Measurement method and device, electronic equipment and storage medium

Abstract

The invention discloses a measurement method and device, electronic equipment and a storage medium, and belongs to the technical field of three-dimensional scanning. The method comprises the following steps: acquiring scanning data of a tested object; wherein the tested object is configured with an adaptive object, and the adaptive object comprises a plurality of adaptive feature points; determining a target scanning point set corresponding to the plurality of adaptive feature points from the scanning data; and calculating to obtain a feature point set of the measured object according to the position relationship between the adaptive object and the measured object and the target scanning point set. According to the embodiment of the invention, the adaptive object is introduced, the adaptive feature points of the adaptive object are used as references, the target scanning point set corresponding to the adaptive feature points is identified from the scanning data, and the feature point set of the detected object is calculated by combining the spatial position relationship between the adaptive object and the detected object. Fitting according to the whole point cloud is not needed, the amount of data needing to be processed is reduced, and therefore the efficiency of object feature measurement is improved.

Description

Technical Field

[0001] The present application belongs to the field of three-dimensional scanning technology, and in particular, relates to a measurement method, device, electronic equipment and storage medium. Background Art

[0002] In modern manufacturing, checking whether a workpiece is qualified is a key step in ensuring product quality. In order to determine whether a workpiece is qualified, it is necessary to accurately measure geometric tolerance indicators such as roundness, coaxiality, parallelism, flatness and cylindricity. The measurement of these geometric parameters requires the reconstruction of the geometric features of the workpiece, such as straight lines, planes, circles, cylinders, holes and slots, so that the qualification of the workpiece can be reliably evaluated.

[0003] In related technologies, a 3D scanning device is usually used to scan the workpiece to obtain detailed point cloud data, and then the point cloud is used to directly fit the required features. However, since the amount of point cloud data is usually huge, the computing time and resources required for processing and fitting are relatively high, which affects the overall measurement efficiency. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a measurement method, a device, an electronic device and a storage medium to improve the efficiency of object feature measurement.

[0005] In a first aspect, the present application provides a measurement method, comprising:

[0006] Acquire scan data of the object under test; wherein the object under test is configured with an adaptation object, and the adaptation object includes a plurality of adaptation feature points;

[0007] Determining a target scanning point set corresponding to a plurality of the adapted feature points from the scanning data;

[0008] The feature point set of the measured object is calculated according to the positional relationship between the matching object and the measured object and the target scanning point set.

[0009] According to the measurement method of the present application, the scanning data of the measured object is obtained; wherein the measured object is configured with an adapter object, and the adapter object includes a plurality of adapter feature points; a target scanning point set corresponding to the plurality of the adapter feature points is determined from the scanning data; and a feature point set of the measured object is calculated based on the positional relationship between the adapter object and the measured object and the target scanning point set. The embodiment of the present application introduces an adapter object, uses the adapter feature points of the adapter object as a reference, identifies the target scanning point set corresponding to these adapter feature points from the scanning data, and calculates the feature point set of the measured object in combination with the spatial positional relationship between the adapter object and the measured object, without the need for fitting based on the entire point cloud, thereby reducing the amount of data that needs to be processed, thereby improving the efficiency of object feature measurement.

[0010] According to an embodiment of the present application, determining a target scanning point set corresponding to the plurality of adapted feature points from the scanning data includes:

[0011] Acquire first position coordinates of a plurality of the adaptation feature points in a first coordinate system corresponding to the adaptation object;

[0012] Extracting second position coordinates of a scanning point set in the scanning data in a second coordinate system corresponding to the scanning data;

[0013] A target scanning point set corresponding to the plurality of adapted feature points is determined from the scanning point set according to the first position coordinates and the second position coordinates.

[0014] In this embodiment, by acquiring the position coordinates of the adaptation feature points in the first coordinate system and the position coordinates of the scanning point set in the second coordinate system, the target scanning point set corresponding to the adaptation feature points can be accurately identified from the complex scanning data efficiently.

[0015] According to an embodiment of the present application, obtaining first position coordinates of the plurality of adaptation feature points in a first coordinate system corresponding to the adaptation object includes:

[0016] Scanning the adaptation object with a scanner to obtain three-dimensional coordinates of a plurality of adaptation feature points of the adaptation object;

[0017] The three-dimensional coordinates are determined as first position coordinates of the plurality of adapted feature points in a first coordinate system.

[0018] In this embodiment, the three-dimensional coordinates of multiple adaptation feature points of the adaptation object are obtained by a scanner, and the spatial data of the multiple adaptation feature points can be automatically extracted, thereby reducing the errors that may be introduced by manual measurement and improving the accuracy of obtaining the positions of the adaptation feature points.

[0019] According to an embodiment of the present application, the step of calculating the feature point set of the object to be measured according to the positional relationship between the adaptation object and the object to be measured and the target scanning point set includes:

[0020] Calculating a coordinate transformation relationship according to first position coordinates of the plurality of adapted feature points in the first coordinate system and third position coordinates of the target scanning point set in the second coordinate system;

[0021] A feature point set of the measured object is obtained by calculation according to the positional relationship between the matching object and the measured object and the coordinate transformation relationship.

[0022] In this embodiment, by calculating the positions of the adapted feature points and the target scanning point set at different coordinates, the coordinate conversion relationship between the coordinate system corresponding to the adapted object and the coordinate system corresponding to the scanning data can be accurately calculated. According to the coordinate conversion relationship, the adapted feature points can be converted to the coordinate system corresponding to the scanning data, thereby determining the feature points of the measured object, reducing the amount of data that needs to be processed, and improving the efficiency of object feature measurement.

[0023] According to an embodiment of the present application, the step of calculating a feature point set of the object to be measured based on the positional relationship between the adaptation object and the object to be measured and the coordinate transformation relationship includes:

[0024] Determine at least one adaptation target point in the first coordinate system according to the adaptation object;

[0025] Convert at least one of the adaptation target points from the first coordinate system to the second coordinate system according to the coordinate conversion relationship to obtain at least one reference target point;

[0026] A feature point set of the measured object is obtained by calculation according to the positional relationship between the matching object and the measured object and the reference target point.

[0027] In this embodiment, by taking at least one adaptation target point of the adaptation object as a reference, the adaptation target point used as a reference is converted into a reference target point through a coordinate transformation relationship, and the reference target point is used as a reference in a second coordinate system corresponding to the scanning data. The feature point set of the object to be measured can be obtained by combining the positional relationship between the adaptation object and the object to be measured, thereby reducing the amount of data that needs to be processed, thereby improving the efficiency of object feature measurement.

