Three-dimensional reconstruction method, three-dimensional scanning equipment, device and program product

Abstract

The invention provides a three-dimensional reconstruction method, three-dimensional scanning equipment, a three-dimensional reconstruction device and a program product. The method comprises the steps that a first calculation unit acquires structured light data of the surface of a to-be-measured object in a two-dimensional image; the first calculation unit constructs a three-dimensional point cloud model according to the structured light data of the surface of the to-be-measured object; the first calculation unit or the second calculation unit renders the three-dimensional point cloud model to obtain display data; the second calculation unit controls the display data to be displayed on the display device. According to the invention, the three-dimensional scanning equipment is provided with the first calculation unit and the second calculation unit, and the three-dimensional point cloud model can be constructed, rendered and smoothly displayed through the calculation capability and the video memory capacity provided by the first calculation unit and the second calculation unit; therefore, the three-dimensional point cloud model is constructed, rendering and display work can be completed at a three-dimensional scanning equipment end, a computer does not need to be used for providing computing power, the constraint of a data line is eliminated, and carrying and outdoor large-scale scene scanning are convenient.

Description

Technical Field

[0001] The present application belongs to the field of three-dimensional scanning technology, and in particular, relates to a three-dimensional reconstruction method, a three-dimensional scanning device, an apparatus and a program product. Background Art

[0002] Traditional 3D scanners are mainly responsible for scanning the surface of the object to be measured, and then transmitting the scanned data to the computer, where the 3D model is calculated and displayed. The 3D scanner and the computer need to maintain a limited or wireless connection within a certain range, which is inconvenient to carry and scan large outdoor scenes. Summary of the invention

[0003] The embodiments of the present application provide a three-dimensional reconstruction method, a three-dimensional scanning device, an apparatus and a program product, which can solve the problem that traditional three-dimensional scanning devices need to rely on computers to complete calculations, resulting in inconvenience in carrying and scanning large outdoor scenes.

[0004] In a first aspect, an embodiment of the present application provides a three-dimensional reconstruction method, which is applied to a three-dimensional scanning device, wherein the three-dimensional scanning device includes a first computing unit and a second computing unit; the performance index of the first computing unit is higher than the performance index of the second computing unit; the method includes:

[0005] The first computing unit acquires structured light data of the surface of the object to be measured in the two-dimensional image;

[0006] The first computing unit constructs a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured;

[0007] The first computing unit or the second computing unit renders the three-dimensional point cloud model to obtain display data;

[0008] The second calculation unit controls the display data to be displayed on a display device.

[0009] In a possible implementation manner of the first aspect, when the scanning mode of the three-dimensional scanning device is a speckle scanning mode, before the first computing unit acquires structured light data of the surface of the object to be measured in the two-dimensional image, the method further includes:

[0010] The first computing unit controls the speckle projection component of the three-dimensional scanning device to project a speckle pattern onto the surface of the object to be measured;

[0011] The first computing unit controls the camera system of the three-dimensional scanning device to collect a two-dimensional image of the surface of the object to be measured; the two-dimensional image contains the speckle pattern;

[0012] The first calculation unit extracts speckle pattern data from the two-dimensional image to obtain the structured light data.

[0013] In a possible implementation manner of the first aspect, when the scanning mode of the three-dimensional scanning device is a speckle scanning mode, the first computing unit renders the three-dimensional point cloud model, and the first computing unit renders the three-dimensional point cloud model to obtain display data, including:

[0014] The first computing unit renders the three-dimensional point cloud model;

[0015] The first computing unit acquires the orthographic projection view of the rendered three-dimensional point cloud model to obtain display data;

[0016] The first computing unit sends the display data to the second computing unit.

[0017] In a possible implementation manner of the first aspect, when the scanning mode of the three-dimensional scanning device is a laser line scanning mode, before the first computing unit acquires structured light data of the surface of the object to be measured in the two-dimensional image, the method further includes:

[0018] The first computing unit controls the laser line projection component of the three-dimensional scanning device to project a laser line toward the surface of the object to be measured;

[0019] The first computing unit controls the camera system of the three-dimensional scanning device to collect a two-dimensional image of the surface of the object to be measured; the two-dimensional image includes the laser line;

[0020] The first computing unit controls the programmable chip of the three-dimensional scanning device to extract the laser line data and the marker point area image data in the two-dimensional image to obtain the structured light data;

[0021] The first computing unit acquires structured light data of the surface of the object to be measured in the two-dimensional image, including:

[0022] The first computing unit obtains the structured light data from the programmable chip.

[0023] In a possible implementation manner of the first aspect, when the scanning mode of the three-dimensional scanning device is a laser line scanning mode, the second computing unit renders the three-dimensional point cloud model, and the second computing unit renders the three-dimensional point cloud model to obtain display data, including:

[0024] The second computing unit obtains the three-dimensional point cloud model from the first computing unit;

[0025] The second computing unit renders the three-dimensional point cloud model to obtain display data; the display data is the rendered three-dimensional point cloud model.

[0026] In a possible implementation manner of the first aspect, before the second computing unit controls the display data to be displayed on the display device, the method further includes:

[0027] The second calculation unit determines a refresh frequency of the display data; the refresh frequency is positively correlated with a moving speed of the three-dimensional scanning device;

[0028] The second computing unit controls the display data to be displayed on the display device, including:

[0029] The second calculation unit controls the display data to be displayed on the display device according to the refresh frequency.

