Measurement method and apparatus, electronic device, and storage medium

Abstract

The application discloses a kind of measurement method, device, electronic equipment and storage medium, belong to three-dimensional scanning technical field.Method includes: obtaining the scanning data of measured object;Wherein, measured object is configured with adaptation object, adaptation object includes multiple adaptation feature points;From the target scanning point set corresponding to multiple adaptation feature points is determined from scanning data;According to the position relationship of adaptation object and measured object and target scanning point set, the feature point set of measured object is calculated.This application embodiment introduces adaptation object, uses the adaptation feature point of adaptation object as reference, identifies the target scanning point set corresponding to these adaptation feature points from scanning data, and the feature point set of measured object is calculated in combination with the spatial position relationship between adaptation object and measured object, without fitting according to entire point cloud, reduce the data amount that needs to be handled, to improve the efficiency of object feature measurement.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of three-dimensional scanning, and particularly relates to a measurement method and device, electronic equipment and a storage medium. BACKGROUND

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

[0003] In the related art, a three-dimensional scanning device is usually used to scan the workpiece to obtain detailed point cloud data, and then the point cloud is directly fitted to obtain the required features. However, due to the large amount of point cloud data, the calculation time and resources required for processing and fitting are relatively high, which affects the overall measurement efficiency. SUMMARY

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

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

[0006] obtaining scanning data of a measured object; wherein the measured object is configured with an adaptive object, and the adaptive object comprises a plurality of adaptive feature points;

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

[0008] calculating 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.

[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 adaptive object, and the adaptive object comprises a plurality of adaptive feature points; a target scanning point set corresponding to the plurality of adaptive feature points is determined from the scanning data; and a feature point set of the measured object is calculated according to the positional relationship between the adaptive object and the measured object and the target scanning point set. The embodiment of the present application introduces an adaptive object, uses the adaptive feature points of the adaptive object as a reference, identifies a target scanning point set corresponding to the adaptive feature points from the scanning data, and calculates a feature point set of the measured object in combination with the spatial positional relationship between the adaptive object and the measured object, without the need for fitting according to the entire point cloud, thereby reducing the amount of data to be processed, and improving the efficiency of object feature measurement.

[0010] According to an embodiment of the present application, the determination of the target scanning point set corresponding to the plurality of adaptive feature points from the scanning data comprises:

[0011] obtaining first position coordinates of the plurality of adaptive feature points in a first coordinate system corresponding to the adaptive 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] determining the target scanning point set corresponding to the plurality of adaptive feature points from the scanning point set according to the first position coordinates and the second position coordinates.

[0014] In this embodiment, by obtaining the position coordinates of the adaptive 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 adaptive feature points can be accurately identified from the complex scanning data.

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

[0016] scanning the adaptive object by a scanner to obtain three-dimensional coordinates of the plurality of adaptive feature points of the adaptive object;

[0017] determining the three-dimensional coordinates as the first position coordinates of the plurality of adaptive feature points in the first coordinate system.

[0018] In this embodiment, the three-dimensional coordinates of the plurality of adaptive feature points of the adaptive object are obtained by the scanner, the spatial data of the plurality of adaptive feature points can be automatically extracted, the error possibly introduced by manual measurement is reduced, and the accuracy of obtaining the position of the adaptive feature points is improved.

[0019] According to one embodiment of the present application, the feature point set of the measured object is calculated according to the position relationship between the adaptation object and the measured object and the target scanning point set, and the method comprises the steps of:

[0020] According to the first position coordinates of the plurality of adaptation feature points in the first coordinate system and the third position coordinates of the target scanning point set in the second coordinate system, a coordinate conversion relationship is calculated.

[0021] The feature point set of the measured object is calculated according to the position relationship between the adaptation object and the measured object and the coordinate conversion relationship.

[0022] In this embodiment, the coordinate conversion relationship between the coordinate system corresponding to the adaptation object and the coordinate system corresponding to the scanning data can be accurately calculated according to the positions of the adaptation feature points and the target scanning point set in different coordinates, and the adaptation feature points can be converted to the coordinate system corresponding to the scanning data according to the coordinate conversion relationship, so that the feature points of the measured object are determined, the amount of data to be processed is reduced, and the efficiency of object feature measurement is improved.

[0023] According to one embodiment of the present application, the feature point set of the measured object is calculated according to the position relationship between the adaptation object and the measured object and the coordinate conversion relationship, and the method comprises the steps of:

[0024] At least one adaptation target point in the first coordinate system is determined according to the adaptation object.

[0025] At least one reference target point is obtained by converting at least one adaptation target point from the first coordinate system to the second coordinate system according to the coordinate conversion relationship.

[0026] The feature point set of the measured object is calculated according to the position relationship between the adaptation object and the measured object and the reference target point.

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

[0028] According to one embodiment of the present application, the at least one adaptation target point in the first coordinate system is determined according to the adaptation object, and the method comprises the steps of:

[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, by selecting the adaptive target point directly from the plurality of adaptive feature points, no additional calculation is required, thereby improving the efficiency of object feature measurement.