[0028] According to an embodiment of the present application, determining at least one adaptation target point in the first coordinate system according to the adaptation object includes:

[0029] At least one adaptation feature point is selected from the plurality of adaptation feature points as an adaptation target point.

[0030] In this embodiment, the adaptation target point is directly selected from a plurality of adaptation feature points without performing additional calculations, thereby improving the efficiency of object feature measurement.

[0031] According to an embodiment of the present application, determining at least one adaptation target point in the first coordinate system according to the adaptation object includes:

[0032] Acquire first position coordinates of a plurality of the adaptation feature points in a first coordinate system corresponding to the adaptation object;

[0033] At least one adaptation target point in the first coordinate system is obtained according to the first position coordinate fitting.

[0034] In this embodiment, by approximating the matching target point according to the position coordinates of the matching feature point, it is possible to selectively select the appropriate matching target point for subsequent coordinate transformation and feature point set calculation according to specific measurement requirements and characteristics of the matching object, thereby improving the relevance and accuracy of the measurement result.

[0035] According to an embodiment of the present application, the step of calculating a feature point set of the object to be measured based on the positional relationship between the adaptation object and the object to be measured and the reference target point includes:

[0036] Calculating the distance between the adaptation target point and the measured object according to the positional relationship between the adaptation object and the measured object;

[0037] The distance is used to compensate the position of the reference target point to obtain a feature point set of the measured object.

[0038] In this embodiment, by calculating the relative distance between the adaptation target point and the object to be measured, the actual spatial relationship between the adaptation object and the object to be measured is taken into account, and the position of the reference target point is compensated by using the relative distance, which can more accurately reflect the position of the feature points of the object to be measured in space, thereby improving the accuracy of the measurement results.

[0039] According to an embodiment of the present application, the determination of the adaptation target point is adapted to the measurement task.

[0040] In this embodiment, by determining the adaptation target point according to the measurement task, the characteristic points of the measured object can be obtained in a targeted manner during the measurement process, and different measurement environments can be adapted, thereby enhancing the flexibility of the measurement.

[0041] According to an embodiment of the present application, the shape of the adaptation object is determined according to the shape of the measured object and / or the measurement task.

[0042] In this embodiment, by matching the shape of the adaptation object with the shape of the object to be measured, or matching the shape of the adaptation object with the measurement task, the correspondence between the adaptation feature points and the target scanning point set during the measurement process can be made closer. For example, when facing a complex or irregularly shaped object to be measured, or when facing measurement tasks such as measuring depth or measuring plane slope, the adaptation object can be designed to fit closely to the contour of the object to be measured, thereby providing more accurate adaptation feature points in key areas and enhancing the flexibility and applicability of the measurement data.

[0043] According to one embodiment of the present application, before acquiring the scan data of the object to be measured, the method further includes:

[0044] Determine at least one measured point on the measured object;

[0045] The adapter object is placed on the measured point.

[0046] In this embodiment, by predetermining the measured points, the scanning process can be focused on the key areas of the measured object in a targeted manner, which helps to improve the relevance of the scanning data and the accuracy of the measurement results.

[0047] According to an embodiment of the present application, the measured object includes a plurality of measured points; the measured points are distributed on the measured object according to a preset arrangement.

[0048] In this embodiment, by presetting multiple measured points on the measured object and distributing them in a specific arrangement, the layout of the measured points can be adjusted according to different measurement tasks and characteristics of the measured object to meet specific measurement requirements, thereby improving the flexibility of measurement.

[0049] In a second aspect, the present application provides a measuring device, comprising:

[0050] An acquisition module, used to acquire scan data of the object under test; wherein the object under test is configured with an adaptation object, and the adaptation object includes a plurality of adaptation feature points;

[0051] A determination module, used to determine a target scanning point set corresponding to a plurality of the adaptation feature points from the scanning data;

[0052] A calculation module is used to calculate a feature point set of the measured object according to the positional relationship between the matching object and the measured object and the target scanning point set.

[0053] According to the measuring device of the present application, the scanning data of the measured object is obtained; wherein the measured object is configured with an adapter object, and the adapter object includes a plurality of adapter feature points; a target scanning point set corresponding to the plurality of the adapter feature points is determined from the scanning data; and a feature point set of the measured object is calculated based on the positional relationship between the adapter object and the measured object and the target scanning point set. The embodiment of the present application introduces an adapter object, uses the adapter feature points of the adapter object as a reference, identifies the target scanning point set corresponding to these adapter feature points from the scanning data, and calculates the feature point set of the measured object in combination with the spatial positional relationship between the adapter object and the measured object, without the need for fitting based on the entire point cloud, thereby reducing the amount of data that needs to be processed, thereby improving the efficiency of object feature measurement.

[0054] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the measurement method as described in the first aspect above when executing the computer program.

[0055] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the measurement method as described in the first aspect above.

[0056] In a fifth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the measurement method described in the first aspect above.

[0057] In a sixth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the measurement method described in the first aspect above.

[0058] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0059] According to the measurement method of the present application, the scanning data of the measured object is obtained; wherein the measured object is configured with an adapter object, and the adapter object includes a plurality of adapter feature points; a target scanning point set corresponding to the plurality of the adapter feature points is determined from the scanning data; and a feature point set of the measured object is calculated based on the positional relationship between the adapter object and the measured object and the target scanning point set. The embodiment of the present application introduces an adapter object, uses the adapter feature points of the adapter object as a reference, identifies the target scanning point set corresponding to these adapter feature points from the scanning data, and calculates the feature point set of the measured object in combination with the spatial positional relationship between the adapter object and the measured object, without the need for fitting based on the entire point cloud, thereby reducing the amount of data that needs to be processed, thereby improving the efficiency of object feature measurement.

[0060] Furthermore, in some embodiments, by acquiring the position coordinates of the adaptation feature points in the first coordinate system and the position coordinates of the scanning point set in the second coordinate system, the target scanning point set corresponding to the adaptation feature points can be accurately identified from the complex scanning data efficiently.

[0061] Furthermore, in some embodiments, the three-dimensional coordinates of multiple adaptation feature points of the adaptation object are obtained by a scanner, and the spatial data of the multiple adaptation feature points can be automatically extracted, thereby reducing the errors that may be introduced by manual measurement and improving the accuracy of obtaining the positions of the adaptation feature points.

