Construction method of three-dimensional model and intelligent scanner

Abstract

The invention provides a three-dimensional model construction method and an intelligent scanner. The method comprises the steps of acquiring point cloud data of an object, responding to completion of acquisition of the point cloud data, constructing a three-dimensional model of the object based on the point cloud data, and displaying the three-dimensional model. In response to completing the acquisition of the point cloud data, a three-dimensional model of the object is constructed based on the point cloud data. The use of a real-time image processing algorithm is avoided, the point cloud density of the three-dimensional model is improved, the cost is reduced, and the expansibility of a construction algorithm of the three-dimensional model is improved. And displaying the constructed three-dimensional model, and visualizing the three-dimensional model.

Description

Technical Field

[0001] The present application belongs to the field of image processing technology, and in particular relates to a three-dimensional model construction method and an intelligent scanner. Background Art

[0002] A scanner is a device used for three-dimensional model construction. The scanner can obtain the point cloud data of an object in real time and build a three-dimensional model of the object based on a real-time image processing algorithm. However, the point cloud density of the three-dimensional model processed by the real-time image processing algorithm is not high, and the iterative upgrade of the real-time image processing algorithm needs to consider real-time performance, the upgrade cost is high, and the algorithm is not robust. For this reason, the real-time image processing algorithm usually needs to be deployed on a PC (Personal Computer) device for use. However, once the real-time image processing algorithm is deployed on a PC device, it is difficult for the user to add more functional algorithms based on the real-time image processing algorithm, and the algorithm has low scalability. Summary of the invention

[0003] In view of this, an embodiment of the present application provides a method for constructing a three-dimensional model and an intelligent scanner to improve the point cloud density of the constructed three-dimensional model and improve the scalability of the three-dimensional model construction algorithm.

[0004] In a first aspect, the present application provides an intelligent scanner, comprising: a scanning unit for acquiring point cloud data of an object; a processing unit for constructing a three-dimensional model of the object based on the point cloud data in response to completing the acquisition of the point cloud data; and a display unit for displaying the three-dimensional model.

[0005] In some embodiments, it also includes: a camera unit for acquiring a color image of the object; the processing unit is also used to extract color data of the color image; the processing unit is also used to construct the colored three-dimensional model of the object according to the point cloud data and the color data based on a preset dense reconstruction algorithm.

[0006] In some embodiments, it also includes: a display unit for displaying a data list interface; wherein the data list interface is used to display the storage file of the point cloud data in response to completing the acquisition of the point cloud data; the processing unit is also used to construct the three-dimensional model of the object based on a preset dense reconstruction algorithm in response to a selection operation to construct the storage file of the point cloud data.

[0007] A second aspect of the present application provides a method for constructing a three-dimensional model, which is applied to an intelligent scanner. The method comprises: acquiring point cloud data of an object; in response to completing the acquisition of the point cloud data, constructing the three-dimensional model of the object based on the point cloud data; and displaying the three-dimensional model.

[0008] In some embodiments, constructing the three-dimensional model of the object based on the point cloud data includes: acquiring a color image of the object; extracting color data of the color image; and constructing the colored three-dimensional model of the object according to the point cloud data and the color data based on a preset dense reconstruction algorithm.

[0009] In some embodiments, the construction method further includes: creating an AR environment; and obtaining an AR three-dimensional model based on fusing the three-dimensional model with the AR environment.

[0010] In some embodiments, in response to completing the acquisition of the point cloud data, constructing the three-dimensional model of the object based on the point cloud data, includes: displaying a data list interface; in response to completing the acquisition of the point cloud data, displaying the storage file of the point cloud data on the data list interface; in response to a selection operation to construct the storage file of the point cloud data, constructing the three-dimensional model of the object based on a preset dense reconstruction algorithm.

[0011] In some embodiments, in response to a selection operation to construct the storage file of the point cloud data, the three-dimensional model of the object is constructed based on a preset dense reconstruction algorithm, including: displaying a point cloud reconstruction module corresponding to the storage file of the point cloud data; in response to a determination operation on the point cloud reconstruction module, constructing the three-dimensional model based on the preset dense reconstruction algorithm.

