Scanning method, tracking type scanning system and storage medium

Abstract

The invention provides a scanning method, a tracking-type scanning system and a storage medium, the scanning method is applied to the tracking-type scanning system, the tracking-type scanning system comprises at least two trackers and at least one scanner, each tracker comprises at least one camera group, and the method comprises the following steps: based on a scanning demand, scanning the at least one camera group; determining a set of specified camera groups from at least one tracker, the two cameras in the specified camera groups belonging to the same tracker, or the two cameras in the specified camera groups belonging to two different trackers; and tracking the scanner by using the specified camera group to obtain scanning data of the scanner for scanning the target object. The method can dynamically adjust the tracking range and improve the scanning precision and efficiency.

Description

Technical Field

[0001] This application relates to the field of tracking scanning systems, and more particularly to a scanning method, a tracking scanning system, and a storage medium. Background Technology

[0002] Large trackers offer significant advantages in tracking range and accuracy, but their larger size and weight increase the difficulty of operation. Furthermore, the fixed main beam structure between the binocular cameras limits the tracking range from being dynamically adjustable, resulting in insufficient flexibility. Summary of the Invention

[0003] This application discloses a scanning method, a tracking scanning system, and a storage medium, which solves the technical problem that current trackers cannot dynamically adjust the tracking range.

[0004] This application provides a scanning method applied to a tracking scanning system, the tracking scanning system including at least two trackers and at least one scanner, each tracker including at least one set of cameras, the method including: determining a specified set of cameras from at least one tracker based on scanning requirements, wherein two cameras in the specified set of cameras belong to the same tracker, or two cameras in the specified set of cameras belong to two different trackers; using the specified set of cameras to track the scanner to obtain scanning data of the target object scanned by the scanner.

[0005] In some embodiments of this application, the method further includes: calibrating the target transformation relationship of the designated camera group to obtain a target camera group; correspondingly, the step of using the designated camera group to track the scanner to obtain the scanning data of the target object scanned by the scanner includes: using the target camera group to track the scanner to obtain the scanning data of the target object scanned by the scanner.

[0006] In some embodiments of this application, calibrating the target transformation relationship of the designated camera group to obtain the target camera group includes: acquiring an image corresponding to the calibration device using a first camera in the designated camera group to obtain a first image, wherein the calibration device is set within the common field of view of the designated camera group; acquiring an image corresponding to the calibration device using a second camera in the designated camera group to obtain a second image; determining the target transformation relationship based on the first image, the second image, the reference value corresponding to the calibration device, the transformation relationship between the calibration device coordinate system and the reference coordinate system, and the camera parameters of the first camera and the second camera to obtain the target camera group; wherein the target transformation relationship includes the transformation relationship between the coordinate system of the first camera and the coordinate system of the second camera, and the reference coordinate system represents the coordinate system of the first camera or the coordinate system of the second camera.

[0007] In some embodiments of this application, the calibration device is provided with multiple marker points: the first image includes the first pixel coordinates corresponding to the j-th marker point on the i-th frame image; i and j are both positive integers; the second image includes the second pixel coordinates corresponding to the j-th marker point on the i-th frame image; the coordinates of the j-th marker point in the calibration device coordinate system are used as the reference value; correspondingly, the step of determining the target transformation relationship based on the first image, the second image, the reference value corresponding to the calibration device, the transformation relationship between the calibration device coordinate system and the reference coordinate system, the camera parameters of the first camera and the camera parameters of the second camera to obtain the target camera group includes: determining the target transformation relationship based on the first pixel coordinates, the second pixel coordinates, the coordinates of the j-th marker point in the calibration device coordinate system, the transformation relationship between the calibration device coordinate system and the reference coordinate system, the camera parameters of the first camera and the camera parameters of the second camera to obtain the target camera group.

[0008] In some embodiments of this application, the method further includes: determining the transformation relationship between the calibration device coordinate system and the reference coordinate system, including: if the reference coordinate system is the coordinate system of the first camera, determining the transformation relationship between the calibration device coordinate system and the coordinate system of the first camera based on the first image; if the reference coordinate system is the coordinate system of the second camera, determining the transformation relationship between the calibration device coordinate system and the coordinate system of the second camera based on the second image.