[0030] In a possible implementation manner of the first aspect, the second calculation unit determines the refresh frequency of the display data, including:

[0031] The second calculation unit or the first calculation unit acquires a moving speed of the three-dimensional scanning device;

[0032] The second calculation unit or the first calculation unit determines a refresh frequency of the display data according to a moving speed of the three-dimensional scanning device.

[0033] In a second aspect, an embodiment of the present application provides a three-dimensional reconstruction device, which is applied to a three-dimensional scanning device. The three-dimensional reconstruction device includes:

[0034] An acquisition module, used for acquiring structured light data of the surface of the object to be measured in the two-dimensional image;

[0035] A three-dimensional point cloud model building module, used to build a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured;

[0036] A rendering module, used for rendering the three-dimensional point cloud model to obtain display data;

[0037] The control module is used to control the display data to be displayed on the display device through the second computing unit.

[0038] In a third aspect, an embodiment of the present application provides a three-dimensional scanning device, comprising a memory, a first computing unit, a second computing unit, and a computer program stored in the memory and executable on the first computing unit and the second computing unit, wherein the first computing unit or the second computing unit implements the method described in any one of the first aspects when executing the computer program.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a first computing unit and a second computing unit, the method as described in any one of the first aspects is implemented.

[0040] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a three-dimensional scanning device, enables the three-dimensional scanning device to execute any of the methods described in the first aspect above.

[0041] In a sixth aspect, an embodiment of the present application provides a three-dimensional reconstruction method, which is applied to a three-dimensional scanning device, wherein the three-dimensional scanning device includes a first computing unit and a second computing unit; a performance index of the first computing unit is higher than a performance index of the second computing unit; the method includes:

[0042] The first computing unit acquires structured light data of the surface of the object to be measured in the two-dimensional image;

[0043] The first computing unit constructs a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured;

[0044] The first computing unit sends a first control instruction or a second control instruction to the second computing unit, the first control instruction includes the three-dimensional point cloud model, and the first control instruction is used to instruct the second computing unit to render the three-dimensional point cloud model and display the display data obtained after the rendering. The second control instruction includes the display data obtained after the three-dimensional point cloud model is rendered, and the second control instruction is used to instruct the display data obtained after the rendering to be displayed.

[0045] In a seventh aspect, an embodiment of the present application provides a three-dimensional reconstruction method, which is applied to a three-dimensional scanning device, wherein the three-dimensional scanning device includes a first computing unit and a second computing unit; a performance index of the first computing unit is higher than a performance index of the second computing unit; the method includes:

[0046] The second computing unit receives a control instruction from the first computing unit, the control instruction being a first control instruction or a second control instruction, the first control instruction including the three-dimensional point cloud model, the first control instruction being used to instruct the second computing unit to render the three-dimensional point cloud model and display display data obtained after rendering. The second control instruction includes display data obtained after rendering the three-dimensional point cloud model, the second control instruction being used to instruct to display the display data obtained after rendering;

[0047] The control instruction is a first control instruction, then the second computing unit renders the three-dimensional point cloud model, and displays display data obtained after rendering on a display device;

[0048] If the control instruction is a second control instruction, the second computing unit displays the display data obtained after rendering on the display device.

[0049] In an eighth aspect, an embodiment of the present application provides a three-dimensional reconstruction device, which is applied to a three-dimensional scanning device, wherein the three-dimensional scanning device includes a first computing unit and a second computing unit; a performance index of the first computing unit is higher than a performance index of the second computing unit; the three-dimensional reconstruction device is the first computing unit or a chip applied to the first computing unit, and the three-dimensional reconstruction device includes:

[0050] An acquisition module, used for acquiring structured light data of the surface of the object to be measured in the two-dimensional image;

[0051] A three-dimensional point cloud model building module, used to build a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured;

[0052] The sending module is used to send a first control instruction or a second control instruction to the second computing unit, wherein the first control instruction includes the three-dimensional point cloud model, and the first control instruction is used to instruct the second computing unit to render the three-dimensional point cloud model and display the display data obtained after the rendering. The second control instruction includes the display data obtained after the three-dimensional point cloud model is rendered, and the second control instruction is used to instruct the display data obtained after the rendering to be displayed.

[0053] In a ninth aspect, an embodiment of the present application provides a three-dimensional reconstruction device, which is applied to a three-dimensional scanning device, wherein the three-dimensional scanning device includes a first computing unit and a second computing unit; a performance index of the first computing unit is higher than a performance index of the second computing unit; the three-dimensional reconstruction device is the second computing unit or a chip applied to the second computing unit, and the three-dimensional reconstruction device includes:

[0054] A receiving module, configured to receive a control instruction from a first computing unit, wherein the control instruction is a first control instruction or a second control instruction, wherein the first control instruction includes the three-dimensional point cloud model, and the first control instruction is used to instruct the second computing unit to render the three-dimensional point cloud model and display display data obtained after rendering. The second control instruction includes display data obtained after rendering the three-dimensional point cloud model, and the second control instruction is used to instruct to display the display data obtained after rendering;

[0055] A rendering module, wherein the control instruction is a first control instruction, and is used to render the three-dimensional point cloud model and display the display data obtained after rendering on a display device;

[0056] The display module, wherein the control instruction is a second control instruction, is used to display the display data obtained after rendering on a display device.