[0012] In some embodiments, after the response to the selection operation of constructing the storage file of the point cloud data, the construction method further includes: displaying the construction progress status of the three-dimensional model.

[0013] In some embodiments, after constructing the three-dimensional model of the object, the construction method also includes: in response to a determination operation on a function selection module corresponding to the storage file of the three-dimensional model, displaying a selection interface of the function selection module; wherein the selection interface includes a download module, a multiple selection module, a deletion module and a reconstruction module; in response to a determination operation on the download module, downloading the three-dimensional model; in response to a determination operation on the deletion module, deleting the three-dimensional model; in response to a determination operation on the reconstruction module, updating the three-dimensional model based on the preset dense reconstruction algorithm.

[0014] Through the three-dimensional model construction method and intelligent scanner provided by the present application, the three-dimensional model of the object is constructed based on the point cloud data in response to the completion of the acquisition of the point cloud data. The use of real-time image processing algorithms is avoided, the point cloud density of the three-dimensional model is improved, the cost is reduced, and the scalability of the three-dimensional model construction algorithm is improved. The constructed three-dimensional model is displayed to visualize the three-dimensional model. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure of a smart scanner according to an embodiment of the present application.

[0016] Figure 2 A schematic diagram of a process of constructing a three-dimensional model according to an embodiment of the present application.

[0017] Figure 3 A schematic diagram of an application scenario of a method for constructing a three-dimensional model according to an embodiment of the present application.

[0018] Figure 4 A schematic diagram of another application scenario of the method for constructing a three-dimensional model according to an embodiment of the present application.

[0019] Figure 5 A schematic diagram of yet another application scenario of the method for constructing a three-dimensional model according to an embodiment of the present application.

[0020] Figure 6 A schematic diagram of another application scenario of the method for constructing a three-dimensional model according to an embodiment of the present application.

[0021] Figure 7 A schematic diagram of an application scenario of a method for constructing a three-dimensional model according to another embodiment of the present application.

[0022] Figure 8 A schematic diagram of another application scenario of a method for constructing a three-dimensional model according to yet another embodiment of the present application.

[0023] Fig. 9 A schematic diagram of yet another application scenario of the method for constructing a three-dimensional model according to yet another embodiment of the present application.

[0024] Fig.10 This is another structural schematic diagram of the smart scanner according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the embodiments of the present application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of the associated objects, indicating that three relationships may exist. In addition, it should be understood that in the description of the present application, the words "first", "second", etc. are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0026] The embodiments of the present application provide a method for constructing a three-dimensional model and an intelligent scanner, which improve the point cloud density of the constructed three-dimensional model and improve the scalability of the three-dimensional model construction algorithm.

[0027] See also Figure 1 , Figure 1 1 is a schematic diagram of the structure of the smart scanner according to an embodiment of the present application. The method for constructing a three-dimensional model is applied to the smart scanner 10 .

[0028] See also Figure 1 and 2 The method for constructing a three-dimensional model in the embodiment of the present application includes the following steps:

[0029] Step S101: Acquire point cloud data of an object.

[0030] like Figure 1 As shown, the smart scanner 10 includes a scanning unit 11, and the scanning unit 11 is used to obtain point cloud data of an object.

[0031] Step S102: In response to completing the acquisition of the point cloud data, constructing a three-dimensional model of the object based on the point cloud data.

[0032] The smart scanner 10 also includes a processing unit 12. The processing unit 12 is used to build a three-dimensional model of the object based on the point cloud data in response to completing the acquisition of the point cloud data. The processing unit 12 is deployed with an image post-processing algorithm. Specifically, based on the environment of the development board of the smart scanner 10, the post-processing algorithm is adapted and transplanted to the processing unit 12 of the smart scanner 10. The post-processing algorithm refers to an algorithm that constructs the point cloud data into a three-dimensional model after completing the acquisition of the point cloud data. For example, after the scanning unit 11 completes a scan of the building, the processing unit 12 constructs a three-dimensional model of the building based on the post-processing algorithm according to all the point cloud data after a scan of the building.

