Construction method and device of three-dimensional virtual model, equipment and medium

Abstract

The invention discloses a three-dimensional virtual model construction method, apparatus and device, and a medium. The method comprises the steps of receiving laser scanning data and a panoramic photo synchronously acquired by a scanning device; generating corresponding three-dimensional point cloud data according to the laser scanning data; extracting corresponding image features from the panoramic photo according to a preset image feature extraction rule; constructing a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features; and generating preview information corresponding to the three-dimensional virtual model and sending the preview information to the user terminal. According to the construction method of the three-dimensional virtual model, virtual modeling is performed by combining the laser scanning data and the panoramic image, so that the high-quality three-dimensional virtual model is constructed, a user can conveniently observe the virtual model with three-dimensional details, and the model quality of the three-dimensional virtual model is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of virtual modeling, and in particular, to a method, apparatus, device, and medium for constructing a three-dimensional virtual model. Background Art

[0002] There are numerous devices in a nuclear power plant, and operators need to inspect the equipment in the area to facilitate equipment maintenance. However, due to the special environment in the nuclear power plant, the radiation level is relatively high in some areas during the operation of the reactor, and operators cannot directly enter the corresponding areas for inspection. To solve this technical problem, the existing method is usually to take panoramic images in each area of the nuclear power plant, and operators can view the panoramic images to inspect the corresponding equipment. However, the panoramic images lack stereoscopic structure information, and operators can only view at the shooting positions of the panoramic images and cannot view at any position, resulting in the inability to accurately obtain three-dimensional details of the panoramic images. Therefore, there is a problem of low model quality in the existing technical methods for constructing models of equipment in nuclear power plants. Summary of the Invention

[0003] Embodiments of the present invention provide a method, apparatus, device, and medium for constructing a three-dimensional virtual model, aiming to solve the problem of low model quality in the existing technical methods for constructing models of equipment in nuclear power plants.

[0004] In a first aspect, embodiments of the present invention provide a method for constructing a three-dimensional virtual model. The method is applied to a server side, and the server side establishes network connections with a user terminal and a scanning device respectively to achieve data information transmission. The method includes:

[0005] Receiving the laser scanning data and panoramic photos synchronously collected by the scanning device;

[0006] Generating corresponding three-dimensional point cloud data according to the laser scanning data;

[0007] Extracting corresponding image features from the panoramic photos according to a preset image feature extraction rule;

[0008] Constructing a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features;

[0009] Generating preview information corresponding to the three-dimensional virtual model and sending it to the user terminal.

[0010] In a second aspect, embodiments of the present invention further provide a device for constructing a three-dimensional virtual model. The device is configured on the server side, and the server side establishes network connections with a user terminal and a scanning device respectively to achieve data information transmission. The device is used to execute the method for constructing a three-dimensional virtual model as described in the first aspect above. The device includes:

[0011] A data receiving unit for receiving the laser scanning data and panoramic photos obtained by synchronous acquisition of the scanning device;

[0012] A point cloud data generation unit for generating corresponding three-dimensional point cloud data according to the laser scanning data;

[0013] An image feature extraction unit for extracting corresponding image features from the panoramic photo according to preset image feature extraction rules;

[0014] A model construction unit for constructing a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features;

[0015] A preview information sending unit for generating preview information corresponding to the three-dimensional virtual model and sending it to the user terminal.

[0016] In a third aspect, an embodiment of the present invention further provides a computer device, where the device includes a processor, a communication interface, a memory, and a communication bus. The processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0017] The memory is used to store a computer program;

[0018] When the processor is used to execute the program stored in the memory, it implements the steps of the method for constructing a three-dimensional virtual model described in the first aspect above.

[0019] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the method for constructing a three-dimensional virtual model described in the first aspect above.