[0057] It can be understood that the beneficial effects of the second to ninth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0058] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application have multiple computing units in the three-dimensional scanning device, such as the first computing unit and the second computing unit. The computing power and video memory capacity provided by the first computing unit and the second computing unit can quickly complete the three-dimensional point cloud model construction, rendering and smooth display, so that the three-dimensional point cloud model construction, rendering and display work can be completed on the three-dimensional scanning device side without the need to rely on the computing power provided by the computer, getting rid of the constraints of data cables, and facilitating carrying and outdoor large-scale scene scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0060] Figure 1 This is a schematic diagram of the overall design of a three-dimensional scanning device provided in one embodiment of the present application;

[0061] Figure 2 is a flowchart of a three-dimensional reconstruction method provided by an embodiment of the present application;

[0062] Figure 3 It is a structural block diagram of a three-dimensional reconstruction device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0063] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0064] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0065] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0066] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0067] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0068] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0069] Glossary:

[0070] FPGA (Field-Programmable Gate Array) is a programmable logic device. It contains a large number of configurable logic units and interconnection resources, which developers can configure through programming to achieve specific digital circuit functions.

[0071] SoC refers to system on chip. SoC includes multiple functional modules such as processor core, memory, input and output interface, storage controller, graphics processing unit (GPU), digital signal processor (DSP), etc.

[0072] NVIDIA Jetson Orin is a high-performance embedded system-on-chip that delivers powerful GPU performance with strong computing power and efficient energy efficiency based on NVIDIA's Ampere architecture.

[0073] NVIDIA Jetson Xiaver is a high-performance embedded system chip from NVIDIA. It uses NVIDIA's Volta architecture, integrates a multi-core ARM CPU and a powerful GPU, and can support complex AI models and real-time data processing.

[0074] RK3588 is a high-performance processor launched by Rockchip, based on ARM architecture. RK3588 integrates multi-core ARM Cortex-A76 and Cortex-A55 CPUs, supports up to 8K video decoding and encoding, and has powerful graphics processing capabilities. It also supports a variety of interfaces and connection options, suitable for multimedia processing and complex computing tasks.

[0075] CUDA (Compute Unified Device Architecture) is a parallel computing architecture and API developed by NVIDIA for performing parallel computing tasks on NVIDIA GPUs. It allows developers to transfer computing tasks from the central processing unit (CPU) to the GPU, thereby significantly improving computing efficiency and performance.

[0076] The main functions of current 3D scanner software are developed based on the Windows system and rely on PC (Personal Computer) for calculation and display. The 3D scanner end is only responsible for providing two-dimensional images or performing some simple data extraction, and cannot complete the scanning task independently, making traditional 3D scanners inconvenient to carry and scan large scenes outdoors.

[0077] To this end, the present application provides a 3D scanning device that is small in size, easy to carry, and can independently complete the entire 3D reconstruction task. Figure 1 , Figure 1 A schematic diagram of the overall design of a three-dimensional scanning device provided in an embodiment of the present application is shown.

[0078] The three-dimensional scanning device includes: a laser line projection component, a speckle projection component, an LED lamp, a camera system, a programmable chip, a first computing unit, a second computing unit, a battery and a display screen.

[0079] Laser line projection components are suitable for high-precision small-range scanning, which can include cross-line infrared lasers and parallel-line blue lasers. Cross-line infrared lasers and parallel-line blue lasers can provide different scanning methods to meet different measurement needs. Cross-line infrared lasers and parallel-line blue lasers each have different wavelengths and characteristics. Cross-line infrared lasers have a longer wavelength and strong penetration, which is suitable for scanning on complex or rough surfaces; while parallel-line blue lasers have a shorter wavelength and high resolution, which is suitable for capturing subtle surface features. The combination of the two can improve the accuracy of scanning at different levels.

[0080] The speckle projection component is suitable for large-scale rapid scanning, and may include one or more infrared speckle projectors. The infrared speckle projectors project speckle patterns onto the object to be measured, and the camera system simultaneously captures the changes in these speckle patterns, and analyzes the deformation of the speckle through the computing unit to obtain the three-dimensional shape information of the object to be measured.

[0081] The camera system includes a black and white camera and a color camera. Among them, multiple black and white cameras can be set, and multiple black and white cameras can be divided into tasks according to different scanning modes. For example, in the laser line scanning mode, some black and white cameras can capture laser line images, and these images calculate the three-dimensional point cloud by calculating the parallax information between the cameras. The color camera can provide color information to enhance the visibility of the image in the later rendering. In the speckle scanning mode, the remaining black and white cameras can capture speckle images from different perspectives, and build a more comprehensive three-dimensional point cloud model by analyzing the changes in the speckle pattern. The color camera can provide color information to enhance the visibility of the image in the later rendering.

[0082] LED lights are used to fill in the light for black and white cameras and color cameras.

[0083] The programmable chip may be a Field-Programmable Gate Array (FPGA). In the laser line scanning mode, the FPGA obtains the image captured by the camera system, extracts the center point data of the laser line in the width direction and the image data of the marker area, and the computing unit constructs a three-dimensional point cloud model based on these data.

[0084] The first computing unit and the second computing unit are mainly responsible for the construction and rendering of the three-dimensional point cloud model. The construction and rendering of the three-dimensional point cloud model require strong computing power. The traditional three-dimensional scanning equipment transmits the construction and rendering of the three-dimensional point cloud model to the computer. The computer performs calculations through the CPU and GPU, and displays it on the display screen through the graphics card rendering. The first computing unit of the embodiment of the present application can be the first SoC, and the second computing unit can be the second SoC. The SoC is small in size and low in cost; specifically, SoC can be selected from NVIDIA Jetson Orin, NVIDIA Jetson Xiaver, RK3588, etc. Exemplarily, the computing power of the CPU and GPU of the first SoC is greater than that of the second SoC, and the disk capacity is greater than that of the second SoC. The engineering data storage and computing-related tasks are deployed in the first SoC; the second SoC has a large video memory capacity and weaker computing power than the first SoC. It is equipped with an Android / ios system, and the two USB3.0s are mapped to IP networks through the ADB tool with the first SoC, and communicate through the network protocol. Through the coordinated use of the first SoC and the second SoC, the construction and rendering of the three-dimensional point cloud model can be completed.

