Picture synchronization method and device, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention provides a picture synchronization method and device, electronic equipment, a storage medium and a program product, and relates to the technical field of scanning. According to the method, a point cloud queue and a texture queue are created to independently store point cloud pictures and texture pictures, and the point cloud pictures and the texture pictures are respectively acquired from the point cloud queue and the texture queue according to a first-in first-out sequence; and judging whether the acquisition time of the point cloud picture and the acquisition time of the texture picture are synchronous or not by using a difference value between the acquisition timestamp corresponding to the point cloud picture and the timestamp corresponding to the texture picture. The picture synchronization of the three-dimensional scanner is efficiently and stably realized skillfully by setting the timestamp, and the requirements on the picture output sequence and the time interval of hardware are effectively reduced, so that the hardware cost of the three-dimensional scanner is reduced.

Description

Technical Field

[0001] The present invention relates to the field of scanning technology, and in particular to a picture synchronization method, device, electronic device, storage medium and program product. Background Art

[0002] When using a 3D scanner to scan an object to generate a 3D model, in order to retain the color information of the object itself, it is necessary to use the 3D scanner's acquisition synchronization technology to synchronize the point cloud image and the texture image.

[0003] At present, a 3D scanner usually generates a point cloud image first, followed by a texture image after a fixed time interval (e.g., 10 milliseconds), and generates a point cloud image and a texture image every preset time interval (e.g., 100 milliseconds). Since the hardware of the 3D scanner generates images in sequence and at a strict time interval, this will lead to a high degree of coupling between software and hardware, and high requirements for the hardware stability and performance of the 3D scanner, thereby increasing the hardware cost of the 3D scanner. How to efficiently and stably achieve the synchronization of the acquisition of point cloud images and texture images has become an urgent problem to be solved for 3D scanners to generate 3D models. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a method, device, electronic device, storage medium and program product for synchronizing images of a three-dimensional scanner in an efficient and stable manner by setting a timestamp.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] In a first aspect, the present invention provides a method for synchronizing pictures, the method comprising:

[0007] Respectively obtain a point cloud image in a point cloud queue and a texture image in a texture queue; the point cloud image includes spatial information corresponding to the surface of the scanned object; the texture image includes color information corresponding to the surface of the scanned object; the point cloud image and the texture image are both obtained by scanning with a three-dimensional scanner;

[0008] Calculate the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image;

[0009] Whether the point cloud image and the texture image are synchronized is determined according to the difference.

[0010] In an optional implementation, determining whether the point cloud image and the texture image are synchronized according to the difference includes:

[0011] If the difference is within a preset time range, it is determined that the point cloud image and the texture image are synchronized successfully.

[0012] In an optional implementation, determining whether the point cloud image and the texture image are synchronized according to the difference includes:

[0013] If the difference is not within a preset time range, it is determined that the synchronization between the point cloud image and the texture image fails, and the point cloud image and the texture image are discarded.

[0014] In an optional embodiment, the three-dimensional scanner includes a point cloud camera and a texture camera; before the step of respectively acquiring the point cloud images in the point cloud queue and the texture images in the texture queue, the method further includes:

[0015] The point cloud camera and the texture camera are started concurrently at the same time, so that the point cloud camera takes a point cloud picture of the scanned object, and the texture camera takes a texture picture of the scanned object.

[0016] In an optional implementation, after the step of concurrently starting the point cloud camera and the texture camera at the same time, the method further includes:

[0017] According to a preset collection interval, the point cloud image and the texture image are collected by the point cloud camera and the texture camera at the same time;

[0018] After the point cloud image is collected, a corresponding timestamp is set for the point cloud image, and the point cloud image and the corresponding timestamp are saved in the point cloud queue;

[0019] After the texture picture is collected, a corresponding timestamp is set for the texture picture, and the texture picture and the corresponding timestamp are saved in the texture queue.