[0020] An embodiment of the present invention provides a method, device, equipment, and medium for constructing a three-dimensional virtual model. The method includes: receiving the laser scanning data and panoramic photos obtained by synchronous acquisition of the scanning device; generating corresponding three-dimensional point cloud data according to the laser scanning data; extracting corresponding image features from the panoramic photo according to preset image feature extraction rules; constructing a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features; generating preview information corresponding to the three-dimensional virtual model and sending it to the user terminal. The above method for constructing a three-dimensional virtual model combines laser scanning data with panoramic images for virtual modeling, thereby constructing a high-quality three-dimensional virtual model. Users can conveniently view the virtual model with three-dimensional details, greatly improving the model quality of the three-dimensional virtual model. Description of the Drawings

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0022] Figure 1 It is a flowchart of the method for constructing a three-dimensional virtual model provided by an embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of the application scenario of the method for constructing a three-dimensional virtual model provided by an embodiment of the present invention;

[0024] Figure 3 It is a schematic block diagram of the device for constructing a three-dimensional virtual model provided by an embodiment of the present invention;

[0025] Figure 4 It is a schematic block diagram of a computer device provided by an embodiment of the present invention. Detailed Embodiments

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0027] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0028] It should also be understood that the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0029] It should be further understood that the term " / and / " as used in the specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0030] An embodiment of the present invention provides a method for constructing a three-dimensional virtual model. This method is applied to the server 10, and the server 10 executes the stored software program to implement the above method for constructing a three-dimensional virtual model; the server 10 can be a large server configured in the computer room of a nuclear power plant for virtual modeling. Please refer to Figure 2 , as shown in the figure, the server 10 establishes a network connection with the user terminal 20 and the scanning device 30 to achieve the transmission of data information. Among them, the scanning device 30 is a device for laser scanning and visible light imaging of plant equipment; the user terminal 20 is a terminal device for the user to view display information, such as a desktop computer, a laptop computer, a tablet computer or a mobile phone. The user terminal 20 is configured with a display screen for information display, and the user terminal 20 is also configured with buttons or a touch panel for the user to input corresponding operation instructions. In the specific application scenario of this application, only one user terminal 20 is used to establish a network connection with the server 10. In the actual application process, multiple user terminals 20 can be configured to establish network connections with the server 10 respectively, and each user terminal 20 can separately obtain and display the display information corresponding to the three-dimensional virtual model from the server 10.

[0031] As Figure 1 shown, this method includes steps S110 to S150.

[0032] S110. Receive the laser scan data and panoramic photos obtained by synchronous acquisition of the scanning device.

[0033] Receive the laser scan data and panoramic photos obtained by synchronous acquisition of the scanning device. The server can receive the laser scan data and panoramic photos synchronously acquired by the scanning device. Among them, the laser scan data is the data information corresponding to the laser emitted by the laser in the scanning device and then the corresponding reflected laser received. Then a set of scan parameters in the laser scan data corresponds to the azimuth parameter of a scan point and the reflection delay time of this scan point; the reflection delay time is the time difference between the emission time of the emitted laser and the reception time of the received reflected laser. The farther the object is from the scanning device, the longer the reflection delay time. The panoramic photo is an image that can cover the surroundings and the top of the scanning device formed by collecting visible light images at different angles and then stitching them together. The scanning device collects visible light images in one direction and simultaneously scans the objects in this direction with laser, and thus can synchronously acquire the laser scan data and panoramic photos; then the scanning device acquires the laser scan data and panoramic photos corresponding to the same position, and the acquired laser scan data and panoramic photos correspond to each other.

[0034] S120. Generate corresponding three-dimensional point cloud data according to the laser scan data.

[0035] Generate corresponding three-dimensional point cloud data based on the laser scanning data. Further, three-dimensional cloud point data can be generated according to the obtained laser scanning data. The three-dimensional cloud point data includes the coordinate positions of each scanning point, and the data information contained in the laser scanning data is reflected by the three-dimensional coordinate positions.

[0036] In a specific embodiment, step S120 includes sub-steps: obtaining the base point coordinate positions of each base point in the laser scanning data; calculating the coordinate positions of each scanning point according to the scanning parameters of the scanning points in the laser scanning data and the base point coordinate positions; and taking the coordinate positions of the scanning points as the corresponding three-dimensional point cloud data.