[0031] According to one embodiment of the present application, the determination of the at least one adaptive target point in the first coordinate system according to the adaptive object comprises:

[0032] Obtaining first position coordinates of the plurality of adaptive feature points in the first coordinate system corresponding to the adaptive object;

[0033] Fitting at least one adaptive target point in the first coordinate system according to the first position coordinates.

[0034] In this embodiment, by fitting the adaptive target point according to the position coordinates of the adaptive feature points, the appropriate adaptive target point can be selected according to the specific measurement requirements and the characteristics of the adaptive object for subsequent coordinate conversion and feature point set calculation, thereby improving the relevance and accuracy of the measurement results.

[0035] According to one embodiment of the present application, the calculation of the feature point set of the measured object according to the position relationship between the adaptive object and the measured object and the reference target point comprises:

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

[0037] Compensating the position of the reference target point by using the distance, to obtain the feature point set of the measured object.

[0038] In this embodiment, by calculating the relative distance between the adaptive target point and the measured object, the actual spatial relationship between the adaptive object and the measured object is considered, 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 measured object in space, thereby improving the accuracy of the measurement results.

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

[0040] In this embodiment, by determining the adaptive target point according to the measurement task, the feature points of the measured object can be obtained in the measurement process, which can adapt to different measurement environments and enhance the flexibility of the measurement.

[0041] According to one embodiment of the present application, the shape of the adaptive 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 measured object, 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 in the measurement process can be made more closely, for example, when facing a measured object with a complex or irregular shape, facing a measurement task such as measurement depth, measurement plane slope, etc., the adaptation object can be designed to closely fit the contour of the measured object, thereby providing more accurate adaptation feature points in the key area, enhancing the flexibility and applicability of the measurement data.

[0043] According to an embodiment of the present application, before acquiring the scanning data of the measured object, further comprising:

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

[0045] Placing the adaptation object on the measured point.

[0046] In this embodiment, by determining the measured point in advance, the scanning process can be focused on the key area of the measured object, 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 mode.

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

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

[0050] An acquisition module for acquiring scanning data of a measured object; wherein the measured object is configured with an adaptation object, and the adaptation object includes a plurality of adaptation feature points;

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

[0052] A calculation module for calculating a feature point set of the measured object according to the position relationship between the adaptation object and the measured object and the target scanning point set.

[0053] According to the measurement device provided in the application, the scanning data of the measured object is acquired, wherein the measured object is configured with an adaptive object, the adaptive object comprises a plurality of adaptive feature points, the target scanning point set corresponding to the plurality of adaptive feature points is determined from the scanning data, and the feature point set of the measured object is calculated according to the position relationship between the adaptive object and the measured object and the target scanning point set. The embodiment of the application introduces the adaptive object, uses the adaptive feature points of the adaptive object as the reference, identifies the target scanning point set corresponding to the adaptive feature points from the scanning data, and calculates the feature point set of the measured object in combination with the spatial position relationship between the adaptive object and the measured object, so that the fitting according to the entire point cloud is not needed, the amount of data to be processed is reduced, and the efficiency of the object feature measurement is improved.

[0054] In a third aspect, the application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the measurement method according to the first aspect when executing the computer program.

[0055] In a fourth aspect, the application provides a non-transitory computer-readable storage medium, having a computer program stored thereon, and the computer program is executable on a processor to implement the measurement method according to the first aspect.

[0056] In a fifth aspect, the application provides a chip, including a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run a program or an instruction to implement the measurement method according to the first aspect.

[0057] In a sixth aspect, the application provides a computer program product, including a computer program, and the computer program is executable on a processor to implement the measurement method according to the first aspect.

[0058] The one or more technical solutions described above in the embodiments of the 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 adaptive object, and the adaptive object comprises a plurality of adaptive feature points; the target scanning point set corresponding to the plurality of adaptive feature points is determined from the scanning data; and the feature point set of the measured object is calculated according to the position relationship between the adaptive object and the measured object and the target scanning point set. The embodiment of the present application introduces an adaptive object, uses the adaptive feature points of the adaptive object as a reference, identifies the target scanning point set corresponding to the adaptive feature points from the scanning data, and calculates the feature point set of the measured object in combination with the spatial position relationship between the adaptive object and the measured object, without the need for fitting according to the entire point cloud, thereby reducing the amount of data to be processed and improving the efficiency of object feature measurement.

[0060] Further, in some embodiments, by obtaining the position coordinates of the adaptive 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 adaptive feature points can be accurately identified from complex scanning data.

[0061] Further, in some embodiments, by obtaining the three-dimensional coordinates of the plurality of adaptive feature points of the adaptive object through the scanner, the spatial data of the plurality of adaptive feature points can be automatically extracted, thereby reducing the errors that may be introduced by manual measurement and improving the accuracy of the position acquisition of the adaptive feature points.

[0062] Further, in some embodiments, by the positions of the adaptive feature points and the target scanning point set in different coordinates, the coordinate conversion relationship between the coordinate system corresponding to the adaptive object and the coordinate system corresponding to the scanning data can be accurately calculated, and according to the coordinate conversion relationship, the adaptive 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 to be processed, and improving the efficiency of object feature measurement.