[0033] It can be understood that the post-processing algorithm processes the point cloud data after completing a scan, changing the method of the real-time image processing algorithm to obtain point cloud data while building a 3D model. There is no need to consider the real-time performance of the real-time image processing algorithm, which improves the point cloud density of the 3D model and reduces costs. After all the point cloud data is acquired, the post-processing algorithm corresponding to the specific needs is used to improve the scalability of the 3D model construction algorithm.

[0034] Step S103: Display the three-dimensional model.

[0035] The intelligent scanner 10 further includes a display unit 13, and the display unit 13 is used to display the three-dimensional model.

[0036] See also Figure 3 In one application scenario, the smart scanner 10 is installed on a collection platform (not shown), and the collection platform includes a handheld device, a vehicle or an aircraft, etc. The processing unit 12 of the smart scanner 10 controls the scanning unit 11 of the smart scanner 10 to scan a building and store the point cloud data of the building in response to the operator's pressing operation for a first preset time. The processing unit 12 controls the scanning unit 11 to stop scanning in response to the operator's pressing operation for a second preset time. The processing unit 12 sends all the point cloud data after this scan to the processing unit 12. The processing unit 12 constructs all the point data into a three-dimensional model of the building based on a post-processing method, and the display unit 13 displays the three-dimensional model.

[0037] It can be understood that the above technical solution builds the 3D model of the object based on the point cloud data in response to the completion of the acquisition of the point cloud data. It avoids the use of real-time image processing algorithms, improves the density of the point cloud of the 3D model, reduces costs and improves the scalability of the 3D model construction algorithm. The constructed 3D model is displayed to visualize the 3D model.

[0038] It is understandable that the post-processing algorithm is transplanted to the intelligent scanner 10 including the scanning unit 11. The operator no longer needs to use a PC device to process the point cloud data obtained by the scanning unit 11, which reduces the cost and threshold of the device for users to process point cloud data. Exemplarily, the post-processing algorithm includes a dense reconstruction algorithm and a point cloud color algorithm. Among them, the dense point cloud mapping is used to generate a three-dimensional model based on the point cloud data. The point cloud color algorithm is used to give color to the three-dimensional model through color data to obtain a colored three-dimensional model.

[0039] In some embodiments, constructing a three-dimensional model of an object based on point cloud data includes the following steps:

[0040] Step S201: Acquire a color image of an object.

[0041] like Figure 3 As shown, the intelligent scanner 10 further includes a camera unit 14, which is used to collect color images of objects. For example, if a building is generally white, the camera unit 14 collects images of the building, and the collected images show the white building.

[0042] Step S202: extracting color data of the color image.

[0043] The processing unit 12 is used to extract color data of the color image. The color data can be represented by RGB. For example, the color data of the image of the white building is extracted as red (Red, R) = 255, green (Green, G) = 255, and blue (Blue, B) = 255.

[0044] Step S203: Based on a preset dense reconstruction algorithm, construct a colored three-dimensional model of the object according to the point cloud data and the color data. The processing unit 12 is also used to construct a colored three-dimensional model of the object according to the point cloud data and the color data according to a preset dense reconstruction algorithm.

[0045] Among them, the dense reconstruction algorithm is used to extract features, match, reconstruct, close the loop and other steps of the point cloud data to obtain a three-dimensional model. Then, the point cloud color algorithm is used to assign the corresponding color to the three-dimensional model according to the color data to obtain a colored three-dimensional model.

[0046] Exemplarily, the process of constructing a 3D model using a dense reconstruction algorithm may include:

[0047] Prepare the point cloud data of the object. The point cloud data usually contains the corresponding parameters such as scanning angle, scanning distance, scanning direction, etc. Then, pre-process the point cloud data of the object, including filtering, denoising, downsampling and other operations to improve the quality of the point cloud data. Then, align the point cloud data of different perspectives, such as using rigid body transformation, error-based registration and other registration methods, so that the point cloud data of different perspectives establish a corresponding relationship in space. Then, fuse the point cloud data of multiple perspectives, such as using triangle-based fusion, volume-based fusion and other fusion methods to generate a unified three-dimensional model. Then, optimize the outliers or holes in the three-dimensional model, such as using noise model-based repair, topology-based optimization and other optimization methods to improve the quality and realism of the three-dimensional model.