[0037] Specifically, the base point coordinate positions of each base point in the laser scanning data can be obtained. The base point coordinate position is also the position where the corresponding scanning device is located when collecting the laser scanning data. Recording the coordinate position corresponding to the scanning device when collecting the laser scanning data can obtain the base point coordinate position. Further, calculate the coordinate positions of the scanning points according to the scanning parameters of the scanning points in the laser scanning device and the base point coordinate positions. The scanning parameters include the azimuth parameter and the reflection delay time. The azimuth parameter includes the horizontal direction angle and the vertical direction angle of the line connecting the scanning point and the laser. The reflection delay time is also the time required for laser reflection between the scanning point and the laser. The scanning point is the point where the laser emitted by the laser irradiates on the object. Then the geometric distance between the scanning point and the laser is L = vt / 2, where v is the laser emission speed and t is the reflection delay time.

[0038] If the coordinate values corresponding to the base point coordinate position are (x0, y0, z0), then the coordinate values corresponding to the laser are (x0, y0, z0 + h), where h is the height value of the laser relative to the ground. The coordinate position of the scanning point can be expressed as (x0 + Lcosθsinω, y0 + Lcosθcosω, z0 + h + Lsinθ), where θ is the vertical direction angle corresponding to the scanning point and the base point coordinate position with (x0, y0, z0) as the reference, and ω is the horizontal direction angle corresponding to the scanning point and the base point coordinate position.

[0039] S130. Extract corresponding image features from the panoramic photo according to the preset image feature extraction rules.

[0040] Extract corresponding image features from the panoramic photo according to the preset image feature extraction rules. Further, perform image feature extraction from the panoramic photo according to the image feature extraction rules. The obtained image features can reflect the basic features of the objects contained in the panoramic photo.

[0041] In a specific embodiment, step S130 includes sub-steps: performing pixel dissolution on the panoramic photo according to the pixel dissolution parameter in the image feature extraction rule to obtain a corresponding photo contour; performing binarization processing on the photo contour to obtain a corresponding binary image; obtaining the enclosed contour area therein according to the binary image; performing pixel value sampling on the panoramic photo according to the enclosed contour area to obtain pixel sampling information corresponding to each enclosed contour area; and combining the binary image and the pixel sampling information into the image feature.

[0042] Specifically, the panoramic photo can be pixel-dissolved according to the pixel dissolution parameter set in the image feature extraction rule, so as to extract the photo contour therein, and the photo contour includes the contour information at the edge of the object. Specifically, the contrast value of each pixel point in the panoramic photo can be calculated first, and the specific calculation formula of the contrast value is shown in formula (1):

[0043]

[0044] where D is the calculated contrast value corresponding to a certain pixel point, S0 is the pixel value of this pixel point, M is the number of pixel points closely surrounding this pixel point in the periphery, and S j is the pixel value of the j-th pixel point surrounding this pixel point in the periphery; G is the number of pixel points surrounding this pixel point with a one-layer pixel interval in the periphery, and S k is the pixel value of the k-th pixel point in the peripheral pixels with a one-layer pixel interval from this pixel point; the value of r1 is G / M, and the value of r2 is M / G. The pixel value is also the RGB value of a pixel point, and the pixel value of a pixel point contains three groups of values corresponding to three color channels.

[0045] Then, sort each pixel point according to the calculated contrast value, and remove the later part of the sorted pixel points according to the dissolution ratio in the pixel dissolution parameter. For example, if the dissolution ratio is 90%, then intercept the first 10% of the pixel points and retain them, and obtain the image formed by the remaining pixel points as the photo contour.

[0046] Further, the photo contour can be binarized, the pixel points retained in the photo contour are set to black, and the pixel points not included in the photo contour are set to white, so as to obtain a binary image; the size of the binary image is the same as that of the panoramic photo, and the black area in the binary image can highlight the contour.

[0047] Judge whether the contour line in the binary image is closed. If it is closed, determine the area enclosed by the contour line as an enclosed contour area. Through this judgment process, the enclosed contour area can be obtained from the binary image.

[0048] Furthermore, pixel value sampling can be performed on the panoramic photo according to the closed contour area. The pixel values of each pixel point in the panoramic photo are all real colors. To restore the real color of the object, pixel sampling information that can reflect the real color of the object can be collected. Specifically, the closed contour area can be segmented, for example, the closed contour area can be divided by a rectangular grid to obtain corresponding multiple sub-areas. The rectangular grid is composed of equally spaced horizontal lines and equally spaced vertical lines intersecting; calculate the average value of the pixel values of the pixel points included in each sub-area in the panoramic photo, and this average value of the pixel value can be used as the pixel sampling value of the corresponding sub-area.

