the preset reference point of the texture sticker.

5. The three-dimensional scanning method according to claim 4, characterized in that: The method of removing the sticker area where the texture sticker is located on the second three-dimensional model includes: Acquire the position and posture of the sticker area on the second three-dimensional model according to the texture image of the texture sticker; According to the preset reference point and margin of the texture sticker, the boundary of the sticker area is obtained to remove the sticker area on the second three-dimensional model.

6. The three-dimensional scanning method according to claim 1, characterized in that: The area of ​​the fourth texture image is larger than the area of ​​the sticker area.

7. A three-dimensional scanning device, characterized in that: The three-dimensional scanning device is applicable to the three-dimensional scanning method according to any one of claims 1 to 6, and the three-dimensional scanning device comprises: A first acquisition module is used to acquire a set of scanned images of the object to be tested with the texture sticker placed thereon; A second acquisition module is used to acquire a texture image set of the object to be tested on which the texture sticker is placed; A processing module, wherein the processing module is capable of performing three-dimensional reconstruction based on the scanned images in the scanned image set to obtain a first three-dimensional model of the object to be measured; the processing module is capable of performing texture mapping on the first three-dimensional model to obtain a second three-dimensional model of the object to be measured with the texture sticker placed thereon; and / or, The processing module can perform texture matching and binocular reconstruction based on the scanned images in the scanned image set, so as to form a point cloud model by splicing single-frame point clouds, and mesh the point cloud model to obtain a first three-dimensional model of the object to be measured; and / or, The processing module can obtain the features of the texture sticker placed on the object to be tested according to a pre-input sticker database to remove the sticker area where the texture sticker is located on the second three-dimensional model; the processing module can obtain a first texture image consistent with the texture around the sticker area based on the texture image of the object to be tested in the texture image set; the processing module can obtain a second texture image consistent with the posture of the sticker area based on the first texture image, and cover the sticker area with the second texture image.

8. A three-dimensional scanning system, characterized in that: The three-dimensional scanning system includes the three-dimensional scanning device as claimed in claim 7.

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