[0009] In some embodiments of this application, determining a designated camera group from at least one tracker based on scanning requirements includes: determining a measurement range and measurement accuracy from the scanning requirements; determining a baseline distance based on the measurement range and / or the measurement accuracy; finding a relative distance that matches the baseline distance from the relative distances between any two cameras; and determining the designated camera group from a plurality of cameras based on the relative distance that matches the baseline distance.

[0010] In some embodiments of this application, before determining a specified camera group from at least one tracker based on scanning requirements, the method further includes: calibrating a random camera group composed of any two cameras in the tracking scanning system, including: acquiring images of a calibration device using each camera in the tracking scanning system to obtain an image set; wherein the calibration device is set within the common field of view of all cameras; determining the transformation relationship corresponding to each random camera group based on the image set, the reference value corresponding to the calibration device, the transformation relationship between the calibration device coordinate system and the reference coordinate system, and the corresponding camera parameters of each camera; wherein the reference coordinate system represents the coordinate system corresponding to any one of the cameras.

[0011] In some embodiments of this application, the method further includes: determining, from a plurality of random camera groups, a random camera group that meets the scanning requirements as the designated camera group.

[0012] This application also provides a tracking scanning system, the tracking scanning system comprising: at least two trackers, each tracker including at least one camera group, each camera group including two cameras, any two cameras being used to form a designated camera group; the designated camera group being used to track the scanner; the scanner being used to scan a target object; and an electronic device including a processor and a memory, the memory storing a computer program, the processor implementing the above-described scanning method when executing the computer program.

[0013] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the scanning method described above.

[0014] In the scanning method provided in this application, the tracking scanning system includes at least two trackers and at least one scanner. Each tracker includes at least one set of cameras. To meet dynamic scanning requirements, a specific set of cameras can be selected from at least one tracker, avoiding the limitation of a fixed baseline distance between the binocular cameras of the trackers. By using the specified camera set to track the scanner, scanning data of the target object is obtained, improving scanning accuracy and efficiency, reducing scanning difficulty, and meeting the needs of flexible scanning. Attached Figure Description

[0015] Figure 1 This is a schematic diagram illustrating an application scenario of the scanning method provided in the embodiments of this application.

[0016] Figure 2 This is a flowchart of the scanning method provided in the embodiments of this application.

[0017] Figure 3This is a schematic diagram of the calibration scenario provided in the embodiments of this application.

[0018] Figure 4 This is a schematic diagram of a scanning method provided in another embodiment of this application.

[0019] Figure 5 This is a schematic diagram of a calibration scenario provided in another embodiment of this application.

[0020] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0021] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0022] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0023] The accuracy of an optical tracker depends on its optical components, imaging and calibration, tracking algorithms, binocular baseline distance, etc. Generally, the measurement range and accuracy are improved by increasing the baseline length of the optical tracker.

[0024] Currently, there are two main types of optical trackers: small trackers with a baseline distance of 450mm and a maximum tracking range of approximately 3m; and large trackers with a baseline distance of 850mm and a maximum tracking range of approximately 8m. Large trackers offer superior tracking range and accuracy compared to small trackers. However, increasing the baseline length to improve measurement range and accuracy increases the size and weight of large trackers, making operation more difficult. Furthermore, the fixed main beam structure between the binocular cameras limits the tracking range's flexibility, as it cannot be dynamically adjusted.

[0025] To address the technical problem that current trackers cannot dynamically adjust their tracking range, this application proposes a scanning method, a tracking scanning system, and a storage medium. This system can determine a specified camera group from at least one tracker and use the specified camera group to scan the target object, thereby achieving the purpose of dynamically setting the baseline distance. The application scenarios of the scanning method of this application are described below.

[0026] Figure 1This is a schematic diagram illustrating an application scenario of the scanning method provided in the embodiments of this application. For example... Figure 1 As shown, the tracking scanning system includes an electronic device 10, at least two trackers 20, and at least one scanner 30. Figure 1 The scanner 30 and two trackers 20 shown are merely examples, and actual applications are not limited to them. This application does not limit the number of trackers 20 and scanners 30.