[0062] Furthermore, in some embodiments, by calculating the positions of the adapted feature points and the target scanning point set at different coordinates, the coordinate transformation relationship between the coordinate system corresponding to the adapted object and the coordinate system corresponding to the scanning data can be accurately calculated; based on the coordinate transformation relationship, the adapted feature points can be transformed to the coordinate system corresponding to the scanning data, thereby determining the feature points of the measured object, reducing the amount of data that needs to be processed, and improving the efficiency of object feature measurement.

[0063] Furthermore, in some embodiments, by using at least one adaptation target point of the adaptation object as a reference, the adaptation target point used as a reference is converted into a reference target point through a coordinate transformation relationship, and the reference target point is used as a reference in a second coordinate system corresponding to the scanning data. The feature point set of the object to be measured can be obtained by combining the positional relationship between the adaptation object and the object to be measured, thereby reducing the amount of data that needs to be processed, thereby improving the efficiency of object feature measurement.

[0064] Furthermore, in some embodiments, by directly selecting an adapted target point from a plurality of adapted feature points, no additional calculation is required, thereby improving the efficiency of object feature measurement.

[0065] Furthermore, in some embodiments, by approximating the matching target points according to the position coordinates of the matching feature points, it is possible to selectively select suitable matching target points for subsequent coordinate transformation and feature point set calculation based on specific measurement requirements and characteristics of the matching object, thereby improving the relevance and accuracy of the measurement results.

[0066] Furthermore, in some embodiments, by calculating the relative distance between the adaptation target point and the object to be measured, the actual spatial relationship between the adaptation object and the object to be measured is taken into account, and the position of the reference target point is compensated using the relative distance, which can more accurately reflect the position of the feature points of the object to be measured in space, thereby improving the accuracy of the measurement results.

[0067] Furthermore, in some embodiments, by determining the adaptation target point according to the measurement task, the feature points of the measured object can be obtained in a targeted manner during the measurement process, and different measurement environments can be adapted, thereby enhancing the flexibility of the measurement.

[0068] Furthermore, in some embodiments, by matching the shape of the adaptation object with the shape of the object to be measured, or matching the shape of the adaptation object with the measurement task, the correspondence between the adaptation feature points and the target scanning point set during the measurement process can be made closer. For example, when faced with an object to be measured with a complex or irregular shape, or when faced with measurement tasks such as measuring depth or measuring plane slope, the adaptation object can be designed to fit closely to the contour of the object to be measured, thereby providing more accurate adaptation feature points in key areas and enhancing the flexibility and applicability of the measurement data.

[0069] Furthermore, in some embodiments, by predetermining the measured points, the scanning process can be focused on key areas of the measured object in a targeted manner, which helps to improve the relevance of the scanning data and the accuracy of the measurement results.

[0070] Furthermore, in some embodiments, by presetting multiple measured points on the object to be measured and distributing them in a specific arrangement, the layout of the measured points can be adjusted according to different measurement tasks and characteristics of the object to be measured to meet specific measurement requirements, thereby improving the flexibility of measurement.

[0071] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application 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 paying creative work.

[0073] Figure 1 is a flow chart of the measurement method provided in the embodiment of the present application;

[0074] Figure 2 It is a flowchart of a scenario example provided in an embodiment of the present application;

[0075] Figure 3 is a schematic diagram of the structure of a measuring device provided in an embodiment of the present application;

[0076] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0078] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0079] To solve at least one of the above technical problems, the present application provides a measurement method, device, electronic device and storage medium. The following is a detailed description of the measurement method, device, electronic device and storage medium provided by the present application in conjunction with the accompanying drawings through specific embodiments and their application scenarios.

[0080] The measurement method may be applied to a terminal, and may be specifically executed by hardware or software in the terminal.

[0081] The terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer with a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). It should also be understood that in some embodiments, the terminal may not be a portable communication device, but a desktop computer with a touch-sensitive surface (e.g., a touch screen display and / or a touch pad).

[0082] In the following various embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse and a joystick.

[0083] The measurement method provided in the embodiment of the present application may be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the measurement method. The electronic devices mentioned in the embodiment of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, wearable devices, scanners, etc. The measurement method provided in the embodiment of the present application is described below using the electronic device as an example of the execution subject.

[0084] like Figure 1 As shown, the measurement method includes: step 110, step 120 and step 130.

[0085] Step 110: Obtain scan data of the object under test; wherein the object under test is configured with an adaptation object, and the adaptation object includes a plurality of adaptation feature points.

[0086] In the embodiments of the present application, the measured object is an object to be measured, and the measured object can be any entity whose shape and size information needs to be obtained. For example, the measured object can be industrial parts such as gears, bearings, and pistons, and the measured object can also be automotive parts such as engine parts, body panels, and chassis structures. The measured object can also be the housing and internal structure of electronic devices such as mobile phones and computers. The embodiments of the present application do not limit the measured object.

[0087] The adaptation object can be an auxiliary tool, for example, the adaptation object can be an object in the shape of a sphere, a cube, a cuboid, etc. The adaptation object can have multiple adaptation feature points. The adaptation feature point can be a point with significant features of the adaptation object, for example, the adaptation feature point can include a specific geometric position. If the adaptation object is a sphere, the adaptation feature point can be the center of the sphere. If the adaptation object is a cube, the adaptation feature point can be the center of mass, vertex, etc. of the adaptation object. If the adaptation object is an object of other shapes, the adaptation feature point can also be a boundary point, the midpoint of the edge, the center of the face, etc. The adaptation feature point can also include points that are visually easy to identify and distinguish, such as corner points, edge points, spots, etc. of the adaptation object. The adaptation feature point can also include marks of the adaptation object, such as marking points, coding points, etc. For example, a spherical adaptation object can be designed, which is a high-precision sphere, and the surface of the adaptation object includes multiple reflective marking points, which are the adaptation feature points. Of course, the adaptation feature points may also include other points with significant features, which is not limited in the embodiments of the present application.