[0049] Combine the obtained binary image with the pixel sampling information into corresponding image features.

[0050] S140. Construct a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features.

[0051] Construct a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features. Furthermore, the image features can be combined with the three-dimensional point cloud data obtained in the above steps to construct a corresponding three-dimensional virtual model. In a specific embodiment of the present application, the process of constructing a three-dimensional virtual model corresponding to a panoramic photo and a laser scan data is described in detail. In the actual application process, multiple panoramic photos and multiple laser scan data at different positions can be collected respectively. The panoramic photo and the laser scan data are combined one by one into a set of scan information; the scan information at different positions can be correspondingly superimposed to construct a more refined three-dimensional virtual model. For example, the scan information of the overall position can be used to construct an overall three-dimensional virtual model; for other areas not included in the overall three-dimensional virtual model, the scan information of the local position can be correspondingly obtained to supplement the local part of the three-dimensional virtual model, so as to avoid the lack of local details in the overall three-dimensional virtual model.

[0052] In a specific embodiment, step S140 includes sub-steps: obtaining the scan points whose coordinate positions in the three-dimensional point cloud data coincide with the closed contour area in the image features as construction points; performing three-dimensional plane construction according to the coordinate positions of the construction points to obtain a corresponding three-dimensional plane; performing plane expansion according to the plane coordinate parameters of the three-dimensional plane to construct an initial model; performing color filling on the initial model according to the pixel sampling information of each closed contour area to obtain a corresponding three-dimensional virtual model.

[0053] Specifically, if the closed contour region in the image features corresponds to the scanning parameters at the corresponding position in the laser scanning data, then based on this correspondence, the scanning points whose coordinate positions coincide with the closed contour region in the image features can be obtained, and these scanning points can be determined as construction points for planar construction. The scanning points within the same closed contour region are linearly connected to form a multi-faceted splicing structure, and the multi-faceted splicing structure is smoothed to achieve three-dimensional planar construction and obtain a three-dimensional plane corresponding to the closed contour region. Further, since the currently obtained three-dimensional plane is only a single plane within a region, the single three-dimensional plane can be spliced and combined according to the planar coordinate parameters of the three-dimensional plane to obtain an initial model.

[0054] Further, the initial model is filled with colors according to the pixel sampling information. The planes corresponding to the sub-regions in the initial model can be filled according to the pixel sampling values of the sub-regions, so as to obtain a three-dimensional virtual model with real colors.

[0055] In a specific embodiment, the planar expansion according to the planar coordinate parameters of the three-dimensional plane to construct an initial model includes: obtaining the scanning points at the inner edge of the three-dimensional plane as expansion points; performing planar expansion on the expansion points according to the three-dimensional plane and a preset expansion radius to obtain corresponding virtual expansion planes; obtaining the intersection lines between the virtual expansion planes corresponding to adjacent three-dimensional planes; intercepting the virtual expansion planes according to the intersection lines; and combining the three-dimensional plane and the virtual expansion planes to construct the corresponding initial model.

[0056] The specific steps for planar expansion include obtaining the scanning points at the inner edge of the three-dimensional plane as expansion points; determining the expansion direction according to the position of the expansion points in the three-dimensional plane, and performing planar expansion outward according to the expansion direction and a preset expansion radius. The expanded plane is the virtual expansion plane. Specifically, the plane edge line corresponding to the expansion point can be determined, and a normal line passing through the expansion point along this plane edge line is used as the expansion direction.

[0057] Obtain the intersection lines between the virtual expansion planes corresponding to adjacent three-dimensional planes. These intersection lines can be used as the dividing lines between the plane of adjacent objects in the real environment. Intercept the virtual expansion planes according to the intersection lines. Specifically, since the virtual expansion planes are expanded outward by a certain range, it is necessary to intercept and retain the part of the virtual expansion plane close to the three-dimensional plane according to the intersection lines, and remove the part of the virtual expansion plane far from the three-dimensional plane on the other side of the intersection lines. By intercepting the virtual expansion planes through the intersection lines, a plane structure consistent with the real object can be obtained. This plane structure is composed of the three-dimensional plane and the retained virtual expansion plane after interception. Combine the obtained three-dimensional plane and the virtual expansion planes to construct an initial model that can reflect the three-dimensional structural characteristics.