[0085] The battery is used to power the relevant components, and an external power source can also be extended for power supply. The display screen is used to display the rendered 3D point cloud model, so as to visualize the 3D point cloud.

[0086] Optionally, the 3D scanning device comes with a wifi module, an internet port, and a Type-C, which can transmit data to other storage devices or computing devices (such as a PC) wirelessly or wired. Exemplarily, the first SoC is connected to the PC via Type-C and an internet cable; the second SoC is connected to the PC via wifi. The camera system, the speckle projection component, and the laser line projection component are connected to the PFGA via internal wires, and the FPGA is connected to the first SoC via internal wires.

[0087] It can be seen that the 3D scanning device of the embodiment of the present application can independently complete scanning, calculation (construction and rendering of 3D point cloud model) and display work, meet the needs of wireless scanning, do not need to be connected to a computer, and is battery-powered. In addition, the 3D scanning device of the embodiment of the present application is small in size and light in weight, and can be handheld for scanning, which solves the pain points of no power supply for outdoor scanning, separation of the person and the computer screen during scanning, and limitation of the length of the data cable, and is convenient for carrying and scanning large outdoor scenes.

[0088] The three-dimensional scanning device of the embodiment of the present application may be a handheld three-dimensional scanner. It is easy to understand that from the perspective of reducing volume and reducing cost, the three-dimensional scanning device of the embodiment of the present application may also be a non-handheld three-dimensional scanner.

[0089] See also Figure 2 , Figure 2 A three-dimensional reconstruction method disclosed in an embodiment of the present application is shown, which is applied to a three-dimensional scanning device. The three-dimensional scanning device includes multiple computing units. Exemplarily, it can include two computing units, namely a first computing unit and a second computing unit, wherein the first computing unit can be a first SoC and the second computing unit can be a second SoC; specifically, the method includes S110-S140.

[0090] S110: The first SoC obtains structured light data of the surface of the object to be measured in the two-dimensional image.

[0091] According to different scanning modes, structured light data may include laser lines or speckle patterns, etc. Correspondingly, structured light data may be laser line data and marker area image data, or speckle pattern data. Acquiring structured light data on the surface of the object to be measured in the two-dimensional image may be acquiring laser line data and marker area image data, or speckle pattern data.

[0092] S120: The first SoC constructs a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured.

[0093] Through the computing power provided by the first SoC, a 3D point cloud model can be gradually constructed based on the structured light data. The 3D point cloud model is composed of a large number of points, each of which contains information such as its coordinates in 3D space (usually x, y, z coordinates).

[0094] S130: The first SoC or the second SoC renders the three-dimensional point cloud model to obtain display data.

[0095] The displayed data is used to reflect the three-dimensional information of the object to be measured.

[0096] S140: The second SoC controls the display data to be displayed on the display device.

[0097] Exemplarily, the display device may be a display screen built into the 3D scanning device or an external screen, etc. In other words, the display data may be displayed on the display screen built into the 3D scanning device. If the display data is to be displayed on a larger display screen, the display data may also be displayed on an external display screen.

[0098] Displaying the display data on the display screen allows users to more intuitively see the 3D reconstruction progress and 3D reconstruction effects.

[0099] The embodiment of the present application has multiple SoCs in the three-dimensional scanning device, such as a first SoC and a second SoC. The computing power and video memory capacity provided by the first SoC and the second SoC can quickly complete the three-dimensional point cloud model construction, rendering and smooth display, so that the three-dimensional point cloud model construction, rendering and display work can be completed on the three-dimensional scanning device end without relying on the computing power provided by a computer, getting rid of the constraints of data cables, and facilitating portability and outdoor large-scale scene scanning.

[0100] Optionally, in this embodiment, the performance index of the first SoC is higher than or equal to the performance index of the second SoC. Optionally, the performance index may refer to the computing power of the SoC, that is, the computing power of the first SoC is higher than or equal to the computing power of the second SoC. It is understandable that if the computing power of the first SoC is higher than that of the second SoC, then in the actual process, the first SoC can be mainly used to complete the work with large amount of calculation, such as building a three-dimensional point cloud model, rendering, etc. Of course, in the actual process, if the computing power of the second SoC can realize the construction of a three-dimensional point cloud model, rendering, etc., the second SoC can also build a three-dimensional point cloud model, rendering, etc.

[0101] Optionally, as an example, the video memory capacity of the second SoC is greater than that of the first SoC, so that the second SoC can complete the work that requires a large video memory capacity. Video memory is a memory used to store data temporarily used by a graphics processing unit (GPU); the larger the video memory capacity, the more complex graphics and higher resolution images can be processed, and more point cloud data and details can be accommodated, thereby improving the rendering quality. Therefore, the second SoC can control the display data to be displayed on the display device. The first SoC and the second SoC use the ADB (Android Debug Bridge) tool to map two USB3.0 to IP networks and communicate through network protocols.

[0102] The three-dimensional scanning device of the embodiment of the present application has two scanning modes, namely a laser line scanning mode and a speckle scanning mode.