[0088] Before measuring the object to be measured, an adapter object can be configured for the object to be measured. Among them, the adapter object can be pre-configured, and the user can choose to configure different adapter objects according to the different objects to be measured. After determining the adapter object, according to the measurement requirements, the adapter object can be placed on the surface of the object to be measured, embedded in the object to be measured, or placed in any area within the preset range of the object to be measured. During the scanning process, the object to be measured and the adapter object will be scanned together to obtain scanning data. The scanning points in the scanning data may include scanning points corresponding to the adaptation feature points, and may also include background points, such as points corresponding to the surface of the object to be measured, points generated by other objects or environmental features captured during the scanning process, etc.

[0089] Step 120: Determine a target scanning point set corresponding to the plurality of adapted feature points from the scanning data.

[0090] In an embodiment of the present application, the adaptation feature point is a point in the first coordinate system corresponding to the adaptation object, and the position coordinates of the adaptation feature point in the first coordinate system can be predetermined. For example, the adaptation object can be scanned in advance to determine the coordinates of the adaptation feature point in the first coordinate system. Among them, the first coordinate system is the model coordinate system of the adaptation object, and the model coordinate system is used to represent and describe a specific coordinate framework of the geometric shape and position of the adaptation object. The second coordinate system corresponding to the scan data corresponds to the world coordinate system of the actual scan, or the camera coordinate system of the scanner. The coordinates of the scan points in the scan data reflect the position of the scan points in the second coordinate system. Therefore, the scan points obtained after the adaptation feature points are scanned are in the second coordinate system, and the target scan point set corresponding to multiple adaptation feature points is determined from the scan data. The purpose is to find the target scan points corresponding to the adaptation feature points from the second coordinate system, so that it can be known which scan points in the scan point set of the scan data are the target scan points corresponding to the adaptation feature points.

[0091] In the embodiment of the present application, the target scanning point set corresponding to the adaptation feature point in the scanning point can be found by performing splicing calculation on the scanning points in the scanning data and the adaptation feature points. The splicing calculation is the process of matching and combining the scanning points obtained by the actual scanning with the adaptation feature points of the adaptation object so as to determine the spatial relationship between the scanning points and the adaptation feature points.

[0092] In some embodiments, the process of stitching calculation may include respectively calculating the feature descriptors of each scanning point and each adapted feature point, wherein the feature descriptors may include normal vectors, curvatures, and other indicators that can describe the features of the scanning point and the adapted feature point. For each scanning point, the nearest neighbor search algorithm may be used to search for the corresponding nearest neighbor point in each adapted feature point based on the feature descriptors of the scanning point and the adapted feature point, and then the Euclidean distance, Manhattan distance, or Mahalanobis distance may be used as a matching metric to calculate the matching degree between each scanning point and its nearest neighbor point. If the matching degree is greater than a preset threshold, the scanning point may be considered to be the target scanning point. For example, scanning point p i The nearest point to the matching feature point p j , and scan point p i And the adaptation feature point p j If the matching degree of the scan point p is greater than the preset threshold, it can be considered that i is the target scanning point, that is, scanning point p i is the adaptation feature point p j A point in the second coordinate system.

[0093] In some embodiments, a target scanning point set corresponding to a plurality of adapted feature points may also be determined from the scanning data by a machine learning algorithm. Specifically, a large amount of scanning data and adapted feature point sets may be collected, and target scanning points corresponding to adapter marker points may be marked in the scanning data as labels to construct a training data set, and the training data set may be used to train a machine learning model to obtain a trained model. The scanning data and adapted feature points may be input into the trained model to obtain a target scanning point set output by the model.

[0094] Step 130: Calculate a feature point set of the object to be measured according to the positional relationship between the matching object and the object to be measured and the target scanning point set.

[0095] In an embodiment of the present application, the distance between each adaptation feature point in the adaptation object and the object to be measured can be determined according to the positional relationship between the adaptation object and the object to be measured. Since the target scanning point set is the point of each adaptation feature point in the second coordinate system, the distance between each adaptation feature point and the object to be measured is also equal to the distance between each target scanning point in the target scanning point set and the object to be measured. By compensating each target scanning point in the target scanning point set according to the distance, the feature point set of the object to be measured can be obtained.

[0096] In one example, the adapter object is a cuboid, which is used to measure the depth of the groove in the object to be measured. The cuboid adapter object includes multiple adapter feature points. After the adapter object is inserted into the groove of the object to be measured, scanning is started, and a target scanning point set can be obtained through matching. According to the positional relationship between the adapter object and the object to be measured, the distance between each adapter feature point of the adapter object and the object to be measured can be determined. For example, the bottom surface of the adapter object is in contact with the groove of the object to be measured, and the distance L between the adapter feature point on the top surface corresponding to the bottom surface of the adapter object and the groove is the length from the bottom surface to the top surface. For the target scanning point corresponding to the adapter feature point on the top surface, the target scanning point is compensated by the distance L, and the feature point corresponding to the groove of the object to be measured can be obtained. In this way, the feature point set corresponding to the groove of the object to be measured can be obtained, and the feature points in the feature point set are further fitted to obtain the parametric equation representation of the groove, so that the depth information of the groove can be detected.

[0097] According to the measurement method of the present application, the scanning data of the measured object is obtained; wherein the measured object is configured with an adapter object, and the adapter object includes a plurality of adapter feature points; a target scanning point set corresponding to the plurality of adapter feature points is determined from the scanning data; and a feature point set of the measured object is calculated based on the positional relationship between the adapter object and the measured object and the target scanning point set. The embodiment of the present application introduces an adapter object, uses the adapter feature points of the adapter object as a reference, identifies the target scanning point set corresponding to these adapter feature points from the scanning data, and calculates the feature point set of the measured object in combination with the spatial positional relationship between the adapter object and the measured object, without the need for fitting based on the entire point cloud, reducing the amount of data that needs to be processed, thereby improving the efficiency of object feature measurement.

[0098] In some embodiments, determining a target scanning point set corresponding to a plurality of adapted feature points from the scanning data includes:

[0099] Obtaining first position coordinates of a plurality of adaptation feature points in a first coordinate system corresponding to the adaptation object;

[0100] Extracting second position coordinates of a scanning point set in the scanning data in a second coordinate system corresponding to the scanning data;

[0101] A target scanning point set corresponding to the plurality of adaptation feature points is determined from the scanning point set according to the first position coordinate and the second position coordinate.

[0102] In this embodiment, the first coordinate system is the model coordinate system of the adaptation object, which is used to represent and describe a specific coordinate frame of the geometric shape and position of the adaptation object. The second coordinate system corresponding to the scan data corresponds to the actual scanned world coordinate system, or the camera coordinate system of the scanner, and the coordinates of the scan point in the scan data reflect the position of the scan point in the second coordinate system.