[0058] S150. Generate preview information corresponding to the 3D virtual model and send it to the user terminal.

[0059] Generate preview information corresponding to the 3D virtual model and send it to the user terminal. Further, corresponding preview information can be generated according to the 3D virtual model, and the server side sends the preview information to the user terminal. The user can view the preview information through the user terminal.

[0060] In a specific embodiment, the generating preview information corresponding to the 3D virtual model and sending it to the user terminal includes: determining a corresponding preview position according to a preset preview distance; performing two-dimensional imaging on the 3D virtual model according to the preview position to obtain a corresponding preview image; obtaining a model identifier of the 3D virtual model and combining it with the preview image to form corresponding preview information and sending it to the user terminal.

[0061] Specifically, a corresponding preview position can be determined according to the 3D virtual model and a preset preview distance. For example, if the preview distance is 1.5 meters, a reserved area is formed by expanding 1.5 meters outward from a plane in the 3D virtual model, and any position with a distance not greater than 1.5 meters from any plane in the 3D virtual model is within this reserved area; obtain any position outside the reserved area as the preview position.

[0062] Performing two-dimensional imaging on the 3D virtual model according to this preview position, that is, generating a virtual camera at the preview position and taking a picture of the 3D virtual model, so as to obtain a corresponding preview image. Combining the model identifier of the 3D virtual model with the preview image can obtain the corresponding preview information. Among them, the model identifier can include the area identifier where the 3D virtual model is located, the device name, the device number, etc.

[0063] In a specific embodiment, after step S150, the following step is further included: if a viewing request fed back by the user terminal according to the preview information is received, generate streaming media data corresponding to the viewing request according to the 3D virtual model and send it to the user terminal.

[0064] The user views the preview information through the user terminal and can correspondingly feedback the viewing request. The viewing request includes request information for adjusting the viewing position such as forward, backward, and turning. After receiving the viewing request, the server side can generate streaming media data corresponding to the viewing request according to the three-dimensional virtual model. For example, the virtual camera generated in the server side can move from the preview position to the position corresponding to the viewing request at a uniform speed; use the camera mode to shoot the three-dimensional virtual model during the movement, so as to obtain the streaming media data formed by the change of the three-dimensional virtual model image. The obtained streaming media data corresponding to the viewing request is sent to the user terminal, and the user can view the streaming media data; wherein the user terminal has the function of decoding the streaming media data.

[0065] In the method for constructing a three-dimensional virtual model disclosed in the foregoing embodiments, the method includes: receiving the laser scanning data and panoramic photos obtained by synchronous acquisition of the scanning device; generating corresponding three-dimensional point cloud data according to the laser scanning data; extracting corresponding image features from the panoramic photos according to the preset image feature extraction rules; constructing a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features; generating preview information corresponding to the three-dimensional virtual model and sending it to the user terminal. The above method for constructing a three-dimensional virtual model constructs a high-quality three-dimensional virtual model by combining laser scanning data and panoramic images, so that users can conveniently view the virtual model with three-dimensional details, and greatly improves the model quality of the three-dimensional virtual model.

[0066] An embodiment of the present invention further provides a device for constructing a three-dimensional virtual model. The device for constructing a three-dimensional virtual model can be configured in the server side, and the device for constructing a three-dimensional virtual model is used to execute any one of the foregoing embodiments of the method for constructing a three-dimensional virtual model. Specifically, please refer to Figure 3 , Figure 3 which is a schematic block diagram of the device for constructing a three-dimensional virtual model provided by an embodiment of the present invention.

[0067] As Figure 3 shown, the device 100 for constructing a three-dimensional virtual model includes a data receiving unit 110, a point cloud data generating unit 120, an image feature extracting unit 130, a model constructing unit 140, and a preview information sending unit 150.