[0103] In the laser line scanning mode, S110: before the first SoC acquires structured light data of the surface of the object to be measured in the two-dimensional image, the three-dimensional reconstruction method provided in the embodiment of the present application may further include S101-S103.

[0104] S101: The first SoC controls a laser line projection component of a three-dimensional scanning device to project a laser line toward a surface of an object to be measured.

[0105] The laser line projection component can be a cross-line infrared laser and / or a parallel blue line laser. During the scanning process, the first SoC controls the cross-line infrared laser or the parallel blue line laser to project the laser line onto the object to be measured according to the set projection frequency, and the structured light is a single or multiple laser lines.

[0106] S102: The first SoC controls a camera system of a three-dimensional scanning device to collect a two-dimensional image of the surface of the object to be measured; the two-dimensional image includes a laser line.

[0107] Exemplarily, the camera system includes a plurality of black and white cameras and a color camera, and each time the cross-line infrared laser or the parallel blue line laser projects a laser line, the first SoC controls the black and white camera and the color camera to collect a two-dimensional image of the surface of the object to be measured, so that the collected two-dimensional image includes the laser line.

[0108] S103: The first SoC controls the programmable chip of the three-dimensional scanning device to extract the laser line data and the marker point area image data in the two-dimensional image to obtain structured light data.

[0109] Optionally, the laser line data includes center point data of the laser line in the width direction.

[0110] The programmable chip may adopt FPGA (Field-Programmable Gate Array).

[0111] Since building a three-dimensional point cloud model requires high computing power, the three-dimensional point cloud task is built through the first SoC.

[0112] Optionally, the first SoC adopts a structured light reconstruction algorithm to obtain three-dimensional point cloud data of the laser line based on the center point of the laser line in the width direction obtained from the FPGA; reconstructs the marker point data based on the marker point area obtained from the FPGA, and then splices the marker point data to obtain a marker point framework; finally, the laser line three-dimensional point cloud data is merged with the marker point framework to obtain a three-dimensional point cloud model.

[0113] In the laser line scanning mode, after the first SoC constructs the three-dimensional point cloud model, the first SoC sends a first control instruction to the second SoC, where the first control instruction includes the constructed three-dimensional point cloud model and is used to instruct the second SoC to render the three-dimensional point cloud model.

[0114] As an example, the first control instruction may further include first indication information, where the first indication information is used to instruct the second SOC to render the three-dimensional point cloud model.

[0115] Optionally, the first control instruction may also be used to instruct the second SoC to display the display data obtained after rendering. Optionally, the first instruction information may also be used to instruct the second SoC to render the three-dimensional point cloud model.

[0116] As an example, in the embodiment of the present application, after completing the rendering of the three-dimensional point cloud model, the second SoC may also send a rendering completion instruction to the first SoC, and after receiving the response of the first SoC to the rendering completion instruction, the second SoC may display the display data based on the response of the first SoC (for example, the first SoC may send a display instruction to instruct the second SoC to display). Or the second SoC may perform the action of displaying the display data during the process of sending the rendering completion instruction.

[0117] Specifically, the second SoC renders the three-dimensional point cloud model to obtain display data, including S131-S132.

[0118] S131: The second SoC obtains the three-dimensional point cloud model from the first SoC.

[0119] S132: The second SoC renders the three-dimensional point cloud model to obtain display data; the display data is the rendered three-dimensional point cloud model.

[0120] Since laser line scanning generates less data and requires less computing power, the rendering work can be completed by the second SOC.

[0121] The rendering process can add materials, colors, textures, lighting and other effects, which not only retains the original geometry of the object to be tested, but also increases visual details and authenticity, making the model closer to the real object seen by the human eye.

[0122] For the laser line scanning mode, this embodiment constructs a three-dimensional point cloud model through the first SoC with stronger computing power, and the second SoC completes the rendering, so that the second SoC with large video memory capacity controls the display data for display, so that the first SoC and the second SoC can well complete the three-dimensional reconstruction, rendering and display tasks.

[0123] In the speckle scanning mode, S110: before the first SoC acquires structured light data of the surface of the object to be measured in the two-dimensional image, the three-dimensional reconstruction method further includes S104-S106.

[0124] S104: The first SoC controls the speckle projection component of the three-dimensional scanning device to project a speckle pattern onto the surface of the object to be measured.

[0125] The speckle projection component may be one or more infrared speckle lasers. During the scanning process, the first SoC controls the infrared speckle laser to project the speckle pattern onto the surface of the object to be measured according to a set projection frequency.

[0126] S105: The first SoC controls a camera system of the three-dimensional scanning device to collect a two-dimensional image of the surface of the object to be measured; the two-dimensional image includes a speckle pattern.

[0127] The camera system includes a black and white camera and a color camera. Each time the infrared speckle laser projects a laser line, the first SoC controls the black and white camera and the color camera to collect a two-dimensional image of the surface of the object to be measured.

[0128] S106: The first SoC extracts speckle pattern data from the two-dimensional image to obtain structured light data.

[0129] Optionally, in the speckle scanning mode, speckle pattern data in the two-dimensional image may also be extracted through the FPGA.