[0063] Further, in some embodiments, by taking at least one adaptive target point of the adaptive object as a reference, the adaptive target point serving as the reference is converted to a reference target point through the coordinate conversion relationship, the reference target point is taken as a reference in the second coordinate system corresponding to the scanning data, and in combination with the position relationship between the adaptive object and the measured object, the feature point set of the measured object can be obtained, thereby reducing the amount of data to be processed and improving the efficiency of object feature measurement.

[0064] Further, in some embodiments, by directly selecting the adaptive target point from the plurality of adaptive feature points, additional calculation is not required, thereby improving the efficiency of object feature measurement.

[0065] Further, in some embodiments, by fitting the fitting target points according to the position coordinates of the fitting feature points, the fitting target points can be selected according to specific measurement requirements and characteristics of the fitting object, so that subsequent coordinate conversion and calculation of the feature point set can be performed on the appropriate fitting target points, thereby improving the relevance and accuracy of the measurement results.

[0066] Further, in some embodiments, by calculating the relative distance between the fitting target points and the measured object, the actual spatial relationship between the fitting object and the measured object is considered, 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 measured object in space, thereby improving the accuracy of the measurement results.

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

[0068] Further, in some embodiments, by matching the shape of the fitting object with the shape of the measured object, or matching the shape of the fitting object with the measurement task, the correspondence between the fitting feature points and the target scanning point set during the measurement process can be more closely, for example, when facing a complex or irregular shape of the measured object, facing a measurement task of measuring depth, measuring plane slope, etc., the fitting object can be designed to closely fit the contour of the measured object, thereby providing more accurate fitting feature points in the key area, and enhancing the flexibility and applicability of the measurement data.

[0069] Further, in some embodiments, by determining the measured points in advance, the scanning process can be focused on the key area of the measured object, which helps to improve the relevance of the scanning data and the accuracy of the measurement results.

[0070] Further, in some embodiments, by predefining multiple measured points on the measured object and distributing them according to 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 the measurement.

[0071] Additional aspects and advantages of the application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those of ordinary skill in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0073] Figure 1 is a flowchart of a measurement method provided by the embodiments of the present application;

[0074] Figure 2 is a flowchart of a scene example provided by the embodiments of the present application;

[0075] Figure 3 is a structural schematic diagram of a measurement device provided by the embodiments of the present application;

[0076] Figure 4 is a structural schematic diagram of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0077] The technical solutions of the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0078] The terms "first", "second", and the like 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 interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually a class, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0079] To solve the above at least one technical problem, the embodiments of the present application provide a measurement method, device, electronic device and storage medium. The measurement method, device, electronic device and storage medium provided by the embodiments of the present application will be described in detail below with reference to the drawings and through specific embodiments and their application scenarios.

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

[0081] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablets with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but rather a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

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

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

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

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

[0086] In this embodiment, the object being measured is the object that needs to be measured. The object being measured can be any entity whose shape and size information needs to be obtained. For example, the object being measured can be industrial parts such as gears, bearings, and pistons; it can also be automotive parts such as engine components, body panels, and chassis structures; or it can be the casing and internal structure of electronic devices such as mobile phones and computers. This embodiment does not limit the object being measured.

[0087] The adaptation object can be an auxiliary tool. For example, the adaptation object can be a spherical object, a cube, a cuboid, or the like. The adaptation object can have a plurality of adaptation feature points. The adaptation feature points can be points with significant features of the adaptation object. For example, the adaptation feature points can include specific positions in geometry. If the adaptation object is a sphere, the adaptation feature points can be the center of the sphere. If the adaptation object is a cube, the adaptation feature points can be the center of mass, the vertex, or the like of the adaptation object. If the adaptation object is an object of other shapes, the adaptation feature points can also be boundary points, midpoints of edges, centers of faces, or the like. The adaptation feature points can also include points that are visually easy to identify and distinguish, such as corner points, edge points, and spot points of the adaptation object. The adaptation feature points can also include marks of the adaptation object, such as marker points and coded points. For example, a spherical adaptation object can be designed to be a high-precision spherical object, and the surface of the adaptation object can include a plurality of reflective marker points, which are the adaptation feature points. Of course, the adaptation feature points can also include other points with significant features, and embodiments of the present application do not limit the adaptation feature points.

[0088] Before measuring the measured object, the adaptation object can be configured for the measured object. The adaptation object can be pre-configured, and different adaptation objects can be selected and configured according to different measured objects. After the adaptation object is determined, the adaptation object can be placed on the surface of the measured object, embedded in the measured object, or placed in any area within a preset range of the measured object according to the measurement requirements. During the scanning process, the measured object and the adaptation object are scanned together, so as to obtain scanning data. The scanning points in the scanning data can include scanning points corresponding to the adaptation feature points, and can also include background points, such as points corresponding to the surface of the measured object, points generated by other objects or environmental features captured during the scanning process, or the like.

[0089] In step 120, a set of target scanning points corresponding to the plurality of adaptation feature points is determined from the scanning data.