[0103] In this embodiment, the first position coordinates of the plurality of adaptation feature points in the first coordinate system may be input by a user, or may be determined by scanning the adaptation object in advance. According to the first position coordinates of the plurality of adaptation feature points in the first coordinate system, the adaptation feature point set Pm is obtained. The position coordinates of the scanning points in the second coordinate system corresponding to the scanning data are extracted from the scanning data to obtain the scanning point set Po.

[0104] In this embodiment, a preset feature matching algorithm can be used to match the adaptation feature point set Pm and the scanning point set Po. Among them, the feature matching algorithm is a technology used in the field of computer vision to identify and match the same feature points in different images or point cloud data. The feature matching algorithm used in this embodiment can be SIFT (Scale-Invariant Feature Transform), SURF (Speeded Up Robust Features), ORB (Oriented FAST and Rotated BRIEF), etc., which is not limited in this embodiment of the present application.

[0105] The feature matching algorithm will find the target scanning point set Pom that is closest to the adaptation feature point set Pm in the scanning point set Po by comparing the features between the first position coordinates and the second position coordinates, such as position, normal vector or other geometric features. Specifically, the feature matching algorithm can be used to extract the features of the adaptation feature point set Pm and the scanning point set Po respectively, and generate feature descriptors, wherein the feature descriptors can include indicators such as normal vectors and curvatures that can describe the features of the scanning points and the adaptation feature points. The nearest neighbor search algorithm or the least squares method is used to search for the corresponding nearest points in each adaptation feature point, and then the Euclidean distance, Manhattan distance or Mahalanobis distance is used as the matching metric to calculate the matching degree of each scanning point with its respective nearest neighbor. If the matching degree is greater than a preset threshold, the scanning point can be considered to be the target scanning point. For example, the nearest neighbor of the scanning point pi is the adaptation feature point pj, and the matching degree between the scanning point pi and the adaptation feature point pj is greater than the preset threshold, then the scanning point pi can be considered to be the target scanning point, that is, the scanning point pi is the point of the adaptation feature point pj in the second coordinate system.

[0106] In this embodiment, by acquiring the position coordinates of the adaptation feature points in the first coordinate system and the position coordinates of the scanning point set in the second coordinate system, the target scanning point set corresponding to the adaptation feature points can be accurately identified from the complex scanning data efficiently.

[0107] In some embodiments, obtaining first position coordinates of a plurality of adaptation feature points in a first coordinate system corresponding to the adaptation object includes:

[0108] Scanning the adaptation object with a scanner to obtain three-dimensional coordinates of multiple adaptation feature points of the adaptation object;

[0109] The three-dimensional coordinates are determined as first position coordinates of the plurality of adapted feature points in the first coordinate system.

[0110] In this embodiment, a plurality of reflective marks may be attached to the surface of the adaptation object, and these reflective marks may represent the adaptation feature points. The adaptation object is scanned with a scanner to obtain the three-dimensional position coordinates (x, y, z) of each adaptation feature point in the first coordinate system, and these three-dimensional position coordinates (x, y, z) are the first position coordinates of the plurality of adaptation feature points in the first coordinate system.

[0111] In this embodiment, the three-dimensional coordinates of multiple adaptation feature points of the adaptation object are obtained by a scanner, and the spatial data of the multiple adaptation feature points can be automatically extracted, thereby reducing the errors that may be introduced by manual measurement and improving the accuracy of obtaining the positions of the adaptation feature points.

[0112] In some embodiments, the feature point set of the measured object is calculated based on the positional relationship between the matching object and the measured object and the target scanning point set, including:

[0113] Calculate a coordinate conversion relationship according to first position coordinates of the plurality of adapted feature points in the first coordinate system and third position coordinates of the target scanning point set in the second coordinate system;

[0114] The feature point set of the measured object is calculated based on the position relationship and coordinate transformation relationship between the matching object and the measured object.

[0115] In this embodiment, since the target scanning points in the target scanning point set Pom are points of the adapted feature points under the second coordinate system, the coordinate conversion relationship between the two coordinate systems can be calculated according to the coordinates of the same points in different coordinate systems.

[0116] Specifically, the coordinate transformation relationship can be represented by the transformation matrix RT. Since the coordinate transformation relationship includes translation and rotation, the transformation matrix RT can include the rotation matrix R and the translation vector T. It can be obtained that:

[0117] P a =R·P s +T

[0118] Among them, P a represents the coordinates in the second coordinate system, P s Represents the coordinates in the first coordinate system.

[0119] Substituting the coordinates of the target scanning point set Pom and the adapted feature point Pm into the above formula, the least square method or rigid body transformation, such as singular value decomposition (SVD), iterative closest point (ICP), etc., can be used to solve the rotation matrix R and the translation vector T, thereby obtaining the transformation matrix RT.

[0120] In this embodiment, one or more target points can be selected from the adapter object in advance, and the feature point set of the measured object can be calculated by combining the positional relationship and coordinate transformation relationship between the adapter object and the measured object. For example, the adapter object is a sphere, and the adapter object is placed on the surface of the measured object. In order to obtain the feature points on the surface of the measured object, the center of the sphere of the adapter object can be used as the target point, and the target point can be transformed from the first coordinate system to the second coordinate system through the transformation matrix RT. Then, according to the positional relationship between the adapter object and the measured object, the distance between the target point and the surface of the measured object can be determined as the radius of the sphere, and the radius is compensated to the position coordinates of the target point in the second coordinate system, so that the coordinates of the feature points on the surface of the measured object can be obtained.

[0121] In this embodiment, by calculating the positions of the adapted feature points and the target scanning point set at different coordinates, the coordinate conversion relationship between the coordinate system corresponding to the adapted object and the coordinate system corresponding to the scanning data can be accurately calculated. According to the coordinate conversion relationship, the adapted feature points can be converted to the coordinate system corresponding to the scanning data, thereby determining the feature points of the measured object, reducing the amount of data that needs to be processed, and improving the efficiency of object feature measurement.

[0122] In some embodiments, the feature point set of the measured object is calculated based on the position relationship and coordinate transformation relationship between the matching object and the measured object, including:

[0123] Determine at least one adaptation target point in a first coordinate system according to the adaptation object;

[0124] Convert at least one adaptation target point from the first coordinate system to the second coordinate system according to the coordinate conversion relationship to obtain at least one reference target point;

[0125] The feature point set of the measured object is obtained by calculating the positional relationship between the matching object and the measured object and the reference target point.