[0027] Electronic device 10 is communicatively connected to each tracker 20 and scanner 30. The communication connection can be either wired or wireless. Wired communication connections can include one or more of the following: Universal Serial Bus (USB), Controller Area Network (CAN), etc. Wireless communication connections can include one or more of the following: Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR), etc.

[0028] Electronic device 10 may include devices with communication capabilities such as laptops, tablets, programmable logic controllers (PLCs), and human-machine interfaces (HMIs) with touch input functionality, or devices simulated by virtual machines or simulators. Electronic device 10 is used to determine at least one camera 210 from different trackers 20 based on scanning requirements, thereby forming a designated camera group. Alternatively, it may determine two cameras 210 from the same tracker 20 to form a designated camera group based on scanning requirements. The designated camera group is used to scan the target object, achieving the purpose of dynamically setting the baseline distance. Electronic device 10 is also used to determine the scan data obtained from scanning the target object.

[0029] The tracker 20 can be an optical tracker. Each tracker 20 includes a set of cameras, and a set of cameras includes at least two cameras 210. The two cameras 210 in the same set of cameras can be cameras of the same type or cameras of different types, and this application does not limit this.

[0030] Camera 210 can be a stereo camera, infrared marker tracking camera, photogrammetry camera, pose estimation camera, depth camera, high-precision camera, or other device with video recording capabilities. Camera 210 is used to acquire data from calibration devices (such as...). Figure 1 The image corresponding to M shown is used for device calibration, or for tracking scanner 30 to achieve target object ( Figure 1 Measurements (not shown).

[0031] The scanner 30 may include, but is not limited to, oral scanning devices, facial scanning devices, CT (Computed Tomography) scanning devices or CBCT (Cone Beam Computer Tomography) scanning devices, professional scanners, industrial scanners, etc. Oral scanning devices include intraoral scanners and extraoral scanners. The scanner 30 may be a handheld scanning device or a fixed scanning device. The scanner 30 can measure target objects to achieve three-dimensional reconstruction. For example, the target object may be teeth, a face, a body, industrial products, industrial equipment, cultural relics, works of art, prostheses, medical instruments, buildings, and other items or scenes. This application does not impose specific limitations in this regard.

[0032] The illustration Figure 1 This is merely an example of an application scenario and does not constitute a limitation on the application scenario. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, electronic device 10 may also include input / output devices, network access devices, etc.

[0033] Figure 2 This is a flowchart of a scanning method provided in an embodiment of this application, applied in a tracking scanning system (e.g., Figure 1 In a tracking scanning system, the order of steps in this flowchart can be changed, and some steps can be omitted, depending on different requirements.

[0034] Step S201: Based on scanning requirements, determine a specified group of cameras from at least one tracker.

[0035] In some embodiments of this application, scanning requirements may include, but are not limited to, measurement range, measurement accuracy, measurement scenario, and the size parameters of the target object being measured. This application does not limit the specific content of the scanning requirements.

[0036] Typically, electronic devices communicate with the tracker, and the tracker's status and related device parameters, such as the tracker's model and the positioning information of each camera in the tracker, can be displayed on the electronic device's display.

[0037] In one example, within the signal reception range of an electronic device, the tracker can actively send location information to the electronic device after powering on. Alternatively, the electronic device can send request commands to surrounding devices at a fixed frequency, and the tracker, upon powering on, responds to these requests by sending location information back to the electronic device. The device parameters of the tracker that sent the location information, such as location information and measurement range, are displayed on a display device.

[0038] Users can input scanning requirements on the display device. The electronic device responds to the scanning requirements by determining the baseline distance. Based on the trackers that have sent positioning information and the corresponding device parameters, at least one camera is determined from any two trackers that have sent positioning information to form a specified camera group that meets the baseline distance requirements.