[0090] In the embodiments of the present application, the fitting feature points are points in the first coordinate system corresponding to the fitting object. The position coordinates of the fitting feature points in the first coordinate system can be predetermined. For example, the fitting object can be pre-scanned to determine the coordinates of the fitting feature points in the first coordinate system. The first coordinate system is a model coordinate system of the fitting object, which is used to represent and describe the specific coordinate framework of the geometry and position of the fitting object. The second coordinate system corresponding to the scanning data corresponds to the world coordinate system actually scanned or the camera coordinate system of the scanner. The coordinates of the scanning points in the scanning data reflect the positions of the scanning points in the second coordinate system. Therefore, the scanning points obtained by scanning the fitting feature points are in the second coordinate system. The target scanning point set corresponding to the fitting feature points is determined from the scanning data, and the purpose is to find the target scanning point corresponding to the fitting feature point in the second coordinate system, so as to know which scanning points in the scanning point set of the scanning data are the target scanning points corresponding to the fitting feature points.

[0091] In the embodiments of the present application, the target scanning point set corresponding to the fitting feature points can be found by splicing and calculating the scanning points in the scanning data and the fitting feature points. The splicing and calculating is a process of matching and combining the scanning points actually scanned and the fitting feature points of the fitting object, so as to determine the spatial relationship between the scanning points and the fitting feature points.

[0092] In some embodiments, the process of splicing and calculating can include calculating the feature descriptors of each scanning point and each fitting feature point, respectively. The feature descriptors can include normal vectors, curvatures and other indicators capable of describing the features of the scanning points and the fitting feature points. For each scanning point, the nearest neighbor search algorithm can be used to search for the corresponding nearest neighbor point in each fitting feature point according to the feature descriptors of the scanning point and the fitting feature point. Then, the Euclidean distance, Manhattan distance or Mahalanobis distance is used as the matching standard to calculate the matching degree of each scanning point and the respective nearest neighbor point. If the matching degree is greater than a preset threshold, the scanning point can be considered as a target scanning point. For example, the nearest neighbor point of the scanning point p i is the fitting feature point p j , and the matching degree between the scanning point p i and the fitting feature point p j is greater than a preset threshold, so the scanning point p i can be considered as a target scanning point, that is, the scanning point p i is a point of the fitting feature point p j in the second coordinate system.

[0093] In some embodiments, the target scan point set corresponding to the plurality of fitting feature points can also be determined from the scan data by a machine learning algorithm. Specifically, a large amount of scan data and fitting feature point sets can be collected, and the target scan points corresponding to the adapter marker points in the scan data are labeled as labels to construct a training data set. The machine learning model is trained using the training data set to obtain a trained model. The scan data and the fitting feature points are input into the trained model, and the target scan point set output by the model can be obtained.

[0094] Step 130: calculating the feature point set of the measured object according to the positional relationship between the fitting object and the measured object and the target scan point set.

[0095] In the embodiments of the present application, the distance between each fitting feature point in the fitting object and the measured object can be determined according to the positional relationship between the fitting object and the measured object. Since the target scan point set is the point of each fitting feature point in the second coordinate system, the distance between each fitting feature point and the measured object is equal to the distance between each target scan point in the target scan point set and the measured object. According to the distance, each target scan point in the target scan point set is compensated, and the feature point set of the measured object can be obtained.

[0096] In one example, the fitting object is a cuboid, which is used to measure the depth of a groove in the measured object. The fitting object of the cuboid includes a plurality of fitting feature points. After the fitting object is inserted into the groove of the measured object, scanning is started, and the target scan point set can be obtained through matching. According to the positional relationship between the fitting object and the measured object, the distance between each fitting feature point of the fitting object and the measured object can be determined. For example, the bottom surface of the fitting object is in contact with the groove of the measured object, and the distance L between the fitting feature point on the top surface corresponding to the bottom surface of the fitting object and the groove is the length from the bottom surface to the top surface. For the target scan point corresponding to the fitting feature point on the top surface, the distance L is used to compensate the target scan point, and the feature point corresponding to the groove of the measured object can be obtained. In this way, the feature point set corresponding to the groove of the measured object can be obtained, and the parameter equation of the groove can be obtained by further fitting the feature points in the feature point set, 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 adaptive object, and the adaptive object comprises a plurality of adaptive feature points; the target scanning point set corresponding to the plurality of adaptive feature points is determined from the scanning data; and the feature point set of the measured object is calculated according to the positional relationship between the adaptive object and the measured object and the target scanning point set. The adaptive object is introduced in the embodiments of the present application, the adaptive feature points of the adaptive object are used as a reference, the target scanning point set corresponding to the adaptive feature points is recognized from the scanning data, and the feature point set of the measured object is calculated in combination with the spatial positional relationship between the adaptive object and the measured object, so that fitting is not needed according to the entire point cloud, the amount of data to be processed is reduced, and the efficiency of object feature measurement is improved.

[0098] In some embodiments, the target scanning point set corresponding to the plurality of adaptive feature points is determined from the scanning data, comprising:

[0099] The first positional coordinates of the plurality of adaptive feature points in the first coordinate system corresponding to the adaptive object are obtained;

[0100] The second positional coordinates of the scanning point set in the scanning data in the second coordinate system corresponding to the scanning data are extracted;

[0101] The target scanning point set corresponding to the plurality of adaptive feature points is determined from the scanning point set according to the first positional coordinates and the second positional coordinates.

[0102] In this embodiment, the first coordinate system is the model coordinate system of the adaptive object, which is a specific coordinate frame for representing and describing the geometric shape and position of the adaptive object. The second coordinate system corresponding to the scanning data corresponds to the world coordinate system of the actual scanning, or the camera coordinate system of the scanner, and the coordinates of the scanning points in the scanning data reflect the positions of the scanning points in the second coordinate system.