[0126] In some embodiments, the adaptation target point may be a point selected from a plurality of adaptation feature points, for example, one or more adaptation feature points among the plurality of adaptation feature points are determined as the adaptation target point. By directly selecting the adaptation target point from the plurality of adaptation feature points, no additional calculation is required, thereby improving the efficiency of object feature measurement.

[0127] In some embodiments, at least one adaptation target point in the first coordinate system can be obtained by fitting the first position coordinates of the multiple adaptation feature points in the first coordinate system corresponding to the adaptation object. For example, if the adaptation object is a sphere, the center of the sphere can be fitted as the adaptation target point according to the multiple adaptation feature points. If the adaptation object is other shapes, the boundary points, vertices, etc. of the adaptation object can also be fitted according to the multiple adaptation feature points. By fitting the adaptation target point according to the position coordinates of the adaptation feature point, it is possible to select the appropriate adaptation target point for subsequent coordinate transformation and calculation of the feature point set according to the specific measurement requirements and the characteristics of the adaptation object, thereby improving the relevance and accuracy of the measurement results.

[0128] In this embodiment, after determining the adaptation target point, at least one adaptation target point can be converted from the first coordinate system to the second coordinate system according to the coordinate conversion relationship, and the point of the adaptation target point in the second coordinate system is determined as the reference target point. According to the positional relationship between the adaptation object and the measured object, the distance between the adaptation target point and the measured object can be determined, and the reference target point can be compensated by using the distance to obtain the characteristic point of the measured object.

[0129] In this embodiment, by taking at least one adaptation target point of the adaptation object as a reference, the adaptation target point used as a reference is converted into a reference target point through a coordinate transformation relationship, and the reference target point is used as a reference in a second coordinate system corresponding to the scanning data. The feature point set of the measured object can be obtained by combining the positional relationship between the adaptation object and the measured object, thereby reducing the amount of data that needs to be processed, thereby improving the efficiency of object feature measurement.

[0130] In some embodiments, the feature point set of the measured object is calculated based on the positional relationship between the matching object and the measured object and the reference target point, including:

[0131] Calculate the distance between the adaptation target point and the object to be measured according to the positional relationship between the adaptation object and the object to be measured;

[0132] The distance is used to compensate the position of the reference target point to obtain the feature point set of the measured object.

[0133] In one example, the adaptation object is a cuboid, which is used to measure the depth of the groove in the object to be measured. The cuboid adaptation object includes multiple adaptation feature points. After the adaptation object is inserted into the groove of the object to be measured, scanning is started. According to the positional relationship between the adaptation object and the object to be measured, the distance between the adaptation target point in the adaptation object and the object to be measured can be calculated. For example, the bottom surface of the adaptation object is in contact with the groove of the object to be measured, and the distance between the adaptation target point on the top surface corresponding to the bottom surface of the adaptation object and the groove is the length from the bottom surface to the top surface. For the reference target point corresponding to the adaptation target point on the top surface, the reference target point is compensated by the distance to obtain the feature point corresponding to the groove of the object to be measured. In this way, the feature point set corresponding to the groove of the object to be measured can be obtained, and the feature points in the feature point set are further fitted to obtain the parametric equation representation of the groove, so that the depth information of the groove can be detected.

[0134] Of course, if the adaptation object is spherical or in other shapes, a similar method can be used to calculate the distance between the adaptation target point and the object to be measured, and the distance is used to compensate the reference target point to obtain the characteristic point corresponding to the groove of the object to be measured.

[0135] In this embodiment, by calculating the relative distance between the adaptation target point and the object to be measured, the actual spatial relationship between the adaptation object and the object to be measured is taken into account, and the position of the reference target point is compensated by using the relative distance, which can more accurately reflect the position of the feature points of the object to be measured in space and improve the accuracy of the measurement results.

[0136] In some embodiments, the determination of the adapted target point is adapted to the measurement task.

[0137] In this embodiment, the measurement task can be determined according to the actual measurement requirements. For example, the measurement task can be to measure the size of the object being measured, such as length, width, height, diameter, etc. The measurement task can also be to measure the form and position tolerance of the object being measured, such as straightness, flatness, roundness, cylindricity, etc. The measurement task can also be to measure the structural parameters of the object being measured, such as the inclination and flatness of the measured plane, etc. Of course, the measurement task can also be other tasks, which are not limited in the embodiments of the present application.

[0138] In this embodiment, different measurement tasks can select the same or different adaptation target points. For example, if the measurement task is to measure the size of the object being measured, the adaptation target point can be a boundary point, corner point, etc. of the object being measured; if the measurement task is to measure the geometric tolerance of the object being measured, the adaptation target point can be the center of the circle, the center of the sphere, or a point on the axis of the object being measured.

[0139] In this embodiment, by determining the adaptation target point according to the measurement task, the characteristic points of the measured object can be obtained in a targeted manner during the measurement process, and different measurement environments can be adapted, thereby enhancing the flexibility of the measurement.

[0140] In some embodiments, the shape of the adaptation object is determined according to the shape of the object to be measured and / or the measurement task.

[0141] In this embodiment, the shape of the adaptation object can be sphere, ring, cylinder, hexahedron, cone, etc., or any other shape, which is not limited in this embodiment of the present application.

[0142] Depending on the shape of the object to be measured, the shape of the adapter object that is adapted to the shape of the object to be measured can be used. For example, if the object to be measured is a plane, a spherical adapter object can be set to measure the flatness and inclination of the object to be measured; if the object to be measured is a circular deep hole, a cylindrical adapter object can be set to measure the depth of the object to be measured; if the object to be measured is a cylinder, a ring adapter object can be set to measure the diameter, roundness and cylindricity of the object to be measured.

[0143] Depending on the measurement task, the shape of the adapter object that is suitable for the measurement task can be used. For example, if the measurement task is to measure the size, an adapter object with a straight edge can be used; if the measurement task is to measure the depth, an adapter object with a cylindrical, rectangular, or other shape can be used.