[0020] In an optional implementation, after the step of determining whether the synchronization between the point cloud image and the texture image is successful, the method further includes:

[0021] Based on the successfully synchronized point cloud image and the corresponding texture image, a three-dimensional model corresponding to the scanned object is generated.

[0022] In a second aspect, the present invention provides a picture synchronization device, the device comprising:

[0023] A processing module, used to respectively obtain a point cloud image in a point cloud queue and a texture image in a texture queue; the point cloud image includes spatial information corresponding to the surface of the scanned object; the texture image includes color information corresponding to the surface of the scanned object; the point cloud image and the texture image are both obtained by scanning with a three-dimensional scanner;

[0024] A calculation module, used to calculate the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image;

[0025] A determination module is used to determine whether the point cloud image and the texture image are synchronized according to the difference.

[0026] In a third aspect, the present invention provides an electronic device, including a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the picture synchronization method described in any of the aforementioned embodiments.

[0027] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a picture synchronization method as described in any one of the aforementioned embodiments.

[0028] In a fifth aspect, the present invention provides a program product, which, when executed by a processor, implements a picture synchronization method as described in any one of the aforementioned embodiments.

[0029] Compared with the prior art, the picture synchronization method, device, electronic device, storage medium and program product provided by the embodiment of the present invention creates a point cloud queue and a texture queue to store point cloud pictures and texture pictures separately, and obtains point cloud pictures and texture pictures from the point cloud queue and the texture queue respectively in a first-in-first-out order, and uses the difference between the acquisition timestamp corresponding to the point cloud picture and the timestamp corresponding to the texture picture to determine whether the acquisition time of the point cloud picture and the texture picture is synchronized. The picture synchronization of the three-dimensional scanner is achieved efficiently and stably by setting the timestamp ingeniously, effectively reducing the requirements for the hardware output sequence and time interval, thereby reducing the hardware cost of the three-dimensional scanner.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of a process of a picture synchronization method provided by an embodiment of the present invention is shown.

[0033] Figure 2Another schematic flow chart of a picture synchronization method provided by an embodiment of the present invention is shown.

[0034] Figure 3 Another schematic flow chart of a picture synchronization method provided by an embodiment of the present invention is shown.

[0035] Figure 4 A block diagram of a picture synchronization device provided by an embodiment of the present invention is shown.

[0036] Figure 5 A block diagram of an electronic device provided by an embodiment of the present invention is shown.

[0037] Icon: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 300 - picture synchronization device; 301 - processing module; 302 - calculation module; 303 - determination module. DETAILED DESCRIPTION

[0038] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0040] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0041] When using a 3D scanner to scan an object to generate a 3D model, the 3D scanner shoots the object at various angles to obtain point cloud images and texture images of the object from different perspectives. To ensure that the information collected by the point cloud image and texture image at the same perspective can be synchronized, the 3D scanner usually shoots multiple sets of point cloud images and texture images in accordance with the rule of first outputting the point cloud image, then outputting the texture image after a fixed interval (for example, 10 milliseconds, the actual interval time may vary). In this way, the shooting interval between the point cloud image and the texture image is about 10 milliseconds.

[0042] Each set of point cloud images and texture images is taken at a preset time interval. Therefore, the hardware output of the 3D scanner is in order and at a strict time interval, which has a high coupling degree between software and hardware and is inflexible. At the same time, it has high requirements on the hardware stability and performance of the 3D scanner, and the hardware cost is high.

[0043] Based on this, the image synchronization method and device provided by the embodiment of the present invention creates a point cloud queue and a texture queue to store point cloud images and texture images separately, and obtains point cloud images and texture images from the point cloud queue and the texture queue in a first-in-first-out order, respectively, and uses the difference between the acquisition timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image to determine whether the acquisition time of the point cloud image and the texture image is synchronized. The image synchronization of the three-dimensional scanner is achieved efficiently and stably by setting the timestamp ingeniously, effectively reducing the requirements for the hardware image output sequence and time interval, thereby reducing the hardware cost of the three-dimensional scanner.