[0103] In this embodiment, the first positional coordinates of the plurality of adaptive feature points in the first coordinate system can be input by a user or determined by pre-scanning the adaptive object. According to the first positional coordinates of the plurality of adaptive feature points in the first coordinate system, the adaptive feature point set Pm is obtained. The positional coordinates of the scanning points in the second coordinate system corresponding to the scanning data are extracted from the scanning data, and the scanning point set Po is obtained.

[0104] In this embodiment, a preset feature matching algorithm can be used to match the adaptive feature point set Pm and the scanning point set Po. 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 the embodiments of the present application.

[0105] The feature matching algorithm can find the target scanning point set Pom in the scanning point set Po that is closest to the adaptive feature point set Pm by comparing the features, such as positions, normal vectors, or other geometric features, between the first position coordinates and the second position coordinates. Specifically, the feature matching algorithm can be used to extract the features of the adaptive feature point set Pm and the scanning point set Po, and generate feature descriptors, wherein the feature descriptors can include normal vectors, curvatures, and other indicators that can describe the features of the scanning points and the adaptive feature points. Using the nearest neighbor search algorithm or the least squares method, the corresponding nearest points in each adaptive feature point are searched, 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 and its nearest point. If the matching degree is greater than a preset threshold, the scanning point can be considered as the target scanning point. For example, the nearest point of the scanning point pi is the adaptive feature point pj, and the matching degree of the scanning point pi and the adaptive feature point pj is greater than the preset threshold, then the scanning point pi can be considered as the target scanning point, i.e., the scanning point pi is the point of the adaptive feature point pj in the second coordinate system.

[0106] In this embodiment, by obtaining the position coordinates of the adaptive 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 adaptive feature points can be accurately identified from complex scanning data.

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

[0108] Scanning the adaptive object using a scanner to obtain the three-dimensional coordinates of the plurality of adaptive feature points of the adaptive object;

[0109] Determining the three-dimensional coordinates as the first position coordinates of the plurality of adaptive feature points in the first coordinate system.

[0110] In this embodiment, the surface of the fitting object can be pasted with a plurality of reflective markers, which can represent the fitting feature points. The fitting object can be scanned by a scanner to obtain the three-dimensional position coordinates (x, y, z) of each fitting feature point in the first coordinate system, which are the first position coordinates of the plurality of fitting feature points in the first coordinate system.

[0111] In this embodiment, the three-dimensional coordinates of the plurality of fitting feature points of the fitting object are obtained by the scanner, which can automatically extract the spatial data of the plurality of fitting feature points, reduce the error possibly introduced by manual measurement, and improve the accuracy of the position acquisition of the fitting feature points.

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

[0113] According to the first position coordinates of the plurality of fitting feature points in the first coordinate system and the third position coordinates of the target scanning point set in the second coordinate system, the coordinate conversion relationship is calculated.

[0114] The feature point set of the measured object is calculated according to the positional relationship between the fitting object and the measured object and the coordinate conversion relationship.

[0115] In this embodiment, since the target scanning points in the target scanning point set Pom are points of the fitting feature points in 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 conversion relationship can be represented by a conversion matrix RT. Since the coordinate conversion relationship includes translation and rotation, the conversion matrix RT can include a rotation matrix R and a translation vector T, and it can be derived that:

[0117] P a = R·P s + T

[0118] wherein P a represents the coordinates in the second coordinate system, and P s represents the coordinates in the first coordinate system.

[0119] By substituting the coordinates in the target scanning point set Pom and the fitting feature point set Pm into the above formula, the rotation matrix R and the translation vector T can be solved by using the least square method or rigid body transformation, such as singular value decomposition (SVD), iterative closest point (ICP), etc., so as to obtain the conversion matrix RT.

[0120] In this embodiment, one or more target points can be selected from the adaptation object in advance, and the feature point set of the measured object is calculated in combination with the positional relationship and the coordinate conversion relationship between the adaptation object and the measured object. For example, the adaptation object is a sphere, the adaptation object is placed on the surface of the measured object, and in order to obtain the feature points of the surface of the measured object, the center of the sphere of the adaptation object can be taken as a target point, the target point is converted from the first coordinate system to the second coordinate system through the conversion matrix RT, and then according to the positional relationship between the adaptation object and the measured object, the distance between the target point and the surface of the measured object is determined to be the radius of the sphere. The radius is compensated to the position coordinate of the target point in the second coordinate system, and the coordinate of the feature point of the surface of the measured object is obtained.

[0121] In this embodiment, the coordinate conversion relationship between the coordinate system corresponding to the adaptation object and the coordinate system corresponding to the scanning data can be accurately calculated according to the positions of the adaptation feature points and the target scanning point set in different coordinates, and according to the coordinate conversion relationship, the adaptation feature points can be converted to the coordinate system corresponding to the scanning data, so as to determine the feature points of the measured object, thereby reducing the amount of data 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 according to the positional relationship and the coordinate conversion relationship between the adaptation object and the measured object, comprising:

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

[0124] converting 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] calculating the feature point set of the measured object according to the positional relationship between the adaptation object and the measured object and the reference target point.