[0130] In the speckle scanning mode, the first SoC constructs a three-dimensional point cloud model based on the structured light data (i.e., speckle pattern data) on the surface of the object to be measured. Specifically, the first SoC extracts the features of the speckle pattern from the captured two-dimensional image through an image processing algorithm. These features are usually specific points or lines in the pattern, and the first SoC analyzes the position changes of these features in the image. Using the known geometric information of the projected speckle pattern and the internal and external parameters of the camera, combined with the results of feature extraction, the first SoC can derive the three-dimensional coordinates of the surface of the object through triangulation or other geometric calculation methods. Specifically, the first SoC calculates the depth information of each feature point based on the degree of deformation of the pattern and the viewing angle of the camera, thereby reconstructing the three-dimensional shape of the object to be measured. The feature points in multiple images are spliced ​​to generate a complete three-dimensional point cloud. By processing and optimizing the point cloud, a more accurate and complete three-dimensional point cloud model can be obtained.

[0131] In the speckle scanning mode, the first SoC renders the three-dimensional point cloud model to obtain display data. Specifically, the first SoC renders the three-dimensional point cloud model to obtain display data, including S133-S135.

[0132] S133: Rendering the three-dimensional point cloud model through the first SoC.

[0133] Different from the laser line scanning mode, the speckle scanning mode has a large amount of 3D point cloud data and requires high computing power, so the 3D point cloud model is rendered through the first SoC.

[0134] S134: The first SoC obtains an orthographic projection view of the rendered three-dimensional point cloud model to obtain display data.

[0135] That is, the displayed data is an orthographic projection view of the rendered 3D point cloud model.

[0136] The first SoC uses CUDA (Compute Unified Device Architecture) to render the 3D point cloud model data off-screen through the GPU, and then compresses the orthographic projection view of the rendering result into png format.

[0137] S135: The first SoC sends display data to the second SoC.

[0138] Specifically, the first SoC sends the orthographic projection view in png format to the second SoC.

[0139] The second SoC controls the orthographic projection view to be displayed on the display screen or external screen of the 3D scanning device, which can greatly reduce the calculation amount of the second SoC. If the orthographic projection view refresh frequency is high, it is difficult for the user to find that the image is displayed on the screen instead of the rendered 3D point cloud model, which does not affect the display effect.

[0140] For the speckle scanning mode, this embodiment constructs a three-dimensional point cloud model through a first SoC with strong computing power, allows the first SoC to render the three-dimensional point cloud model, and obtains an orthographic projection view of the rendered three-dimensional point cloud model, and allows the second SoC to display the orthographic projection view on the display screen or external screen of the three-dimensional scanning device, so that the first SoC and the second SoC can well complete the three-dimensional reconstruction, rendering and display tasks.

[0141] As an optional implementation, no matter for the speckle scanning mode or the laser line scanning mode, S140: before the second SoC controls the display data to be displayed on the display device, it also includes S136.

[0142] S136: The second SoC determines a refresh frequency of the display data; the refresh frequency is positively correlated with the moving speed of the three-dimensional scanning device.

[0143] Correspondingly, S140: the second SoC controls the display data to be displayed on the display device, including S141.

[0144] S141: The second SoC controls the display data to be displayed on the display device according to the refresh frequency.

[0145] As an optional implementation, S136: the second SoC determines a refresh frequency of display data, including S137-S138.

[0146] S137: The second SoC or the first SOC obtains the moving speed of the three-dimensional scanning device.

[0147] Optionally, an accelerometer or a gyroscope may be installed in the three-dimensional scanning device to detect and record the moving speed of the three-dimensional scanning device.

[0148] That is to say, the moving speed of the three-dimensional scanning device can be obtained through the second SOC or the first SOC, and this embodiment does not limit this.

[0149] S138: The second SoC or the first SOC determines a refresh frequency of the display data according to the moving speed of the three-dimensional scanning device.

[0150] It is easy to understand that if the first SoC determines the refresh frequency of the display data, the refresh frequency of the display data needs to be sent to the second SoC.

[0151] For different speed ranges, a ratio can be set between the refresh frequency and the moving speed, so that the faster the moving speed, the higher the refresh frequency. A comparison table can also be set, and different moving speed ranges correspond to different refresh frequencies.

[0152] The display data is displayed on the display screen to allow users to more intuitively see the 3D reconstruction speed and 3D reconstruction effect. However, each refresh of the display data means that the first SoC and the second SoC perform a large amount of calculations. When it is detected that the 3D scanning device moves slowly, it is not necessary to always refresh the display data at a high refresh rate, thereby reducing the overhead of the first SoC and the second SoC.

[0153] Exemplarily, when the moving speed is in the first range, the speckle projection component / laser line projection component acquires a two-dimensional image each time it projects onto the object to be measured, and constructs and renders a three-dimensional point cloud model, and finally displays the display data on the display screen once. When the moving speed is in the second range, the speckle projection component / laser line projection component acquires a two-dimensional image each time it projects onto the object to be measured twice, and constructs and renders a three-dimensional point cloud model, and finally displays the display data on the display screen once. When the moving speed is in the third range, the speckle projection component / laser line projection component acquires a two-dimensional image each time it projects onto the object to be measured three times, and constructs and renders a three-dimensional point cloud model, and finally displays the display data on the display screen once. First range>Second range>Third range.

[0154] In order to reduce the amount of calculation of the first SoC and the second SoC, and to prevent obvious freezing of the displayed data, the embodiment of the present application determines the refresh frequency of the displayed data by the moving speed of the 3D scanning device. The faster the moving speed of the 3D scanning device, the higher the refresh frequency of the displayed data. Conversely, the slower the moving speed of the 3D scanning device, the lower the refresh frequency of the displayed data. This can take into account the display effect while appropriately reducing the overhead of the first SoC and the second SoC.