[0068] The data receiving unit 110 is used to receive the laser scanning data and panoramic photos obtained by synchronous acquisition of the scanning device.

[0069] The point cloud data generating unit 120 is used to generate corresponding three-dimensional point cloud data according to the laser scanning data.

[0070] An image feature extraction unit 130 is configured to extract corresponding image features from the panoramic photo according to a preset image feature extraction rule.

[0071] A model construction unit 140 is configured to construct a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features.

[0072] A preview information sending unit 150 is configured to generate preview information corresponding to the three-dimensional virtual model and send it to the user terminal.

[0073] In the three-dimensional virtual model construction device provided by the embodiment of the present invention, the above-mentioned three-dimensional virtual model construction method is applied. The device receives the laser scan data and the panoramic photo synchronously collected by the scanning device; generates corresponding three-dimensional point cloud data according to the laser scan data; extracts corresponding image features from the panoramic photo according to a preset image feature extraction rule; constructs a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features; generates preview information corresponding to the three-dimensional virtual model and sends it to the user terminal. In the above-mentioned three-dimensional virtual model construction method, virtual modeling is carried out by combining laser scan data and panoramic images, so as to construct a high-quality three-dimensional virtual model. Users can conveniently view the virtual model with three-dimensional details, which greatly improves the model quality of the three-dimensional virtual model.

[0074] The above-mentioned three-dimensional virtual model construction device can be implemented in the form of a computer program, and this computer program can run on a computer device as shown in Figure 4 shown.

[0075] Please refer to Figure 4 , Figure 4 which is a schematic block diagram of the computer device provided by the embodiment of the present invention. This computer device can be a server side for executing the three-dimensional virtual model construction method to realize the three-dimensional model construction of the equipment in the nuclear power plant.

[0076] Refer to Figure 4 , this computer device 500 includes a processor 502, a memory, and a communication interface 505 connected through a communication bus 501. Among them, the memory can include a storage medium 503 and an internal memory 504.

[0077] The storage medium 503 can store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, the processor 502 can be made to execute the three-dimensional virtual model construction method. Among them, the storage medium 503 can be a volatile storage medium or a non-volatile storage medium.

[0078] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500.

[0079] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can be caused to execute a method for constructing a three-dimensional virtual model.

[0080] The communication interface 505 is used for network communication, such as providing the transmission of data information, etc. Those skilled in the art can understand that Figure 4 the structure shown in is only a block diagram of some structures related to the solution of the present invention, and does not constitute a limitation on the computer device 500 to which the solution of the present invention is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0081] Among them, the processor 502 is used to run the computer program 5032 stored in the memory to implement the corresponding functions in the above-mentioned method for constructing a three-dimensional virtual model.

[0082] Those skilled in the art can understand that Figure 4 the embodiment of the computer device shown in does not constitute a limitation on the specific composition of the computer device. In other embodiments, the computer device may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements. For example, in some embodiments, the computer device may only include a memory and a processor. In such an embodiment, the structures and functions of the memory and the processor are the same as those in Figure 4 the embodiment shown and will not be described in detail here.

[0083] It should be understood that in the embodiment of the present invention, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0084] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium may be a volatile or non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps included in the above-described method for constructing a three-dimensional virtual model are implemented.

[0085] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described devices, apparatuses, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be described in detail herein. Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0086] In several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. Units with the same function can also be aggregated into one unit. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling, direct coupling, or communication connection may be an indirect coupling or communication connection through some interfaces, devices, or units, and may also be in an electrical, mechanical, or other form of connection.

[0087] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention.

[0088] In addition, the functional units in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0089] When 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 such understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a computer-readable storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned computer-readable storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), magnetic disks, or optical discs.

[0090] As described above, the above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for constructing a three-dimensional virtual model, characterized in that, The method is applied to the server side, which establishes network connections with user terminals and scanning devices respectively to achieve the transmission of data information. The method includes: Receiving the laser scanning data and panoramic photos obtained by the synchronous acquisition of the scanning device; Generating corresponding three-dimensional point cloud data according to the laser scanning data; Extracting corresponding image features from the panoramic photo according to the preset image feature extraction rules; Constructing a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features; Generating preview information corresponding to the three-dimensional virtual model and sending it to the user terminal.