[0126] In some embodiments, the adaptation target point can be a point selected from the plurality of adaptation feature points, for example, one of the plurality of adaptation feature points or a plurality of adaptation feature points is determined as the adaptation target point. By directly selecting the adaptation target point from the plurality of adaptation feature points, additional calculation is not required, thereby improving the efficiency of object feature measurement.

[0127] In some embodiments, at least one fitting target point in the first coordinate system can also be fitted according to the first position coordinates of the plurality of fitting feature points in the first coordinate system corresponding to the fitting object. For example, when the fitting object is a sphere, the center of the sphere can be fitted as the fitting target point according to the plurality of fitting feature points. When the fitting object is of other shapes, the boundary points or vertices of the fitting object can also be fitted according to the plurality of fitting feature points. By fitting the fitting target point according to the position coordinates of the fitting feature points, the subsequent coordinate conversion and calculation of the feature point set can be performed according to the specific measurement requirements and the characteristics of the fitting object, thereby improving the relevance and accuracy of the measurement results.

[0128] In this embodiment, after the fitting target point is determined, at least one fitting 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 fitting target point in the second coordinate system is determined as the reference target point. The distance between the fitting target point and the measured object can be determined according to the position relationship between the fitting object and the measured object, and the reference target point is compensated by using the distance, so as to obtain the feature point of the measured object.

[0129] In this embodiment, by taking at least one fitting target point of the fitting object as a reference, the reference target point is converted from the fitting target point by using the coordinate conversion relationship, and the reference target point is taken as a reference in the second coordinate system corresponding to the scanning data, and the feature point set of the measured object can be obtained by combining the position relationship between the fitting object and the measured object, thereby reducing the amount of data to be processed, and improving the efficiency of object feature measurement.

[0130] In some embodiments, the feature point set of the measured object is calculated according to the position relationship between the fitting object and the measured object and the reference target point, including:

[0131] The distance between the fitting target point and the measured object is calculated according to the position relationship between the fitting object and the measured object.

[0132] The position of the reference target point is compensated by using the distance, and the feature point set of the measured object is obtained.

[0133] In one example, the adaptation object is a cuboid for measuring the depth of a groove in the measured object, the adaptation object of the cuboid includes a plurality of adaptation feature points, and the scanning is started after the adaptation object is inserted into the groove of the measured object. According to the positional relationship between the adaptation object and the measured object, the distance between the adaptation target point in the adaptation object and the measured object can be calculated. For example, the bottom surface of the adaptation object is in contact with the groove of the measured object, 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 distance is used to compensate the reference target point, and the feature point corresponding to the groove of the measured object can be obtained. In this way, the feature point set corresponding to the groove of the measured object can be obtained, the feature points in the feature point set are further fitted to obtain the parametric equation of the groove, and the depth information of the groove can be detected.

[0134] Of course, if the adaptation object is spherical or in other shapes, the distance between the adaptation target point and the measured object can also be calculated in a similar manner, and the distance is used to compensate the reference target point, and the feature point corresponding to the groove of the measured object can be obtained.

[0135] In this embodiment, by calculating the relative distance between the adaptation target point and the measured object, the actual spatial relationship between the adaptation object and the measured object is considered, the position of the reference target point is compensated by using the relative distance, the position of the feature point of the measured object in space can be more accurately reflected, and the accuracy of the measurement result is improved.

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

[0137] In this embodiment, the measurement task can be determined according to the actual measurement requirement. For example, the measurement task can be to measure the size of the measured object, such as length, width, height, diameter, etc. The measurement task can also be to measure the geometric and position tolerance of the measured object, such as straightness, flatness, roundness, cylindricity, etc. The measurement task can also be to measure the structural parameters of the measured object, such as the inclination and flatness of the measured plane. 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, the same or different adaptation target points can be selected for different measurement tasks. For example, the measurement task is to measure the size of the measured object, and the adaptation target point can be a boundary point or a corner point of the adaptation object. When the measurement task is to measure the geometric and position tolerance of the measured object, the adaptation target point can be a point on the axis of the adaptation object.

[0139] In this embodiment, by determining the adaptation target point according to the measurement task, the feature point of the measured object can be obtained in the measurement process, different measurement environments can be adapted to, and the flexibility of the measurement is enhanced.

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

[0141] In this embodiment, the shape of the adapting object can be spherical, annular, cylindrical, hexahedral, conical, etc., or any other shape, which is not limited in the present application.

[0142] According to the shape of the measured object, the shape of the adapting object that is suitable for the shape of the measured object can be used. For example, if the measured object is a plane, a spherical adapting object can be set to measure the flatness and inclination of the measured object; if the measured object is a circular deep hole, a cylindrical adapting object can be set to measure the depth of the measured object; if the measured object is a cylinder, an annular adapting object can be set to measure the diameter, roundness and cylindricity of the measured object.

[0143] According to the measurement task, the shape of the adapting object that is suitable for the measurement task can be used. For example, if the measurement task is to measure the size, a straight-edged adapting object can be used; if the measurement task is to measure the depth, a cylindrical or cuboid adapting object can be used.