[0155] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0156] Corresponding to the three-dimensional reconstruction method described in the above embodiment, Figure 3 A structural block diagram of a three-dimensional reconstruction device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0157] Reference Figure 3 , the device is applied to a three-dimensional scanning device, and the three-dimensional reconstruction device comprises:

[0158] The acquisition module 210 is used to acquire structured light data of the surface of the object to be measured in the two-dimensional image.

[0159] The three-dimensional point cloud model building module 220 is used to build a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured.

[0160] The rendering module 230 is used to render the three-dimensional point cloud model to obtain display data.

[0161] The display module 240 is used to control the display data to be displayed on the display device through the second SoC.

[0162] The embodiment of the present application further provides a 3D reconstruction method, which is applied to a 3D scanning device, wherein the 3D scanning device includes a first SoC and a second SoC; the performance index of the first SoC is higher than the performance index of the second SoC; optionally, the computing power of the first SoC is higher than the computing power of the second SoC, and the video memory capacity of the second SoC is higher than the video memory capacity of the first SoC; the method includes:

[0163] S310: The first SoC obtains structured light data of the surface of the object to be measured in the two-dimensional image.

[0164] S320: The first SoC constructs a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured.

[0165] S330: The first SoC sends a first control instruction or a second control instruction to the second SOC, the first control instruction includes a three-dimensional point cloud model, and the first control instruction is used to instruct the second SOC to render the three-dimensional point cloud model and display the display data obtained after the rendering. The second control instruction includes the display data obtained after the three-dimensional point cloud model is rendered, and the second control instruction is used to instruct the display data obtained after the rendering to be displayed.

[0166] Corresponding to the three-dimensional reconstruction method described in the above embodiment, the embodiment of the present application provides a three-dimensional reconstruction device, which is applied to a three-dimensional scanning device, and the three-dimensional scanning device includes a first SoC and a second SoC; the performance index of the first SoC is higher than the performance index of the second SoC; optionally, the computing power of the first SoC is higher than the computing power of the second SoC, and the video memory capacity of the second SoC is higher than the video memory capacity of the first SoC; the three-dimensional reconstruction device is the first SOC or a chip applied to the first SOC, and the three-dimensional reconstruction device includes:

[0167] An acquisition module 410 is used to acquire structured light data of the surface of the object to be measured in the two-dimensional image;

[0168] The three-dimensional point cloud model building module 420 is used to build a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured.

[0169] The sending module 430 is used to send a first control instruction or a second control instruction to the second SOC, wherein the first control instruction includes a three-dimensional point cloud model, and the first control instruction is used to instruct the second SOC to render the three-dimensional point cloud model and display the display data obtained after the rendering. The second control instruction includes the display data obtained after the three-dimensional point cloud model is rendered, and the second control instruction is used to instruct the display data obtained after the rendering to be displayed.

[0170] The embodiment of the present application provides a 3D reconstruction method, which is applied to a 3D scanning device, wherein the 3D scanning device includes a first SoC and a second SoC; the performance index of the first SoC is higher than the performance index of the second SoC; optionally, the computing power of the first SoC is higher than the computing power of the second SoC, and the video memory capacity of the second SoC is higher than the video memory capacity of the first SoC; the method includes:

[0171] S510: The second SoC receives a control instruction from the first SoC, the control instruction being a first control instruction or a second control instruction, the first control instruction including a three-dimensional point cloud model, the first control instruction being used to instruct the second SoC to render the three-dimensional point cloud model and display display data obtained after rendering. The second control instruction including display data obtained after rendering the three-dimensional point cloud model, the second control instruction being used to instruct to display the display data obtained after rendering.

[0172] S520: If the control instruction is the first control instruction, the second SoC renders the three-dimensional point cloud model and displays display data obtained after rendering on a display device.

[0173] S530: If the control instruction is a second control instruction, the second SoC displays the display data obtained after rendering on the display device.

[0174] Corresponding to the three-dimensional reconstruction method described in the above embodiment, the embodiment of the present application provides a three-dimensional reconstruction device, which is applied to a three-dimensional scanning device, and the three-dimensional scanning device includes a first SoC and a second SoC; the performance index of the first SoC is higher than the performance index of the second SoC; optionally, the computing power of the first SoC is higher than the computing power of the second SoC, and the video memory capacity of the second SoC is higher than the video memory capacity of the first SoC; the three-dimensional reconstruction device is the second SOC or a chip applied to the second SOC, and the three-dimensional reconstruction device includes:

[0175] The receiving module 610 is used to receive a control instruction from the first SoC, the control instruction is a first control instruction or a second control instruction, the first control instruction includes a three-dimensional point cloud model, and the first control instruction is used to instruct the second SoC to render the three-dimensional point cloud model and display the display data obtained after the rendering. The second control instruction includes the display data obtained after the three-dimensional point cloud model is rendered, and the second control instruction is used to instruct the display data obtained after the rendering to be displayed.

[0176] The rendering module 620, the control instruction is the first control instruction, which is used to render the three-dimensional point cloud model and display the display data obtained after rendering on the display device.

[0177] The display module 630, the control instruction is a second control instruction, which is used to display the display data obtained after rendering on the display device.

[0178] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0179] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0180] An embodiment of the present application also provides a three-dimensional scanning device, which includes: a first SoC, a second SoC, a memory, and a computer program stored in the memory and executable on the first SoC and the second SoC, wherein the first SoC or the second SoC implements the steps in the above-mentioned method embodiments when executing the computer program.

[0181] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by the first SoC and the second SoC, the steps in the above-mentioned method embodiments can be implemented.