[0144] In this embodiment, by matching the shape of the adaptation object with the shape of the object to be measured, or matching the shape of the adaptation object with the measurement task, the correspondence between the adaptation feature points and the target scanning point set during the measurement process can be made closer. For example, when facing a complex or irregularly shaped object to be measured, or when facing measurement tasks such as measuring depth or measuring plane slope, the adaptation object can be designed to fit closely to the contour of the object to be measured, thereby providing more accurate marking points in key areas and enhancing the flexibility and applicability of the measurement data.

[0145] In some embodiments, before acquiring the scan data of the object to be measured, the method further includes:

[0146] Determine at least one measured point on the measured object;

[0147] Place the adapter object on the point to be measured.

[0148] In this embodiment, one or more measured points can be determined according to the measurement task. If a deep hole in the measured object is to be measured, the position of the deep hole can be determined as the measured point. If the flatness of the object is to be measured, any number of positions can be determined as the measured points. The number of adapter objects is determined according to the number of measured points, and the adapter objects are placed on the measured points.

[0149] In this embodiment, by predetermining the measured points, the scanning process can be focused on the key areas of the measured object in a targeted manner, which helps to improve the relevance of the scanning data and the accuracy of the measurement results.

[0150] In some embodiments, the measured object includes a plurality of measured points; the measured points are distributed on the measured object according to a preset arrangement.

[0151] In this embodiment, the measured object may include multiple measured points according to different measurement tasks. If the measurement task requires the possible fitting of the features of the measured object, the measured points may be distributed on the measured object according to a preset arrangement. The arrangement may be uniform to avoid excessive concentration of the measured points, or the arrangement may be determined according to the key positions of the measured object, for example, the key positions may be the center point, boundary point, etc. of the measured object.

[0152] In this embodiment, by presetting multiple measured points on the measured object and distributing them in a specific arrangement, the layout of the measured points can be adjusted according to different measurement tasks and characteristics of the measured object to meet specific measurement requirements, thereby improving the flexibility of measurement.

[0153] The following describes the measurement method of the embodiment of the present application through a scenario example. Figure 2 As shown, this scenario example may include the following steps:

[0154] Step 1: Add adapter objects

[0155] In this step, an adaptation object model can be designed in advance, multiple reflective marking points can be added to the adaptation object model, and the adaptation object model can be scanned with a scanner to obtain the three-dimensional position coordinates of the reflective marking points, and these position coordinates are marked as the adaptation feature point set Pm. One or more adaptation target points Pd are obtained by fitting according to the adaptation feature point set Pm. In this step, a variety of different adaptation objects can be designed to adapt to the measurement of different objects to be measured, and the adaptation feature point sets Pm and adaptation target points Pd of different adaptation objects can be saved as files.

[0156] After determining the object to be measured, the user can select the required adaptation object in the user interface. For example, the user interface can provide an adaptation object selection function, and the user can select the required adaptation object from one or more different adaptation objects. After the user selects the adaptation object, the adaptation feature point set Pm and the adaptation target point Pd of the adaptation object will be used in the subsequent processing process.

[0157] Step 2: Scan the object to be tested and splice the matching object.

[0158] In this step, according to the measurement requirements, the user can place the adapter object entity at the preset position of the passive object. For example, if the surface features of the measured object need to be measured, the adapter object can be placed on the surface of the measured object, and then scanned with a scanner to obtain the scanning point set Po. The scanning point set Po and the adaptation feature point set Pm are spliced ​​and calculated to obtain the transformation matrix RT representing the coordinate transformation relationship.

[0159] Step 3: Calculate feature points.

[0160] In this step, the adaptation target point Pd can be multiplied by the transformation matrix RT to obtain the reference target point. Then, the distance between the adaptation target point and the object under test can be determined according to the positional relationship between the adaptation object and the object under test. The reference target point can be compensated using this distance to obtain the feature point of the object under test.

[0161] In this step, the feature points of the measured object may be output to the user interface. For example, the feature points of the measured object may be output to the user interface as a file, or the feature points of the measured object may be visually displayed in the user interface.

[0162] The measuring method provided in the embodiment of the present application can be performed by a measuring device. In the embodiment of the present application, the measuring device provided in the embodiment of the present application is described by taking the measuring device performing the measuring method as an example.

[0163] The embodiment of the present application also provides a measuring device.

[0164] like Figure 3 As shown, the measuring device comprises:

[0165] The acquisition module 310 is used to acquire the scan data of the object under test; wherein the object under test is configured with an adaptation object, and the adaptation object includes a plurality of adaptation feature points;

[0166] A determination module 320, configured to determine a target scanning point set corresponding to a plurality of adaptation feature points from the scanning data;

[0167] The calculation module 330 is used to calculate the feature point set of the measured object according to the positional relationship between the matching object and the measured object and the target scanning point set.

[0168] According to the measuring device of the present application, the scanning data of the measured object is obtained; wherein the measured object is configured with an adapter object, and the adapter object includes a plurality of adapter feature points; a target scanning point set corresponding to the plurality of adapter feature points is determined from the scanning data; and a feature point set of the measured object is calculated based on the positional relationship between the adapter object and the measured object and the target scanning point set. The embodiment of the present application introduces an adapter object, uses the adapter feature points of the adapter object as a reference, identifies the target scanning point set corresponding to these adapter feature points from the scanning data, and calculates the feature point set of the measured object in combination with the spatial positional relationship between the adapter object and the measured object, without the need for fitting based on the entire point cloud, reducing the amount of data that needs to be processed, thereby improving the efficiency of object feature measurement.

[0169] In some embodiments, the determination module 320 is further configured to:

[0170] Obtaining first position coordinates of a plurality of adaptation feature points in a first coordinate system corresponding to the adaptation object;

[0171] Extracting second position coordinates of a scanning point set in the scanning data in a second coordinate system corresponding to the scanning data;

[0172] A target scanning point set corresponding to the plurality of adaptation feature points is determined from the scanning point set according to the first position coordinate and the second position coordinate.

[0173] In some embodiments, the determining module 320 is further configured to:

[0174] Scanning the adaptation object with a scanner to obtain three-dimensional coordinates of multiple adaptation feature points of the adaptation object;

[0175] The three-dimensional coordinates are determined as first position coordinates of the plurality of adapted feature points in the first coordinate system.

[0176] In some embodiments, the computing module 330 is further configured to:

[0177] Calculate a coordinate conversion relationship according to first position coordinates of the plurality of adapted feature points in the first coordinate system and third position coordinates of the target scanning point set in the second coordinate system;

[0178] The feature point set of the measured object is calculated based on the position relationship and coordinate transformation relationship between the matching object and the measured object.