[0048] It is understandable that the post-processing algorithm is transplanted to the smart scanner 10 including the camera unit 14. The operator no longer needs to use a PC device to process the color data of the color image acquired by the camera unit 14, which reduces the equipment cost and threshold for users to process point cloud data and color data.

[0049] In some embodiments, after obtaining the three-dimensional model, the method for constructing the three-dimensional model further includes:

[0050] The processing unit 12 is also used to obtain a virtual object model of an object based on the virtual reality technology and the three-dimensional model or the colored three-dimensional model.

[0051] Virtual Reality (VR) is a technology that uses computers and other devices to create a realistic three-dimensional virtual world with multiple sensory experiences such as vision, touch, and smell, so that people in the virtual world can feel as if they are in the real world. After building a virtual object model of an object based on VR technology, the user can be in the virtual object model and experience the virtual object model through multiple sensory experiences such as three-dimensional vision, touch, and smell.

[0052] In some embodiments, after obtaining the three-dimensional model, the method for constructing the three-dimensional model further includes: creating an AR environment; and obtaining an AR three-dimensional model based on fusing the three-dimensional model and the AR environment.

[0053] The processing unit 12 is also used to create an AR environment, and obtain an AR three-dimensional model by fusing the three-dimensional model with the AR environment. The display unit 13 is also used to display the AR three-dimensional model.

[0054] The AR environment refers to the three-dimensional virtual environment in AR (Augmented Reality) augmented reality technology. The AR three-dimensional model refers to the interactive virtual object model that configures the three-dimensional model of the object into the created AR environment. Users can interact with the AR three-dimensional model to achieve virtual habits and real scenes, and can intuitively observe the scanned objects.

[0055] Exemplarily, the method of creating an AR environment may include: photographing the surrounding environment through the camera unit 14 to obtain an environment video; the processing unit 12 creates a corresponding AR environment based on the image data frames in the environment video according to a preset AR algorithm. In other examples, the AR environment may also be a virtual environment template pre-stored in a database, and the virtual environment template may be created by the user according to the environment video obtained by photographing the environment according to the specified environment, and based on the image data frames in the environment video according to a preset AR algorithm.

[0056] It is understandable that the user can integrate the three-dimensional model with different AR environments so that the AR three-dimensional model of the object can be simulated and reproduced in different scenes, so that the user can observe the object in different environments. In some embodiments, the method for constructing the three-dimensional model also includes displaying a data list interface.

[0057] The display unit 13 is also used to display the data list interface. Figure 4 and Figure 8 The data list interface 01 is created based on the front-end interface technology, which uses software tools such as QT software and Open Graphics Library (OpenGL) to create interfaces. The data list interface 01 is displayed after the smart scanner 10 responds to the start display instruction. The start display instruction can be generated when the acquisition of point cloud data is completed, when the smart scanner 10 is started, and in response to the determination selection of displaying the data list interface 01. It can be understood that the generation method of the start display instruction can be set according to actual conditions.

[0058] The data list interface 01 includes multiple storage files 02. Storage file 02 is a file used to save data in a medium such as a computer hard disk, flash memory, or cloud storage. The data in storage file 02 changes with the different steps of the construction method of the embodiment of the present application. For example, after the acquisition of point cloud data is completed, the data in storage file 02 is point cloud data. After the three-dimensional model is created, the data in storage file 02 is a three-dimensional model. Each storage file 02 has a corresponding function selection module 03, and function selection module 03 includes multiple function modules. The type and function of the function module will change with the different data in storage file 02. For example, Figure 4 As shown, when the data in the storage file 02 is point cloud data, the function selection module 03 includes a point cloud reconstruction module 033. Figure 8 As shown, when the data in the storage file 02 is a three-dimensional model, the function selection module 03 includes a reconstruction module 036 .

[0059] It can be understood that the post-processing process of the point cloud data or the three-dimensional model is visualized through the interface elements such as the data list interface 01. The post-processing includes downloading, deleting and multi-selecting the point cloud data or the three-dimensional model corresponding to the storage file 02, constructing the point cloud data into a three-dimensional model, and reconstructing the three-dimensional model.

[0060] It can be understood that, through interface elements such as the data list interface 01, access interfaces can be provided for more post-processing algorithms.