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

[0145] In some embodiments, before acquiring the scanning data of the measured object, the method further comprises:

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

[0147] placing the adapting object on the measured point.

[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 a measured point. If the flatness of the measured object is to be measured, any number of positions can be determined as measured points. The number of adapting objects is determined according to the number of measured points, and the adapting 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, 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 mode.

[0151] In this embodiment, according to different measurement tasks, the measured object can include a plurality of measured points, and if the measurement task needs to fit the features of the measured object as much as possible, the measured points can be distributed on the measured object according to a preset arrangement mode. The arrangement mode can be uniform arrangement to avoid too much concentration of measured points, or the arrangement mode can be determined according to the key positions of the measured object, such as the center point, the boundary point, etc.

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

[0153] The following will introduce the measurement method of the embodiment of the application through a scene example. As shown in the figure, the scene example can include the following steps: Figure 2

[0154] Step 1: Add an adaptive object

[0155] In this step, an adaptive object model can be designed in advance, a plurality of reflective marker points are added to the adaptive object model, the adaptive object model is scanned by a scanner to obtain the three-dimensional position coordinates of the reflective marker points, and these position coordinates are marked as an adaptive feature point set Pm. One or more adaptive target points Pd are fitted according to the adaptive feature point set Pm. In this step, a plurality of different adaptive objects can be designed to adapt to the measurement work of different measured objects, and the adaptive feature point set Pm and the adaptive target point Pd of different adaptive objects can be saved as a file.

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

[0157] Step 2: Scan the measured object and splice the adaptive object.

[0158] ​In this step, depending on the measurement requirements, the user can place the adapter object at a preset position on the passive object. For example, if the surface features of the object to be measured need to be measured, the adapter object can be placed on the surface of the object to be measured, and then a scanner can be used to scan it to obtain a set of scan points Po. The scan point set Po and the adapter feature point set Pm are then concatenated and calculated to obtain the transformation matrix RT, which represents the coordinate transformation relationship.

[0159] Step 3: Calculate feature points.

[0160] In this step, the adaptation target point Pd can be multiplied with the transformation matrix RT to obtain the reference target point. Then, based on the positional relationship between the adaptation object and the object under test, the distance between the adaptation target point and the object under test can be determined. Using this distance to compensate the reference target point, the feature points of the object under test can be obtained.

[0161] In this step, the feature points of the object under test can be output to the user interface. For example, the feature points of the object under test can be output as a file to the user interface, or the feature points of the object under test can be visualized in the user interface.

[0162] The measurement method provided in this application can be executed by a measuring device. This application uses a measuring device executing the measurement method as an example to illustrate the measuring device provided in this application.

[0163] This application also provides a measuring device.

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

[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 adapter object, and the adapter object includes multiple adapter feature points;

[0166] The determination module 320 is used to determine the target scan point set corresponding to multiple adaptive feature points from the scan data;

[0167] The calculation module 330 is used to calculate the feature point set of the object under test based on the positional relationship between the adapter and the object under test and the target scanning point set.

[0168] According to the measuring device provided in the application, the scanning data of the measured object is acquired; wherein the measured object is configured with an adaptive object, the adaptive object comprises a plurality of adaptive feature points; a target scanning point set corresponding to the plurality of adaptive feature points is determined from the scanning data; and the feature point set of the measured object is calculated according to the positional relationship between the adaptive object and the measured object and the target scanning point set. The embodiment of the application introduces the adaptive object, uses the adaptive feature points of the adaptive object as a reference, identifies the target scanning point set corresponding to the adaptive 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 adaptive object and the measured object, without fitting according to the entire point cloud, so that the amount of data to be processed is reduced, and the efficiency of object feature measurement is improved.

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

[0170] acquire the first position coordinates of the plurality of adaptive feature points in the first coordinate system corresponding to the adaptive object;

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

[0172] determine the target scanning point set corresponding to the plurality of adaptive feature points from the scanning point set according to the first position coordinates and the second position coordinates.

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

[0174] scan the adaptive object by using a scanner to obtain the three-dimensional coordinates of the plurality of adaptive feature points of the adaptive object;

[0175] determine the three-dimensional coordinates as the first position coordinates of the plurality of adaptive feature points in the first coordinate system.

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

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

[0178] calculate the feature point set of the measured object according to the positional relationship between the adaptive object and the measured object and the coordinate conversion relationship.

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

[0180] determine at least one adaptive target point in the first coordinate system according to the adaptive object;

[0181] convert the at least one adaptive 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 calculated according to the positional relationship between the adaptation object and the measured object and the reference target point.

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

[0184] select at least one adaptation feature point 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] obtain first position coordinates of the plurality of adaptation feature points in a first coordinate system corresponding to the adaptation object;

[0187] fit at least one adaptation target point in the first coordinate system according to the first position coordinates.

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

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

[0190] compensate for the position of the reference target point by the distance, to obtain the feature point set of the measured object.

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

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

[0193] place the adaptation object on the measured point.

[0194] The measuring device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a scanner, mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the scope of the device.

[0195] The measuring device in this application embodiment can be a device with an operating system. This operating system can be a Microsoft (Windows) operating system, an Android operating system, an iOS operating system, or other possible operating systems; this application embodiment does not specifically limit the specific operating system used.