[0044] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0045] Please refer to Figure 1 , Figure 1 A schematic flow chart of a method for synchronizing images provided by an embodiment of the present invention is shown. The method is applied to an electronic device, the electronic device is connected to a three-dimensional scanner for communication, and the method comprises the following steps:

[0046] Step S50, respectively obtain the point cloud image in the point cloud queue and the texture image in the texture queue; the point cloud image includes the spatial information corresponding to the surface of the scanned object; the texture image includes the color information corresponding to the surface of the scanned object; the point cloud image and the texture image are both obtained by scanning with a three-dimensional scanner.

[0047] In the embodiment of the present invention, the point cloud queue is used to store the collected point cloud images, and the texture queue is used to store the collected texture images. It is assumed that a synchronization thread is created to monitor the point cloud queue and the texture queue in real time. When the point cloud queue and the texture queue are not empty, the synchronization thread takes out the point cloud image and the timestamp corresponding to the point cloud image from the head of the point cloud queue, and takes out the texture image and the timestamp corresponding to the texture image from the head of the texture queue.

[0048] Step S60, calculating the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image.

[0049] Step S70, determining whether the point cloud image and the texture image are synchronized based on the difference.

[0050] In the implementation of the present invention, the synchronization thread calculates the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image, and uses the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image to verify the acquisition synchronization of the point cloud image and the texture image.

[0051] After processing the current point cloud image and texture image, the synchronization thread continues to obtain the next point cloud image from the non-empty point cloud queue and the next texture image from the non-empty texture queue for synchronization determination until the point cloud queue is empty and the texture queue is empty.

[0052] In summary, the image synchronization method provided by the embodiment of the present invention creates a point cloud queue and a texture queue to store point cloud images and texture images separately, obtains point cloud images and texture images from the point cloud queue and the texture queue in a first-in-first-out order, and uses the difference between the acquisition timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image to determine whether the acquisition time of the point cloud image and the texture image is synchronized. The image synchronization of the three-dimensional scanner is achieved efficiently and stably by setting the timestamp ingeniously, effectively reducing the requirements for the hardware image output sequence and time interval, thereby reducing the hardware cost of the three-dimensional scanner.

[0053] Optionally, the following provides a possible implementation method for determining whether the synchronization between the point cloud image and the texture image is successful by using the difference in timestamps. Figure 2 , Figure 1 The sub-steps of step S70 may include:

[0054] Step S701: If the difference is within a preset time range, it is determined that the synchronization of the point cloud image and the texture image is successful.

[0055] In the embodiment of the present invention, a preset time range is set according to the frame rate of the 3D scanner camera and a large amount of test data, assuming that the preset time range is [-60ms, 60ms]. When the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image is greater than or equal to -60 and less than or equal to 60, the synchronization thread determines that the synchronization of the point cloud image and the texture image is successful, and reports the successfully synchronized point cloud image and texture image to the main thread, so that the main thread processes according to the received point cloud image and texture image. The synchronization thread continues to obtain the next point cloud image and the next texture image for synchronization determination.

[0056] Optionally, the following provides a possible implementation method for determining whether the synchronization between the point cloud image and the texture image fails by using the difference in timestamps. Figure 2 , Figure 1 The sub-steps of step S70 may include:

[0057] Step S702: If the difference is not within the preset time range, it is determined that the synchronization of the point cloud image and the texture image has failed, and the point cloud image and the texture image are discarded.

[0058] In the embodiment of the present invention, assuming that the preset time range is [-60ms, 60ms], when the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image is less than or equal to -60 or greater than or equal to 60, the synchronization thread determines that the synchronization of the point cloud image and the texture image fails, discards the point cloud image and the texture image, and continues to obtain the next point cloud image and the next texture image for synchronization determination.