[0182] An embodiment of the present application provides a computer program product. When the computer program product runs on a three-dimensional scanning device, the three-dimensional scanning device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0183] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the first SoC and the second SoC. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to a three-dimensional scanning device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, RandomAccess Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0184] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0185] The computer program code for performing the operation of the embodiment of the application can be written with one or more programming languages ​​or their combination, and the programming language includes object-oriented programming languages, such as python, Java, Smalltalk, C++, and also includes conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on the remote computer, or executed completely on the remote computer or server. In the case of a remote computer, the remote computer can include a local area network (LAN) or a wide area network (WAN)--connected to the user's computer through any type of network, or, can be connected to an external computer (for example, utilizing an Internet service provider to connect through the Internet).

[0186] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0187] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0188] In the embodiments provided in the present application, it should be understood that the disclosed device / three-dimensional scanning equipment and method can be implemented in other ways. For example, the device / three-dimensional scanning equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0189] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0190] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A three-dimensional reconstruction method, characterized in that: Applied to a three-dimensional scanning device, the three-dimensional scanning device includes a first computing unit and a second computing unit; the performance index of the first computing unit is higher than the performance index of the second computing unit; the method includes: The first computing unit acquires structured light data of the surface of the object to be measured in the two-dimensional image; The first computing unit constructs a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured; The first computing unit or the second computing unit renders the three-dimensional point cloud model to obtain display data; The second calculation unit controls the display data to be displayed on a display device.

2. The three-dimensional reconstruction method according to claim 1, characterized in that: When the scanning mode of the three-dimensional scanning device is a speckle scanning mode, before the first computing unit acquires structured light data of the surface of the object to be measured in the two-dimensional image, the method further includes: The first computing unit controls the speckle projection component of the three-dimensional scanning device to project a speckle pattern onto the surface of the object to be measured; The first computing unit controls the camera system of the three-dimensional scanning device to collect a two-dimensional image of the surface of the object to be measured; the two-dimensional image contains the speckle pattern; The first calculation unit extracts speckle pattern data from the two-dimensional image to obtain the structured light data.

3. The three-dimensional reconstruction method according to claim 2, characterized in that: When the scanning mode of the three-dimensional scanning device is a speckle scanning mode, the first computing unit renders the three-dimensional point cloud model, and the first computing unit renders the three-dimensional point cloud model to obtain display data, including: The first computing unit renders the three-dimensional point cloud model; The first computing unit acquires the orthographic projection view of the rendered three-dimensional point cloud model to obtain display data; The first computing unit sends the display data to the second computing unit.

4. The three-dimensional reconstruction method according to claim 1, characterized in that: When the scanning mode of the three-dimensional scanning device is a laser line scanning mode, before the first computing unit acquires structured light data of the surface of the object to be measured in the two-dimensional image, the method further includes: The first computing unit controls the laser line projection component of the three-dimensional scanning device to project a laser line toward the surface of the object to be measured; The first computing unit controls the camera system of the three-dimensional scanning device to collect a two-dimensional image of the surface of the object to be measured; the two-dimensional image includes the laser line; The first computing unit controls the programmable chip of the three-dimensional scanning device to extract the laser line data and the marker point area image data in the two-dimensional image to obtain the structured light data; The first computing unit acquires structured light data of the surface of the object to be measured in the two-dimensional image, including: The first computing unit obtains the structured light data from the programmable chip.

5. The three-dimensional reconstruction method according to claim 4, characterized in that: When the scanning mode of the three-dimensional scanning device is a laser line scanning mode, the second computing unit renders the three-dimensional point cloud model, and the second computing unit renders the three-dimensional point cloud model to obtain display data, including: The second computing unit acquires the three-dimensional point cloud model from the first computing unit; The second computing unit renders the three-dimensional point cloud model to obtain display data; the display data is the rendered three-dimensional point cloud model.

6. The three-dimensional reconstruction method according to any one of claims 1 to 5, characterized in that: Before the second computing unit controls the display data to be displayed on the display device, the method further includes: The second calculation unit determines a refresh frequency of the display data; the refresh frequency is positively correlated with a moving speed of the three-dimensional scanning device; The second computing unit controls the display data to be displayed on the display device, including: The second calculation unit controls the display data to be displayed on the display device according to the refresh frequency.

7. The three-dimensional reconstruction method according to claim 6, characterized in that: The second calculation unit determines the refresh frequency of the display data, including: The second calculation unit or the first calculation unit acquires a moving speed of the three-dimensional scanning device; The second calculation unit or the first calculation unit determines a refresh frequency of the display data according to a moving speed of the three-dimensional scanning device.

8. A three-dimensional reconstruction device, characterized in that: Applied to a three-dimensional scanning device, the three-dimensional reconstruction device comprises: An acquisition module, used for acquiring structured light data of the surface of the object to be measured in the two-dimensional image; A three-dimensional point cloud model building module, used to build a three-dimensional point cloud model according to the structured light data of the surface of the object to be measured; A rendering module, used for rendering the three-dimensional point cloud model to obtain display data; The control module is used to control the display data to be displayed on the display device through the second computing unit.

9. A three-dimensional scanning device, comprising a memory, a first computing unit, a second computing unit, and a computer program stored in the memory and executable on the first computing unit and the second computing unit, characterized in that: When the first computing unit or the second computing unit executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that When the computer program product runs on a three-dimensional scanning device, the three-dimensional scanning device is enabled to perform the method according to any one of claims 1 to 7.

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