[0039] In one example, taking a scanning requirement that includes a measurement range as an example, the measurement range represents the parallax limit detectable by the camera. Based on the measurement range, the maximum and minimum values ​​of the measurement range, the maximum and minimum parallax of the theoretical camera group, and the focal length of the theoretical camera group are determined. The theoretical baseline distance is calculated based on the maximum and minimum values ​​of the measurement range, the maximum and minimum parallax of the theoretical camera group, and the focal length of the theoretical camera group. The relative distance between any two cameras not belonging to the same tracker is determined based on the positioning information. All relative distances are iterated through, and the relative distance closest to the baseline distance is found as the matching relative distance. The camera pair corresponding to the matching relative distance is then designated as the specified camera group.

[0040] For example, there are two trackers: the first tracker includes cameras L1 and R1, and the second tracker includes cameras L2 and R2. If, after the above calculations, it is determined that the relative distance between cameras R1 and R2 meets the baseline distance, then cameras R1 and R2 are grouped into a designated camera group. Similarly, if it is determined that the relative distance between cameras L1 and L2 meets the baseline distance, then cameras L1 and L2 are grouped into a designated camera group.

[0041] In another example, considering scanning requirements including measurement accuracy, the theoretical measurement distance, parallax error, and camera focal length are determined based on the measurement accuracy. The theoretical baseline distance is then determined based on the theoretical measurement distance, the visual error of the theoretical camera group, and the focal length of the theoretical camera group. The relative distance between any two cameras is determined based on the positioning information. All relative distances are iterated through, and the relative distance closest to the baseline distance is found as the matching relative distance. The camera pair corresponding to the matching relative distance is then designated as the specified camera group.

[0042] The above are just examples. The baseline distance can also be determined based on one or more of the following parameters: measurement range, measurement accuracy, measurement scenario, and the size of the target object. The relative distance that matches the baseline distance can be found from the relative distance between any two cameras that do not belong to the same tracker, thereby obtaining a specified camera group. Alternatively, the relative distance that matches the baseline distance can be found from the relative distance between any two cameras determined from multiple cameras belonging to the same tracker, thereby obtaining a specified camera group.

[0043] In other embodiments of this application, if a relative distance matching the baseline distance cannot be found from trackers with known positioning information, the position of any tracker can be moved based on the baseline distance to obtain new positioning information. Based on the new positioning information of the moved trackers, a new relative distance matching the baseline distance is determined, thereby identifying the designated camera group.

[0044] Through the above embodiments, not limited to the physical baseline, a specified camera group can be randomly combined according to scanning requirements to meet the needs of different measurement ranges and accuracy, achieving the purpose of dynamically setting the baseline distance. For example, if camera L1 and camera R1 belong to the same tracker, the physical baseline between camera L1 and camera R1 is fixed; if camera L2 and camera R2 belong to the same tracker, the physical baseline between camera L2 and camera R2 is fixed. If camera L1 and camera L2 are combined into a specified camera group, the baseline distance of the specified camera group is determined according to the relative distance between camera L1 and camera L2, and is not limited by the physical structure of the tracker.

[0045] Step S202: Use a designated camera group to track the scanner and obtain the scan data of the target object scanned by the scanner.

[0046] In some embodiments of this application, the target object can be an object, organism, or scene such as teeth, a face, a body, industrial products, industrial equipment, cultural relics, works of art, prostheses, medical devices, or buildings. After determining the designated camera group, the designated camera group can be used to track the marker on the scanner to obtain the marker's pose. Based on the marker's pose, the scanning data of the target object scanned by the scanner is converted to the coordinate system of the tracker, thereby obtaining the scanning data of the target object scanned by the scanner, which meets the scanning requirements of the target object.

[0047] Among these features, the conversion relationship between any two cameras can be calibrated in advance (the calibration process is described below). Figure 4 (As shown in the embodiment), the specified camera group can be directly used to scan the target object after it has been determined. Alternatively, after determining the specified camera group, the target transformation relationship of the specified camera group is calibrated to obtain the target camera group, and the target camera group is used to track the scanner to obtain the scan data of the scanner scanning the target object.