[0059] It can be seen that the embodiment of the present invention uses timestamps to identify point cloud images and texture images that fail to synchronize, and discards the point cloud images and texture images that fail to synchronize, so as to avoid color distortion of the three-dimensional model caused by the use of point cloud images and texture images that fail to synchronize, thereby reducing the scanning effect.

[0060] Optionally, in practical applications, the 3D scanner includes a point cloud camera and a texture camera. Figure 3 ,exist Figure 1 Before step S50, the method further includes the following steps:

[0061] Step S10, starting the point cloud camera and the texture camera at the same time, so that the point cloud camera takes a point cloud picture of the scanned object, and the texture camera takes a texture picture of the scanned object.

[0062] In the embodiment of the present invention, it is assumed that a point cloud image acquisition thread and a texture image acquisition thread are created. The point cloud image acquisition thread is used to start the point cloud camera, and the texture image acquisition thread is used to start the texture camera. The main thread notifies the point cloud image acquisition thread to start the point cloud camera at a preset start time to take a point cloud image of the scanned object. The main thread notifies the texture image acquisition thread to start the texture camera at a preset start time to take a texture image of the scanned object.

[0063] It can be seen that the embodiment of the present invention starts the point cloud camera and the texture camera at the same time, thereby ensuring that the point cloud camera and the texture camera can take point cloud images and texture images at the same time and from the same perspective, greatly improving the similarity between the scanned 3D model and the scanned object.

[0064] Optionally, for how to collect point cloud images and texture images, the following provides a possible implementation method. Please continue to refer to Figure 3 , after step S10, further comprising the following steps:

[0065] Step S20: According to a preset collection interval, point cloud images and texture images are collected by sending them to the point cloud camera and the texture camera at the same time.

[0066] In an embodiment of the present invention, the main thread notifies the point cloud image acquisition thread and the texture image acquisition thread to start acquiring point cloud images and texture images at the same time. The point cloud image acquisition thread acquires point cloud images from the point cloud camera according to a preset acquisition interval from the starting time, and the texture image acquisition thread acquires texture images from the texture camera according to a preset acquisition interval from the starting time.

[0067] Step S30, after the point cloud image is collected, a corresponding timestamp is set for the point cloud image, and the point cloud image and the corresponding timestamp are saved in the point cloud queue.

[0068] In an embodiment of the present invention, when the point cloud image acquisition thread receives a point cloud image sent by a point cloud camera, the current system time is set to the timestamp corresponding to the point cloud image, and the point cloud image and the corresponding timestamp are saved in the point cloud queue. The point cloud image acquisition thread continues to obtain the next point cloud image according to the preset acquisition interval until the scanned object is completed.

[0069] Step S40: After the texture image is collected, a corresponding timestamp is set for the texture image, and the texture image and the corresponding timestamp are saved in a texture queue.

[0070] In an embodiment of the present invention, when the texture image acquisition thread receives a texture image sent by a texture camera, the current system time is set to the timestamp corresponding to the texture image, and the texture image and the corresponding timestamp are saved in the point cloud queue. The texture image acquisition thread continues to obtain the next texture image according to the preset acquisition interval until the scanned object is completed.

[0071] It should be noted that the point cloud image acquisition thread and the texture image acquisition thread obtain point cloud images and texture images from the corresponding cameras at the same time. If the point cloud camera has taken point cloud images and the texture camera has taken texture images, the point cloud camera sends the taken point cloud images to the point cloud image acquisition thread, and the texture camera sends the taken texture images to the texture image acquisition thread. At this time, the receiving time of the point cloud image and the receiving time of the texture image are close, that is, the timestamp difference is small.

[0072] If the point cloud camera does not have any point cloud images taken and the texture camera does not have any texture images taken, the point cloud camera takes a point cloud image of the scanned object at the current viewing angle and sends it to the point cloud image acquisition thread, and the texture camera takes a texture image of the scanned object at the current viewing angle and sends it to the texture image acquisition thread. If the difference in shooting time is small, the receiving time of the point cloud image and the receiving time of the texture image are similar. If the difference in shooting time is large, the receiving time of the point cloud image and the receiving time of the texture image are large, that is, the timestamp difference is large.