[0061] In some embodiments, in response to completing the acquisition of the point cloud data, constructing a three-dimensional model of the object based on the point cloud data includes: in response to completing the acquisition of the point cloud data, displaying the storage file of the point cloud data on the data list interface. The display unit 13 is also used to display the storage file of the point cloud data on the data list interface in response to completing the acquisition of the point cloud data. Figure 4 As shown, at this time, the data in the storage file 02 is point cloud data. Each storage file 02 represents all the point cloud data obtained after the scanning unit 11 scans the object each time. For example, the storage file 02 named Test 2 contains the point cloud data obtained by the scanning unit 11 scanning from the right side to the left side of the object. The storage file 02 named Test 1 contains the point cloud data obtained by the scanning unit 11 scanning from the left side to the right side of the object.

[0062] In some embodiments, after displaying the storage file of the point cloud data on the data list interface, the method for constructing a three-dimensional model further includes: displaying a selection interface in response to a determination operation of a function selection module corresponding to the storage file of the point cloud data. The display unit 13 is used to display a selection interface in response to a determination operation of a function selection module corresponding to the storage file of the point cloud data.

[0063] like Figure 4As shown, the selection interface 031 includes a download module 032 , a multiple selection module 034 , a deletion module 035 and a point cloud reconstruction module 033 .

[0064] In response to the determination operation of the download module, the point cloud data is downloaded. The processing unit 12 is also used for downloading the point cloud data in response to the determination operation of the download module. For example, Figure 4 As shown, the download module 032 of the point cloud data corresponding to the storage file 02 named as Test 1 performs a determination operation, and the storage file 02 of Test 1 is downloaded to the local of the smart scanner 10, or downloaded to the external storage device of the smart scanner 10.

[0065] In response to the determination operation of the deletion module, the point cloud data is deleted. The processing unit 12 is also used to delete the point cloud data in response to the determination operation of the deletion module. Figure 4 As shown, the deletion module 035 of the storage file 02 named as Test 1 performs a determination operation to delete the point cloud data corresponding to the storage file 02 of Test 1.

[0066] In response to the determination operation of the multiple selection module, point cloud data corresponding to multiple storage files are selected. The processing unit 12 is also used for selecting point cloud data corresponding to multiple storage files in response to the determination operation of the multiple selection module. For example, Figure 4 As shown, the multiple selection module 034 of the storage files 02 named test 1, test 2, non-rotation 1, non-rotation 2 and non-rotation 3 is determined, and the point cloud data corresponding to the storage files 02 of test 1, test 2, non-rotation 1, non-rotation 2 and non-rotation 3 are selected. After the point cloud data corresponding to the multiple storage files 02 are selected, post-processing such as downloading, deleting and constructing can be performed, and the specific method is shown in the above embodiment.

[0067] In response to the selection operation of constructing the storage file of the point cloud data, the three-dimensional model of the object is constructed based on the preset dense reconstruction algorithm. The processing unit 12 is also used for constructing the three-dimensional model of the object based on the preset dense reconstruction algorithm in response to the selection operation of constructing the storage file of the point cloud data. Figure 4 As shown, the display unit 13 displays the point cloud reconstruction module 033 corresponding to the storage file 02 of the point cloud data. In response to the determination operation on the point cloud reconstruction module 033, the processing unit 12 constructs a three-dimensional model based on a preset dense reconstruction algorithm.

[0068] It can be understood that the post-processing process of the point cloud data is visualized through the data list interface 01. Corresponding post-processing methods can be adopted for point cloud data in different situations.

[0069] In some embodiments, in response to the selection operation of constructing the storage file of the point cloud data, the method for constructing the three-dimensional model further includes: displaying the construction progress status of the three-dimensional model. The display unit 13 is also used to display the construction progress status of the three-dimensional model. Figure 5 As shown, the construction progress status can be reflected by the progress bar 04. It can be understood that the construction progress of the three-dimensional model can be intuitively understood through the construction progress status.