2. The method for constructing a three-dimensional virtual model according to claim 1, wherein The generating corresponding three-dimensional point cloud data according to the laser scanning data includes: Obtaining the base point coordinate positions of each base point in the laser scanning data; Calculating the coordinate positions of each scanning point according to the scanning parameters of the scanning points in the laser scanning data and the base point coordinate positions; Taking the coordinate positions of the scanning points as the corresponding three-dimensional point cloud data.

3. The construction method of the three-dimensional virtual model according to claim 1, characterized in that The extracting corresponding image features from the panoramic photo according to the preset image feature extraction rules includes: Performing pixel dissolution on the panoramic photo according to the pixel dissolution parameter in the image feature extraction rules to obtain the corresponding photo contour; Performing binarization processing on the photo contour to obtain the corresponding binarized image; Obtaining the closed contour regions therein according to the binarized image; Performing pixel value sampling on the panoramic photo according to the closed contour regions to obtain pixel sampling information corresponding to each closed contour region; Combining the binarized image and the pixel sampling information as the image features.

4. The method for constructing a three-dimensional virtual model according to claim 1, wherein The constructing a three-dimensional virtual model corresponding to the three-dimensional point cloud data according to the image features includes: Obtaining the scanning points whose coordinate positions in the three-dimensional point cloud data coincide with the closed contour regions in the image features as construction points; Performing three-dimensional plane construction according to the coordinate positions of the construction points to obtain the corresponding three-dimensional plane; Performing plane expansion according to the plane coordinate parameters of the three-dimensional plane to construct an initial model; Performing color filling on the initial model according to the pixel sampling information of each closed contour region to obtain the corresponding three-dimensional virtual model.

5. The construction method of the three-dimensional virtual model according to claim 4, characterized in that, The performing plane expansion according to the plane coordinate parameters of the three-dimensional plane to construct an initial model includes: Obtaining the scanning points at the edges inside the three-dimensional plane as expansion points; Performing plane expansion on the expansion points according to the three-dimensional plane and the preset expansion radius to obtain the corresponding virtual expansion plane; Obtaining the intersection lines between the virtual expansion planes corresponding to adjacent three-dimensional planes; Performing interception on the virtual expansion plane according to the intersection lines; Combining the three-dimensional plane and the virtual expansion plane to construct the corresponding initial model.

6. The method for constructing a three-dimensional virtual model according to claim 1, wherein, The generating preview information corresponding to the three-dimensional virtual model and sending it to the user terminal includes: Determining the corresponding preview position according to the preset preview distance; Performing two-dimensional imaging on the three-dimensional virtual model according to the preview position to obtain the corresponding preview image; Obtain the model identifier of the 3D virtual model and combine it with the preview image to form corresponding preview information, and send the preview information to the user terminal.

7. The method for constructing a three-dimensional virtual model according to claim 1 or 6, characterized in that Generating corresponding preview information for the 3D virtual model and sending the preview information to the user terminal includes: If a viewing request is received from the user terminal based on the preview information, generate streaming media data corresponding to the viewing request according to the 3D virtual model and send the streaming media data to the user terminal.

8. A device for constructing a three-dimensional virtual model, characterized in that, The device is configured on the server side. The server side is respectively connected to the user terminal and the scanning device through a network connection to achieve data information transmission. The device is used to execute the 3D virtual model construction method according to any one of claims 1-7. The device includes: A data receiving unit, configured to receive the laser scanning data and panoramic photos obtained by the synchronous acquisition of the scanning device; A point cloud data generation unit, configured to generate corresponding 3D point cloud data according to the laser scanning data; An image feature extraction unit, configured to extract corresponding image features from the panoramic photos according to preset image feature extraction rules; A model construction unit, configured to construct a 3D virtual model corresponding to the 3D point cloud data according to the image features; A preview information sending unit, configured to generate corresponding preview information for the 3D virtual model and send the preview information to the user terminal.

9. A computer device, characterized in that, The device includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus; The memory is used to store a computer program; The processor is configured to, when executing the program stored on the memory, implement the steps of the 3D virtual model construction method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the 3D virtual model construction method according to any one of claims 1-7.

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