[0048] Specifically, after determining the designated camera group, a stereo system corresponding to the designated camera group is constructed, and the target transformation relationship of the designated camera group is calibrated, that is, the transformation relationship between the coordinate system of the first camera and the coordinate system of the second camera in the designated camera group is calibrated.

[0049] To calibrate a specified camera group, a calibration device can be set up within the common field of view of the specified camera group. This calibration device can be a calibration plate, calibrator, or other calibration equipment. The first camera in the specified camera group acquires the image corresponding to the calibration device, obtaining a first image. The second camera in the specified camera group acquires the image corresponding to the calibration device, obtaining a second image. Based on the first image, the second image, the reference value corresponding to the calibration device, the transformation relationship between the calibration device's coordinate system and the reference coordinate system, and the camera parameters of the first camera and the second camera, a target transformation relationship is determined. The specified camera group with the determined target transformation relationship is then designated as the target camera group.

[0050] The reference coordinate system can be either the coordinate system of the first camera or the coordinate system of the second camera. When the reference coordinate system is the coordinate system of the first camera, the transformation relationship between the coordinate system of the calibration device and the coordinate system of the first camera is determined based on the first image. When the reference coordinate system is the coordinate system of the second camera, the transformation relationship between the coordinate system of the calibration device and the coordinate system of the second camera is determined based on the second image.

[0051] Additionally, the calibration device can be configured with multiple marker points. The first image can include the first pixel coordinates corresponding to the j-th marker point on the i-th frame image; i and j are both positive integers. The second image includes the second pixel coordinates corresponding to the j-th marker point on the i-th frame image. The coordinates of the j-th marker point in the calibration device's coordinate system are used as the reference value.

[0052] Therefore, determining the target transformation relationship based on the first image, the second image, the reference value corresponding to the calibration device, the transformation relationship between the calibration device coordinate system and the reference coordinate system, and the camera parameters of the first camera and the second camera to obtain the target camera group can include: determining the target transformation relationship based on the first pixel coordinate, the second pixel coordinate, the coordinate of the j-th marker point in the calibration device coordinate system, the transformation relationship between the calibration device coordinate system and the reference coordinate system, and the camera parameters of the first camera and the second camera to obtain the target camera group.

[0053] In one example, combining Figure 3As shown, taking two trackers as an example, the two cameras of the first tracker are numbered L1 and R1, and the two cameras of the second tracker are numbered L2 and R2. The corresponding camera intrinsic parameters are obtained according to the device parameters: the camera intrinsic parameter of L1 is KL1, the camera intrinsic parameter of R1 is KR1, the camera intrinsic parameter of L2 is KL2, and the camera intrinsic parameter of R2 is KR2. The two trackers are fixed at any position, such as... Figure 3 As shown, if the designated camera group is determined to include L1 and L2, ensure that the calibration device is placed within the common field of view of L1 and L2.

[0054] Cameras L1 and L2 are activated simultaneously to acquire images. L1 acquires an image of the calibration device within the common field of view, resulting in the first image. L2 acquires an image of the calibration device within the common field of view, resulting in the second image. Since the images are acquired simultaneously, the i-th frame can be obtained from both the first and second images.

[0055] The following example uses the coordinate system of camera L1 as the reference coordinate system to illustrate the transformation relationship between the calibration device coordinate system determined based on the i-th frame image acquired by camera L1 and the coordinate system of camera L1. Specifically, the coordinates of the j-th marker point on camera L1 in the i-th frame image acquired by camera L1, and the coordinates of the j-th marker point in the calibration device coordinate system are obtained. Based on the camera intrinsic parameter KL1 of camera L1, the coordinates of the j-th marker point on camera L, and the coordinates of the j-th marker point in the calibration device coordinate system, the translation and rotation matrices are calculated to obtain... .

[0056] The target transformation relationship between the coordinate systems of camera L1 and camera L2 is calculated and expressed by the following formula: in, An optimization function representing the transformation relationship of the calibration target; Indicates the target transformation relationship; Indicates internal parameter back projection; This represents the transformation relationship between the coordinate system of the calibration device determined based on the i-th frame image acquired by camera L1 and the coordinate system of camera L1; The reference value is the coordinate of the j-th marker point in the calibration device coordinate system. This represents the coordinates of the first pixel corresponding to the j-th marker point in the i-th frame image captured by camera L1; This represents the coordinates of the second pixel corresponding to the j-th marker point in the i-th frame image captured by camera L2.