[0070] In some embodiments, the method for constructing a three-dimensional model further includes: in response to the completion of the construction of the three-dimensional model, displaying a progress bar for completing the construction. In response to a confirmation operation on the progress bar for completing the construction, displaying a preview prompt window. The preview prompt window includes prompt information that the construction has been completed, a preview control, and a cancel control. In response to a confirmation operation on the cancel control, jumping back to the data list interface. In response to a confirmation operation on the preview control, displaying the three-dimensional model on the display interface.

[0071] The display unit 13 is also used to display a progress bar indicating the completion of the construction of the three-dimensional model in response to the completion of the construction. In response to a confirmation operation on the progress bar indicating the completion of the construction, a preview prompt window is displayed. In response to a confirmation operation on the cancel control, the interface is jumped back to the data list interface. In response to a confirmation operation on the preview control, the three-dimensional model is displayed on the display interface.

[0072] See also Figure 6 and Figure 7 In one application scenario, in response to the completion of the construction of the three-dimensional model, the following is displayed: Figure 6 In response to the confirmation operation on the progress bar 04, the preview prompt window 05 is displayed. The preview prompt window 05 includes prompt information that the construction has been completed, a preview control 051 and a cancel control 052. In response to the confirmation operation on the cancel control 052, the interface 01 is jumped back to the data list interface 01. In response to the confirmation operation on the preview control 051, the preview prompt window 05 is displayed. Figure 7 The display interface 06 shown displays a three-dimensional model.

[0073] In some embodiments, after displaying the three-dimensional model, the method for constructing the three-dimensional model further includes: in response to an adjustment operation on the three-dimensional model, displaying the state of the adjusted three-dimensional model. The display unit 13 is also used to display the state of the adjusted three-dimensional model in response to an adjustment operation on the three-dimensional model. The adjustment operation includes operations such as rotation, translation, scaling, shearing, measurement, splicing, adjusting color, adjusting display style, exporting and sharing the three-dimensional model.

[0074] In some embodiments, after constructing the three-dimensional model of the object, the three-dimensional model construction method further includes: in response to a determination operation on the function selection module corresponding to the storage file of the three-dimensional model, displaying a selection interface of the function selection module. The display unit 13 is also used to display the selection interface of the function selection module in response to a determination operation on the function selection module corresponding to the storage file of the three-dimensional model.

[0075] like Figure 8 As shown, at this time, the data in the storage file 02 is a three-dimensional model. Each storage file 02 represents a three-dimensional model constructed by the processing unit 12. For example, the storage file 02 named Test 2 contains a three-dimensional model constructed by the processing unit 12 based on the point cloud data obtained by scanning from the right side to the left side of the object. The storage file 02 named Test 1 contains a three-dimensional model constructed by the processing unit 12 based on the point cloud data obtained by scanning from the left side to the right side of the object. The difference between the data list interface 01 and the data list interface 01 in which the data in the storage file 02 is point cloud data is that the object acted on by the function selection module 03 is changed from point cloud data to a three-dimensional model.

[0076] Specifically, in response to a determination operation on the function selection module, a selection interface is displayed. The display unit 13 is also used to display a selection interface in response to a determination operation on the function selection module.

[0077] like Figure 8 As shown, the selection interface 031 includes a download module 032 , a reconstruction module 036 , a multiple selection module 034 and a deletion module 035 .

[0078] In response to the determination operation of the download module, the three-dimensional model is downloaded. The display unit 13 is also used to download the three-dimensional model in response to the determination operation of the download module. For example, Figure 8 As shown, the download module 032 of the storage file 02 named as Test 1 is determined, and the three-dimensional model corresponding to the storage file 02 of Test 1 is downloaded to the local of the smart scanner 10, or downloaded to the external storage device of the smart scanner 10.

[0079] In response to the determination operation on the re-reconstruction module, the three-dimensional model is updated based on the preset dense reconstruction algorithm. The processing unit 12 is also used for updating the three-dimensional model based on the preset dense reconstruction algorithm in response to the determination operation on the re-reconstruction module.

[0080] It is understandable that if the three-dimensional model constructed by the point cloud data does not conform to the expected three-dimensional model, the three-dimensional model can be reconstructed through the reconstructing module 036 .