[0073] If one camera has taken pictures, but the other camera does not, then the timestamp of the point cloud picture acquisition thread receiving the point cloud picture and the timestamp of the texture picture acquisition thread receiving the texture picture will differ greatly.

[0074] Optionally, a possible implementation method for generating a 3D model is provided below. Figure 2 , after step S70, further comprising the following steps:

[0075] Step S80, generating a three-dimensional model corresponding to the scanned object according to the successfully synchronized point cloud image and the corresponding texture image.

[0076] In an embodiment of the present invention, after the synchronization thread determines that the point cloud image and the texture image are successfully synchronized based on the timestamp difference, the successfully synchronized point cloud image and texture image are given to the main thread. The main thread performs color rendering based on the received point cloud image and the corresponding texture image in real time to generate a three-dimensional model corresponding to the scanned physics.

[0077] Based on the same inventive concept, the basic principle and technical effect of the picture synchronization device provided in the embodiment of the present invention are the same as those in the above embodiment. For the sake of brief description, for parts not mentioned in this embodiment, reference may be made to the corresponding contents in the above embodiment.

[0078] Please refer to Figure 4 , Figure 4 A block diagram of a picture synchronization device 300 provided in an embodiment of the present invention. The picture synchronization device 300 includes a processing module 301 , a calculation module 302 and a determination module 303 .

[0079] The processing module 301 is used to obtain a point cloud image in the point cloud queue and a texture image in the texture queue respectively; the point cloud image includes spatial information corresponding to the surface of the scanned object; the texture image includes color information corresponding to the surface of the scanned object; the point cloud image and the texture image are both obtained by scanning with a three-dimensional scanner;

[0080] A calculation module 302, used to calculate the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image;

[0081] The determination module 303 is used to determine whether the point cloud image and the texture image are synchronized according to the difference.

[0082] In summary, the image synchronization device provided by the embodiment of the present invention creates a point cloud queue and a texture queue to store point cloud images and texture images separately, and obtains point cloud images and texture images from the point cloud queue and the texture queue in a first-in-first-out order, respectively, and uses the difference between the acquisition timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image to determine whether the acquisition time of the point cloud image and the texture image is synchronized. The image synchronization of the three-dimensional scanner is achieved efficiently and stably by setting the timestamp ingeniously, effectively reducing the requirements for the hardware image output sequence and time interval, thereby reducing the hardware cost of the three-dimensional scanner.

[0083] Optionally, the determination module 303 is specifically configured to determine that the synchronization of the point cloud image and the texture image is successful if the difference is within a preset time range.

[0084] Optionally, the determination module 303 is specifically configured to determine that synchronization of the point cloud image and the texture image fails if the difference is not within a preset time range, and discard the point cloud image and the texture image.

[0085] Optionally, the three-dimensional scanner includes a point cloud camera and a texture camera; the processing module 301 is also used to concurrently start the point cloud camera and the texture camera at the same time, so that the point cloud camera takes a point cloud image of the scanned object, and the texture camera takes a texture image of the scanned object.

[0086] Optionally, the processing module 301 is also used to collect point cloud images and texture images to the point cloud camera and the texture camera at the same time according to a preset collection interval; after the point cloud image is collected, a corresponding timestamp is set for the point cloud image, and the point cloud image and the corresponding timestamp are saved in the point cloud queue; when the texture image is collected, a corresponding timestamp is set for the texture image, and the texture image and the corresponding timestamp are saved in the texture queue.

[0087] Optionally, the processing module is further used to generate a three-dimensional model corresponding to the scanned object based on the successfully synchronized point cloud image and the corresponding texture image.