[0057] Through the above embodiments, the tracking scanning system includes at least two trackers and a scanner. Each tracker includes a camera group. To meet dynamic scanning requirements, at least one camera can be selected from any two trackers to form a designated camera group, avoiding the limitation of a fixed baseline distance between the binocular cameras of the trackers. Alternatively, two cameras can be selected from multiple cameras of the same tracker to form a designated camera group. By using the designated camera group to track the scanner, scanning data of the target object measured by the scanner can be obtained, improving scanning accuracy and efficiency, reducing scanning difficulty, and meeting the needs of flexible scanning.

[0058] Figure 4 This is a schematic diagram of a scanning method provided in another embodiment of this application, as shown below. Figure 4 As shown, at least two trackers can be fixed in any different positions in advance, and any two cameras can be grouped into random camera groups. Each random camera group is calibrated, resulting in multiple calibrated random camera groups. From these multiple calibrated random camera groups, the random camera group that meets the scanning requirements is selected as the designated camera group. Figure 4 As shown, the steps include the following.

[0059] Step S401: Use each camera in the tracking scanning system to acquire images of the calibration device to obtain an image set.

[0060] In some embodiments of this application, the tracking scanning system includes multiple trackers, each tracker including two cameras. Images of a calibration device are acquired using each camera in the tracking scanning system, wherein the calibration device is positioned within the common field of view of all cameras.

[0061] Combination Figure 5 As shown, if there are cameras L1, R1, L2, and R2, then the calibration device is set within the common field of view of cameras L1, R1, L2, and R2. Images captured by all cameras at the same time are obtained to form an image set.

[0062] Step S402: Based on the image set, the reference value corresponding to the calibration device, the transformation relationship between the calibration device coordinate system and the reference coordinate system, and the camera parameters corresponding to each camera, determine the transformation relationship corresponding to each random camera group.

[0063] In some embodiments of this application, the reference coordinate system represents the coordinate system corresponding to any one of the cameras. The transformation relationship corresponding to each random camera group is calculated. Taking the reference coordinate system as the coordinate system corresponding to camera L1 as an example, the transformation relationship between camera L1 and the random camera groups randomly composed of cameras R1, L2, and R2 is calculated.

[0064] Combination Figure 5As shown, the two cameras of the first tracker are numbered L1 and R1, and the two cameras of the second tracker are numbered L2 and R2. The corresponding camera intrinsic parameters are obtained according to the device parameters: the camera intrinsic parameter of L1 is KL1, the camera intrinsic parameter of R1 is KR1, the camera intrinsic parameter of L2 is KL2, and the camera intrinsic parameter of R2 is KR2.

[0065] The transformation relationship between camera L1 and the random camera groups corresponding to cameras R1, L2, and R2 is calculated and expressed by the following formula: in, An optimization function representing the transformation relationship of the calibration target; This indicates the conversion relationship between camera L1 and camera R1; This indicates the conversion relationship between camera L1 and camera L2; This indicates the conversion relationship between camera L1 and camera R2; Indicates internal parameter back projection; This represents the transformation relationship between the coordinate system of the calibration device determined based on the i-th frame image acquired by camera L1 and the coordinate system of camera L1; The reference value is the coordinate of the j-th marker point in the calibration device coordinate system. This represents the pixel coordinates corresponding to the j-th marker point in the i-th frame image captured by camera L1; This represents the pixel coordinates corresponding to the j-th marker point in the i-th frame image captured by camera R1; This represents the pixel coordinates corresponding to the j-th marker point in the i-th frame image captured by camera L2; This represents the pixel coordinates corresponding to the j-th marker point in the i-th frame image captured by camera R2.

[0066] Based on the above examples, the transformation relationships between random camera groups include: the transformation relationship between camera L1 and camera R1, the transformation relationship between camera L1 and camera L2, and the transformation relationship between camera L1 and camera R2.