[0179] In some embodiments, the computing module 330 is further configured to:

[0180] Determine at least one adaptation target point in a first coordinate system according to the adaptation object;

[0181] Convert at least one adaptation target point from the first coordinate system to the second coordinate system according to the coordinate conversion relationship to obtain at least one reference target point;

[0182] The feature point set of the measured object is obtained by calculating the positional relationship between the matching object and the measured object and the reference target point.

[0183] In some embodiments, the computing module 330 is further configured to:

[0184] At least one adaptation feature point is selected from the plurality of adaptation feature points as an adaptation target point.

[0185] In some embodiments, the computing module 330 is further configured to:

[0186] Obtaining first position coordinates of a plurality of adaptation feature points in a first coordinate system corresponding to the adaptation object;

[0187] At least one adaptation target point in the first coordinate system is obtained according to the first position coordinate fitting.

[0188] In some embodiments, the computing module 330 is further configured to:

[0189] Calculate the distance between the adaptation target point and the object to be measured according to the positional relationship between the adaptation object and the object to be measured;

[0190] The distance is used to compensate the position of the reference target point to obtain the feature point set of the measured object.

[0191] In some embodiments, the acquisition module 310 is further configured to:

[0192] Determine at least one measured point on the measured object;

[0193] Place the adapter object on the point to be measured.

[0194] The measuring device in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices other than the terminal. Exemplary, the electronic device can be a scanner, a mobile phone, a tablet computer, a laptop computer, a palmtop computer, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) equipment, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobilepersonal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc., and can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., and the embodiment of the present application is not specifically limited.

[0195] The measuring device in the embodiment of the present application may be a device having an operating system. The operating system may be a Microsoft (Windows) operating system, an Android (Android) operating system, an IOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0196] In some embodiments, Figure 4 As shown, an embodiment of the present application also provides an electronic device 400, including a processor 401, a memory 402, and a computer program stored in the memory 402 and executable on the processor 401. When the program is executed by the processor 401, each process of the above-mentioned measurement method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0197] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0198] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned measurement method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0199] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0200] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned measurement method when executed by a processor.

[0201] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0202] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned measurement method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0203] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0204] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes 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 one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0205] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0206] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0207] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0208] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A measurement method, characterized in that: include: Acquire scanning data of the object under test; wherein the object under test is configured with an adaptation object, and the adaptation object includes a plurality of adaptation feature points; Determining a target scanning point set corresponding to a plurality of the adapted feature points from the scanning data; The feature point set of the measured object is calculated according to the positional relationship between the matching object and the measured object and the target scanning point set.

2. The method according to claim 1, characterized in that The step of determining a target scanning point set corresponding to the plurality of adapted feature points from the scanning data comprises: Acquire first position coordinates of a plurality of the adaptation feature points in a first coordinate system corresponding to the adaptation object; Extracting second position coordinates of a scanning point set in the scanning data in a second coordinate system corresponding to the scanning data; A target scanning point set corresponding to the plurality of adaptation feature points is determined from the scanning point set according to the first position coordinates and the second position coordinates.

3. The method according to claim 2, characterized in that The obtaining of first position coordinates of the plurality of adaptation feature points in a first coordinate system corresponding to the adaptation object includes: Scanning the adaptation object with a scanner to obtain three-dimensional coordinates of a plurality of adaptation feature points of the adaptation object; The three-dimensional coordinates are determined as first position coordinates of the plurality of adapted feature points in a first coordinate system.

4. The method according to claim 1, characterized in that The step of calculating the feature point set of the object to be measured according to the positional relationship between the matching object and the object to be measured and the target scanning point set comprises: Calculating a coordinate transformation relationship according to first position coordinates of the plurality of adapted feature points in the first coordinate system and third position coordinates of the target scanning point set in the second coordinate system; A feature point set of the measured object is obtained by calculation according to the positional relationship between the matching object and the measured object and the coordinate transformation relationship.

5. The method according to claim 4, characterized in that The step of calculating a feature point set of the object to be measured according to the positional relationship between the matching object and the object to be measured and the coordinate transformation relationship comprises: Determine at least one adaptation target point in the first coordinate system according to the adaptation object; Convert at least one of the adaptation target points from the first coordinate system to the second coordinate system according to the coordinate conversion relationship to obtain at least one reference target point; A feature point set of the measured object is obtained by calculation according to the positional relationship between the matching object and the measured object and the reference target point.

6. The method according to claim 5, characterized in that The determining at least one adaptation target point in the first coordinate system according to the adaptation object includes: At least one adaptation feature point is selected from the plurality of adaptation feature points as an adaptation target point.

7. The method according to claim 5, characterized in that The determining at least one adaptation target point in the first coordinate system according to the adaptation object includes: Acquire first position coordinates of a plurality of the adaptation feature points in a first coordinate system corresponding to the adaptation object; At least one adaptation target point in the first coordinate system is obtained according to the first position coordinate fitting.

8. The method according to claim 5, characterized in that The step of calculating a feature point set of the measured object according to the positional relationship between the matching object and the measured object and the reference target point comprises: Calculating the distance between the adaptation target point and the measured object according to the positional relationship between the adaptation object and the measured object; The distance is used to compensate the position of the reference target point to obtain a feature point set of the measured object.

9. The method according to any one of claims 5 to 8, characterized in that: The determination of the adaptation target point is adapted to the measurement task.

10. The method according to any one of claims 1 to 8, characterized in that: The shape of the adaptation object is determined according to the shape of the measured object and / or the measurement task.

11. The method according to any one of claims 1 to 8, characterized in that: Before obtaining the scan data of the object under test, it also includes: Determine at least one measured point on the measured object; The adapter object is placed on the measured point.

12. The method according to claim 11, characterized in that The measured object includes a plurality of measured points; the measured points are distributed on the measured object according to a preset arrangement.

13. A measuring device, characterized in that: include: An acquisition module, used to acquire scan data of the object under test; wherein the object under test is configured with an adaptation object, and the adaptation object includes a plurality of adaptation feature points; A determination module, used to determine a target scanning point set corresponding to a plurality of the adaptation feature points from the scanning data; A calculation module is used to calculate a feature point set of the measured object according to the positional relationship between the matching object and the measured object and the target scanning point set.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 12 is implemented.

15. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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