[0088] Please refer to Figure 5 , is a block diagram of an electronic device 100 provided in an embodiment of the present invention. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0089] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0090] The processor 120 is used to read / write data or programs stored in the memory 110 and execute corresponding functions. For example, when the computer program stored in the memory 110 is executed by the processor 120, the picture synchronization method disclosed in the above embodiments can be implemented.

[0091] The communication module 130 is used to establish a communication connection between the electronic device 100 and other communication terminals through a network, and to send and receive data through the network.

[0092] It should be understood that Figure 5 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 5 More or fewer components as shown, or with Figure 5 Different configurations are shown. Figure 5 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0093] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by the processor 120, the image synchronization method disclosed in the above embodiments is implemented.

[0094] The embodiment of the present invention further provides a program product, which implements the picture synchronization method disclosed in the above embodiments when executed by the processor 120.

[0095] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes 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 box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0096] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0097] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for synchronizing pictures, characterized in that: The method comprises: Respectively obtain a point cloud image in a point cloud queue and a texture image in a texture queue; the point cloud image includes spatial information corresponding to the surface of the scanned object; the texture image includes color information corresponding to the surface of the scanned object; the point cloud image and the texture image are both obtained by scanning with a three-dimensional scanner; Calculate the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image; Whether the point cloud image and the texture image are synchronized is determined according to the difference.

2. The picture synchronization method according to claim 1, characterized in that: The determining, according to the difference, whether the point cloud image and the texture image are synchronized includes: If the difference is within a preset time range, it is determined that the point cloud image and the texture image are synchronized successfully.

3. The picture synchronization method according to claim 1, characterized in that: The determining, according to the difference, whether the point cloud image and the texture image are synchronized includes: If the difference is not within a preset time range, it is determined that the synchronization between the point cloud image and the texture image fails, and the point cloud image and the texture image are discarded.

4. The picture synchronization method according to claim 1, characterized in that: The three-dimensional scanner includes a point cloud camera and a texture camera; before the step of respectively acquiring the point cloud images in the point cloud queue and the texture images in the texture queue, the method further includes: The point cloud camera and the texture camera are started concurrently at the same time, so that the point cloud camera takes a point cloud picture of the scanned object, and the texture camera takes a texture picture of the scanned object.

5. The picture synchronization method according to claim 4, characterized in that: After the step of concurrently starting the point cloud camera and the texture camera at the same time, the method further includes: According to a preset collection interval, the point cloud image and the texture image are collected by the point cloud camera and the texture camera at the same time; After the point cloud image is collected, a corresponding timestamp is set for the point cloud image, and the point cloud image and the corresponding timestamp are saved in the point cloud queue; After the texture picture is collected, a corresponding timestamp is set for the texture picture, and the texture picture and the corresponding timestamp are saved in the texture queue.

6. The picture synchronization method according to claim 2, characterized in that: After the step of determining that the synchronization between the point cloud image and the texture image is successful, the method further includes: Based on the successfully synchronized point cloud image and the corresponding texture image, a three-dimensional model corresponding to the scanned object is generated.

7. A picture synchronization device, characterized in that: The device comprises: A processing module, used to respectively obtain a point cloud image in a point cloud queue and a texture image in a texture queue; the point cloud image includes spatial information corresponding to the surface of the scanned object; the texture image includes color information corresponding to the surface of the scanned object; the point cloud image and the texture image are both obtained by scanning with a three-dimensional scanner; A calculation module, used to calculate the difference between the timestamp corresponding to the point cloud image and the timestamp corresponding to the texture image; A determination module is used to determine whether the point cloud image and the texture image are synchronized according to the difference.

8. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the picture synchronization method according to any one of claims 1 to 6.

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 picture synchronization method according to any one of claims 1 to 6 is implemented.

10. A program product, characterized in that When the program product is executed by a processor, the picture synchronization method according to any one of claims 1 to 6 is implemented.

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