[0067] By calibrating the conversion relationships between camera L1 and camera R1, camera L1 and camera L2, and camera L1 and camera R2, the conversion relationship between camera R1 and camera L2 can also be derived from these relationships. Similarly, the conversion relationship between camera R1 and camera R2 can be obtained from the conversion relationships between camera L1 and camera L1, and camera L1 and camera R2. Therefore, assuming two trackers, each containing two cameras, six random camera groups can be formed to meet tracking and scanning requirements with different measurement ranges and accuracies.

[0068] Through the above embodiments, by pre-calibrating multiple pairs of random camera groups, the corresponding random camera group can be dynamically selected as the designated camera group according to the actual scanning requirements, thereby obtaining tracking scanning devices with different baseline lengths, meeting the requirements of different measurement ranges and measurement accuracy, improving measurement efficiency and flexibility, and not being limited by the physical baseline, dynamically adjusting the measurement range.

[0069] Figure 6 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. For example... Figure 6 As shown, the electronic device 10 may include a display device 100, a communication module 101, a memory 102, a processor 103, an input / output (I / O) interface 104, and a bus 105. The processor 103 is coupled to the display device 100, the communication module 101, the memory 102, and the I / O interface 104 via the bus 105.

[0070] Display device 100 may be a touch screen, specifically a touch-sensitive liquid crystal display device. Alternatively, display device 100 may be a non-touch screen. Display device 100 is used to display AAAA.

[0071] Communication module 101 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as Universal Serial Bus (USB) and Controller Area Network (CAN). The wireless communication module may provide one or more wireless communication solutions such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR). The memory 102 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 103, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, as well as user and application data.

[0072] Random access memory can include static random-access memory (SRAM), dynamic random-access memory (DRAM), synchronous dynamic random-access memory (SDRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.

[0073] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 103. Non-volatile memory can include disk storage devices and flash memory.

[0074] The memory 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 103. The one or more computer programs include multiple instructions that, when executed by the processor 103, can implement a scanning method that is executed on the electronic device 10.

[0075] In other embodiments, the electronic device 10 also includes an external memory interface for connecting to an external memory to expand the storage capacity of the electronic device 10.

[0076] Processor 103 may include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). These different processing units may be independent devices or integrated into one or more processors.

[0077] The processor 103 provides computing and control capabilities; for example, the processor 103 is used to execute computer programs stored in the memory 102 to implement the scanning method described above.

[0078] I / O interface 104 is used to provide a channel for user input or output. For example, I / O interface 104 can be used to connect various input and output devices, such as mouse, keyboard, touch device, display screen, etc., so that users can enter information or visualize information.

[0079] Bus 105 is used at least to provide a channel for communication between communication modules 101, memory 102, processor 103, and I / O interface 104 in electronic device 10.

[0080] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device 10. In other embodiments of this application, the electronic device 10 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0081] This application also provides a computer-readable storage medium storing a computer program, which includes program instructions. When the program instructions are executed, the method implemented can refer to the methods in the above embodiments of this application.

[0082] The computer-readable storage medium can be the internal memory of the electronic device described in the above embodiments, such as the hard disk or memory of the electronic device. Alternatively, the computer-readable storage medium can be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the electronic device.

[0083] In some embodiments, a computer-readable storage medium may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of the electronic device, etc.

[0084] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0085] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0086] In the embodiments provided in this application, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0087] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0088] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A scanning method applied to a tracking scanning system, characterized in that, The tracking scanning system includes at least two trackers and at least one scanner, each tracker including at least one set of cameras, and the method includes: Based on scanning requirements, a designated camera group is determined from at least one tracker, wherein two cameras in the designated camera group belong to the same tracker, or the two cameras in the designated camera group belong to two different trackers. The scanner is tracked using the designated camera group to obtain scan data of the target object scanned by the scanner.

2. The scanning method according to claim 1, characterized in that, The method further includes: The target transformation relationship of the specified camera group is calibrated to obtain the target camera group; Accordingly, the step of using the designated camera group to track the scanner and obtain the scan data of the target object scanned by the scanner includes: The target camera group is used to track the scanner to obtain scan data of the target object scanned by the scanner.