[0081] In response to the determination operation on the deletion module, the three-dimensional model is deleted. The processing unit 12 is also used to delete the three-dimensional model in response to the determination operation on the deletion module. For example, the deletion module 035 of the storage file 02 named as test 1 is determined to delete the three-dimensional model corresponding to the storage file 02 of test 1.

[0082] In response to the determination operation of the multiple selection module, multiple three-dimensional models are selected. The processing unit 12 is also used to select multiple three-dimensional models in response to the determination operation of the multiple selection module. For example, Figure 8 As shown, the multiple selection module 034 of the storage files 02 named test 1, test 2, non-rotation 1, non-rotation 2 and non-rotation 3 is confirmed, and the three-dimensional models corresponding to the storage files 02 named test 1, test 2, non-rotation 1, non-rotation 2 and non-rotation 3 are selected. After selecting the three-dimensional models corresponding to the multiple storage files 02, post-processing such as downloading, deleting and building can be performed. The specific method is shown in the above Figure 8 The embodiments involved.

[0083] It can be understood that the post-processing process of the three-dimensional model is visualized through the data list interface 01. Corresponding post-processing can be adopted for the three-dimensional models in different situations.

[0084] In some embodiments, the function selection module 03 of the data list interface 01 further includes an attribute module (not shown). In response to the determination selection of the attribute module, the attributes of the data in the storage file corresponding to the attribute module are displayed. The display unit 13 is also used to display the attributes of the data in the storage file corresponding to the attribute module in response to the determination selection of the attribute module.

[0085] Specifically, Figure 4 or Figure 8 The data list interface 01 shown. The function selection module 03 also includes an attribute module ( Figure 4 or Figure 8 After selecting the property module, the following is displayed: Fig. 9 The property interface shown includes a plurality of storage files 02. In response to a selection operation on a storage file 02, the properties of the data in the storage file 02 are displayed. The properties include color, quantity, and the like.

[0086] In some embodiments, after acquiring the point cloud data of the object, the method for constructing the three-dimensional model further includes: constructing the three-dimensional model of the object in real time according to the point cloud data, so that when the acquisition of the point cloud data is completed, the three-dimensional model is formed. The processing unit 12 is also used to construct the three-dimensional model of the object in real time according to the point cloud data, so that when the acquisition of the point cloud data is completed, the three-dimensional model is formed. It is understandable that the processing unit 12 can also be deployed with a real-time image processing algorithm. That is, the processing unit 12 can also construct the three-dimensional model while acquiring the point cloud data.

[0087] It is understandable that the three-dimensional model constructed based on the real-time image processing algorithm can also appear in the form of a storage file 02 on the data list interface 01. For specific operation methods of the storage file 02, please refer to the relevant Figure 8 The embodiment shown.

[0088] It can be understood that this embodiment provides an opportunity to reconstruct the three-dimensional model constructed based on the real-time image processing algorithm through visual interface elements such as the data list interface 01.

[0089] See also Fig.10 , Fig.10 A schematic diagram of the structure of the smart scanner 10 provided in the embodiment of the present application. In one embodiment, the smart scanner 10 includes a scanning unit 11, a processing unit 12, a display unit 13, a camera unit 14 and a storage unit 15. The scanning unit 11, the processing unit 12, the display unit 13, the camera unit 14 and the storage unit 15 are respectively connected to the processing unit 12 for communication. Those skilled in the art should understand that Fig.10 The structure of the smart scanner 10 shown does not constitute a limitation of the embodiments of the present application. The smart scanner 10 may also include more or less other hardware or software than shown in the figure, or a different arrangement of components.

[0090] As an optional implementation, the scanning unit 11 is used to obtain point cloud data of the object, and the scanning unit 11 can be a scanner. The camera unit 14 is used to obtain a color image of the object, and the camera unit 14 can be a camera. The display unit 13 is used to display an interface, a three-dimensional model, and a virtual object model. The display unit 13 includes a display panel. The display panel can be a liquid crystal display unit 13 (Liquid Crystal Display, LCD), an organic light-emitting diode (Organic Light-Emitting Diode, OLED), etc.

[0091] As an optional implementation, the storage unit 15 is used to store computer programs and various data. The storage unit 15 may include any other computer-readable medium that can be used to carry or store data, such as a read-only memory (ROM), a random access memory (RAM), or a programmable read-only memory (PROM).