[0196] In some embodiments, such as Figure 4 As shown, this application embodiment 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, it implements the various processes of the above measurement method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

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

[0198] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described measurement method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0199] The processor is a processor in the electronic device in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disc or an optical disc, and the like.

[0200] The application further provides a computer program product, including a computer program, which is executed by a processor to implement the above measurement method.

[0201] The processor is a processor in the electronic device in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disc or an optical disc, and the like.

[0202] The application further provides a chip, which includes a processor and a communication interface. The communication interface is coupled with the processor. The processor is used to run a program or an instruction to implement each process of the above measurement method embodiment and achieve the same technical effect. To avoid repetition, details are not described herein.

[0203] It should be understood that the chip mentioned in the application embodiment can also be referred to as a system-level chip, a system chip, a chip system or a system-on-chip, etc.

[0204] It should be noted that, in this document, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the application is not limited to the order of performing the functions as shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in a reverse order, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

[0205] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned example methods can be realized by means of software and necessary general hardware platforms, and of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product in essence or in the form of a part of the prior art that makes a contribution. The computer software product is stored in a storage medium (such as a ROM / RAM, a magnetic disc, an optical disc), and includes a plurality of instructions for causing a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present application.

[0206] The embodiments of the present application are described above in combination with the accompanying drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

[0207] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can 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 can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method of measurement, characterized by, The method comprises: acquiring scanning data of a measured object; wherein the measured object is configured with an adaptation object, and the adaptation object comprises a plurality of adaptation feature points; determining a target scanning point set corresponding to the plurality of adaptation feature points from the scanning data; comprising: calculating a matching degree of each scanning point in the scanning data and a corresponding nearest point, and determining a scanning point with a matching degree greater than a preset threshold as a target scanning point; calculating a feature point set of the measured object according to a positional relationship between the adaptation object and the measured object and the target scanning point set.

2. The method of claim 1, wherein, The method of determining a target scanning point set corresponding to the plurality of adaptation feature points from the scanning data comprises: acquiring first position coordinates of the plurality of 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; determining a target scanning point set corresponding to the plurality of adaptation feature points from the scanning point set according to the first position coordinates and the second position coordinates.

3. The method of claim 2, wherein, The method of acquiring first position coordinates of the plurality of adaptation feature points in a first coordinate system corresponding to the adaptation object comprises: scanning the adaptation object by using a scanner to obtain three-dimensional coordinates of the plurality of adaptation feature points of the adaptation object; determining the three-dimensional coordinates as the first position coordinates of the plurality of adaptation feature points in the first coordinate system.

4. The method of claim 1, wherein, The method of calculating a feature point set of the measured object according to a positional relationship between the adaptation object and the measured object and the target scanning point set comprises: calculating a coordinate conversion relationship according to the first position coordinates of the plurality of adaptation feature points in the first coordinate system and third position coordinates of the target scanning point set in the second coordinate system; calculating a feature point set of the measured object according to the positional relationship between the adaptation object and the measured object and the coordinate conversion relationship.

5. The method of claim 4, wherein, The method of calculating a feature point set of the measured object according to a positional relationship between the adaptation object and the measured object and the coordinate conversion relationship comprises: determining at least one adaptation target point in the first coordinate system according to the adaptation object; converting 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; calculating a feature point set of the measured object according to the positional relationship between the adaptation object and the measured object and the reference target point.

6. The method of claim 5, wherein, The method of determining at least one adaptation target point in the first coordinate system according to the adaptation object comprises: selecting at least one adaptation feature point from the plurality of adaptation feature points as an adaptation target point.

7. The method of claim 5, wherein, The method of determining at least one adaptation target point in the first coordinate system according to the adaptation object comprises: acquiring first position coordinates of the plurality of adaptation feature points in a first coordinate system corresponding to the adaptation object; fitting at least one adaptation target point in the first coordinate system according to the first position coordinates.

8. The method of claim 5, wherein, The method of calculating a feature point set of the measured object according to a positional relationship between the adaptation object and the measured object and the reference target point comprises: The distance between the adaptation target point and the measured object is calculated according to the positional relationship between the adaptation object and the measured object; The position of the reference target point is compensated by using the distance, so as to obtain a feature point set of the measured object.

9. The method according to any one of claims 5-8, 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 the scanning data of the measured object is acquired, the method further comprises: Determining at least one measured point on the measured object; Placing the adaptation object on the measured point.

12. The method of claim 11, wherein, The measured object comprises a plurality of measured points, and the measured points are distributed on the measured object according to a preset arrangement mode.

13. A measuring device, characterized by The method comprises: An acquisition module is configured to acquire scanning data of a measured object; wherein the measured object is configured with an adaptation object, and the adaptation object comprises a plurality of adaptation feature points; A determination module is configured to determine a target scanning point set corresponding to the plurality of adaptation feature points from the scanning data; including: calculating the matching degree between each scanning point in the scanning data and the corresponding nearest point, and determining the scanning point with the matching degree greater than a preset threshold as the target scanning point; A calculation module is configured to calculate a feature point set of the measured object according to the positional relationship between the adaptation 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 on the memory and executable on the processor, characterized in that, The processor executes the program to implement the method of any one of claims 1-12.

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

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