3. The scanning method according to claim 2, characterized in that, The step of calibrating the target transformation relationship of the specified camera group to obtain the target camera group includes: The first image is obtained by acquiring the image corresponding to the calibration device using the first camera in the designated camera group, wherein the calibration device is set within the common field of view of the designated camera group; The second image is obtained by acquiring the image corresponding to the calibration device using the second camera in the designated camera group; Based on the first image, the second image, the reference value corresponding to the calibration device, the transformation relationship between the calibration device coordinate system and the reference coordinate system, and the camera parameters of the first camera and the camera parameters of the second camera, the target transformation relationship is determined to obtain the target camera group; The target transformation relationship includes the transformation relationship between the coordinate system of the first camera and the coordinate system of the second camera, and the reference coordinate system represents the coordinate system of the first camera or the coordinate system of the second camera.

4. The scanning method according to claim 3, characterized in that, The calibration device is equipped with multiple marker points: The first image includes the coordinates of the first pixel corresponding to the j-th marker point on the i-th frame image; i and j are both positive integers; The second image includes the second pixel coordinates corresponding to the j-th marker point on the i-th frame image; The coordinates of the j-th marker point in the coordinate system of the calibration device are used as the reference value; Accordingly, determining the target transformation relationship based on the first image, the second image, the reference value corresponding to the calibration device, the transformation relationship between the calibration device coordinate system and the reference coordinate system, and the camera parameters of the first camera and the second camera to obtain the target camera group includes: Based on the first pixel coordinates, the second pixel coordinates, the coordinates of the j-th marker point in the calibration device coordinate system, the transformation relationship between the calibration device coordinate system and the reference coordinate system, and the camera parameters of the first camera and the second camera, the target transformation relationship is determined to obtain the target camera group.

5. The scanning method according to claim 3, characterized in that, The method further includes: determining the transformation relationship between the calibration device coordinate system and the reference coordinate system, including: If the reference coordinate system is the coordinate system of the first camera, the transformation relationship between the coordinate system of the calibration device and the coordinate system of the first camera is determined based on the first image; If the reference coordinate system is the coordinate system of the second camera, the transformation relationship between the coordinate system of the calibration device and the coordinate system of the second camera is determined based on the second image.

6. The scanning method according to claim 1, characterized in that, The process of determining a specified group of cameras from at least one tracker based on scanning requirements includes: Determine the measurement range and measurement accuracy from the aforementioned scanning requirements; Determine the baseline distance based on the measurement range and / or the measurement accuracy; Find the relative distance that matches the baseline distance from the relative distance between any two cameras; The designated camera group is determined from a plurality of cameras based on the relative distance that matches the baseline distance.

7. The scanning method according to claim 1, characterized in that, Before determining a specified group of cameras from at least one tracker based on scanning requirements, the method further includes: calibrating a random group of cameras consisting of any two cameras in the tracking scanning system, including: Each camera in the tracking scanning system acquires images of the calibration device to obtain an image set; wherein the calibration device is positioned within the common field of view of all cameras; Based on the image set, the reference value corresponding to the calibration device, the transformation relationship between the calibration device coordinate system and the reference coordinate system, and the camera parameters corresponding to each camera, the transformation relationship corresponding to each random camera group is determined; wherein, the reference coordinate system represents the coordinate system corresponding to any one of the cameras.

8. The scanning method according to claim 7, characterized in that, The method further includes: The random camera group that meets the scanning requirements is selected from multiple random camera groups as the designated camera group.

9. A tracking scanning system, characterized in that, The tracking scanning system includes: At least two trackers, each tracker including at least one camera group, each camera group including two cameras, any two cameras are used to form a specified camera group; The designated camera group is used to track the scanner; The scanner is used to scan the target object; An electronic device includes a processor and a memory, the memory storing a computer program, the processor implementing the scanning method as described in any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, which, when executed by a processor, implements the scanning method as described in any one of claims 1 to 8.

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