[0092] As an optional implementation, at least one processing unit 12 may include an integrated circuit, for example, a single packaged integrated circuit, or multiple integrated circuits with the same or different functions, including a microprocessor, a digital processing chip, a graphics processor, and a combination of various control chips. At least one processing unit 12 is the control core (5ontrol unit) of the intelligent scanner 10, and executes various functions and processes data of the intelligent scanner 10 by running or executing programs or modules stored in the storage unit 15, and calling data stored in the storage unit 15. The storage unit 15 stores a computer program, and at least one processing unit 12 can call the computer program stored in the storage unit 15 to execute the method for building the above-mentioned three-dimensional model.

[0093] The present application also provides a storage medium, wherein the storage medium stores computer instructions, and when the instructions are executed on a computing device, the computing device can execute the three-dimensional model construction method provided in the above-mentioned embodiment.

[0094] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. An intelligent scanner, characterized in that: include: A scanning unit, used to obtain point cloud data of an object; a processing unit, configured to construct a three-dimensional model of the object based on the point cloud data in response to completing the acquisition of the point cloud data; A display unit is used to display the three-dimensional model.

2. The intelligent scanner according to claim 1, characterized in that: Also includes: a camera unit, for acquiring a color image of the object; The processing unit is also used to extract color data of the color image; The processing unit is also used to construct the colored three-dimensional model of the object according to the point cloud data and the color data based on a preset dense reconstruction algorithm.

3. The intelligent scanner according to claim 1, characterized in that: Also includes: A display unit, configured to display a data list interface; wherein the data list interface is configured to display a storage file of the point cloud data in response to completion of acquisition of the point cloud data; The processing unit is further configured to construct the three-dimensional model of the object based on a preset dense reconstruction algorithm in response to a selection operation of constructing the storage file of the point cloud data.

4. A method for constructing a three-dimensional model, characterized in that: Applied to the intelligent scanner, the construction method includes: Get point cloud data of the object; In response to completing the acquisition of the point cloud data, constructing the three-dimensional model of the object based on the point cloud data; The three-dimensional model is displayed.

5. The construction method according to claim 4, characterized in that: The constructing the three-dimensional model of the object based on the point cloud data comprises: Acquiring a color image of the object; extracting color data of the color image; Based on a preset dense reconstruction algorithm, the colored three-dimensional model of the object is constructed according to the point cloud data and the color data.

6. The construction method according to claim 4, characterized in that: The construction method also includes: Create an AR environment; The three-dimensional model and the AR environment are fused to obtain an AR three-dimensional model.

7. The construction method according to claim 4, characterized in that: In response to completing the acquisition of the point cloud data, constructing the three-dimensional model of the object based on the point cloud data includes: Display the data list interface; In response to completing the acquisition of the point cloud data, displaying a storage file of the point cloud data on the data list interface; In response to a selection operation of constructing the storage file of the point cloud data, the three-dimensional model of the object is constructed based on a preset dense reconstruction algorithm.

8. The construction method according to claim 7, characterized in that: In response to the selection operation of constructing the storage file of the point cloud data, constructing the three-dimensional model of the object based on a preset dense reconstruction algorithm, comprises: Display a point cloud reconstruction module corresponding to the storage file of the point cloud data; In response to the determination operation of the point cloud reconstruction module, the three-dimensional model is constructed based on the preset dense reconstruction algorithm.

9. The construction method according to claim 7, characterized in that: After the selection operation of constructing the storage file of the point cloud data is performed in response, the construction method further includes: The construction progress status of the three-dimensional model is displayed.

10. The construction method according to claim 7, characterized in that: After constructing the three-dimensional model of the object, the construction method further includes: In response to a determination operation on a function selection module corresponding to the storage file of the three-dimensional model, a selection interface of the function selection module is displayed; wherein the selection interface includes a download module, a multiple selection module, a deletion module and a reconstruction module; In response to a determination operation on the download module, downloading the three-dimensional model; In response to a determination operation on the deletion module, deleting the three-dimensional model; In response to the determination operation of the re-reconstruction module, the three-dimensional model is updated based on the preset dense reconstruction algorithm.

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