Scanning method, tracking scanning system and storage medium

Abstract

The application provides a scanning method, a tracking scanning system and a storage medium, and is applied to a tracking scanning system. The tracking scanning system comprises at least two tracking devices and at least one scanner. Each tracking device comprises at least one camera group. The method comprises the following steps: determining a specified camera group from the at least two tracking devices based on a scanning requirement. Two cameras in the specified camera group belong to the same tracking device, or two cameras in the specified camera group belong to two different tracking devices. The specified camera group is used to track the scanner, and scanning data of a target object scanned by the scanner is obtained. The above method can dynamically adjust the tracking range and improve the scanning accuracy and efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tracking scanning systems, in particular to a scanning method, a tracking scanning system and a storage medium. BACKGROUND

[0002] Large tracking instruments have significant advantages in tracking range and accuracy, but their large size and weight increase the difficulty of operation. In addition, due to the design of the fixed beam structure between the binocular cameras of the tracking instrument, the tracking range cannot be dynamically adjusted, and the flexibility is insufficient. SUMMARY

[0003] Embodiments of the present application disclose a scanning method, a tracking scanning system and a storage medium, which solve the technical problem that current tracking instruments cannot dynamically adjust the tracking range.

[0004] The present application provides a scanning method applied to a tracking scanning system, the tracking scanning system comprising at least two tracking instruments and at least one scanner, each tracking instrument comprising at least one camera group, the method comprising: determining a specified camera group from the at least one tracking instrument based on scanning requirements, two cameras in the specified camera group belonging to the same tracking instrument, or two cameras in the specified camera group belonging to different tracking instruments; and tracking the scanner using the specified camera group to obtain scanning data of a target object scanned by the scanner.

[0005] In some embodiments of the present application, the method further comprises calibrating a target conversion relationship of the specified camera group to obtain a target camera group; accordingly, the tracking the scanner using the specified camera group to obtain the scanning data of the target object scanned by the scanner comprises tracking the scanner using the target camera group to obtain the scanning data of the target object scanned by the scanner.

[0006] In some embodiments of the present application, the calibration of the target conversion relationship of the specified camera group to obtain the target camera group comprises: acquiring an image corresponding to a calibration device using a first camera in the specified camera group to obtain a first image, the calibration device being arranged in a common field of view of the specified camera group; acquiring an image corresponding to the calibration device using a second camera in the specified camera group to obtain a second image; determining the target conversion relationship based on the first image, the second image, a reference value corresponding to the calibration device, a conversion relationship between a calibration device coordinate system of the calibration device and a reference coordinate system, a camera parameter of the first camera and a camera parameter of the second camera to obtain the target camera group; wherein the target conversion relationship comprises a conversion relationship between a coordinate system of the first camera and a 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 the present application, the calibration device is provided with a plurality of mark points; the first image comprises first pixel coordinates corresponding to the jth mark point in the ith frame image; i and j are positive integers; the second image comprises second pixel coordinates corresponding to the jth mark point in the ith frame image; the coordinate of the jth mark point in the calibration device coordinate system is taken as the reference value; accordingly, the target conversion relationship is determined based on the first image, the second image, the reference value corresponding to the calibration device, the conversion relationship between the calibration device coordinate system of the calibration device and the reference coordinate system, the camera parameters of the first camera and the camera parameters of the second camera, and the target camera group is obtained, which comprises: the target conversion relationship is determined based on the first pixel coordinates, the second pixel coordinates, the coordinate of the jth mark point in the calibration device coordinate system, the conversion 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, and the target camera group is obtained.

[0008] In some embodiments of the present application, the method further comprises: determining the conversion relationship between the calibration device coordinate system and the reference coordinate system, which comprises: if the reference coordinate system is the coordinate system of the first camera, determining the conversion 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 conversion 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 the present application, the method further comprises: determining the conversion relationship between the calibration device coordinate system and the reference coordinate system, which comprises: if the reference coordinate system is the coordinate system of the first camera, determining the conversion 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 conversion relationship between the calibration device coordinate system and the coordinate system of the second camera based on the second image.

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

[0011] In some embodiments of the present application, the method further comprises: determining a random camera group that meets the scanning requirement from a plurality of random camera groups as the specified camera group.

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

[0013] The present application also provides a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executed by a processor to realize the scanning method.

[0014] In the scanning method provided by the present application, the tracking scanning system comprises at least two trackers and at least one scanner, each tracker comprising at least one camera group, in order to meet the dynamic scanning requirement, a specified camera group can be determined from at least one tracker, avoiding being limited by the fixed baseline distance between the binocular cameras of the tracker. The specified camera group is used to track the scanner, the scanning data of the scanner scanning the target object is obtained, the scanning accuracy and efficiency are improved, and the scanning difficulty is reduced to meet the flexible scanning requirement. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is an application scenario diagram of the scanning method provided by the embodiments of the present application.

[0016] Figure 2 is a flowchart of the scanning method provided by the embodiments of the present application.

[0017] Figure 3is a schematic diagram of a calibration scene provided by an embodiment of the present application.

[0018] Figure 4 is a schematic diagram of a scanning method provided by another embodiment of the present application.

[0019] Figure 5 is a schematic diagram of a calibration scene provided by another embodiment of the present application.

[0020] Figure 6 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0021] For ease of understanding, exemplary descriptions of some concepts related to embodiments of the present application are provided for reference.

[0022] It should be noted that "at least one" in the present application means one or more, and "multiple" means two or more than two. The association relationship between the associated objects is described, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

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

[0024] There are currently two types of optical trackers. One is a small tracker with a baseline distance of 450 mm, and the tracking range is about 3 m. The other is a large tracker with a baseline distance of 850 mm, and the tracking range is about 8 m. The large tracker has higher tracking range and tracking accuracy than the small tracker. However, the large tracker increases its volume and weight by increasing the baseline length to improve the measurement range and measurement accuracy, which increases the difficulty of operation. In addition, due to the design of the fixed beam structure between the binocular cameras of the tracker, the tracking range cannot be dynamically adjusted, and the flexibility is insufficient.

[0025] To solve the technical problem that the current tracker cannot dynamically adjust the tracking range, the present application provides a scanning method, a tracking scanning system and a storage medium, which can determine a group of specified cameras from at least one tracker, and use the specified camera group to scan the target object, so as to dynamically set the baseline distance. First, the application scenario of the scanning method of the present application is described.

[0026] Figure 1is a schematic diagram of an application scenario of a scanning method provided by an embodiment of the present application. As shown in Figure 1 The tracking scanning system includes an electronic device 10, at least two trackers 20, and at least one scanner 30. Figure 1 The one scanner 30 and the two trackers 20 are only examples, and the actual application is not limited thereto. The present application does not limit the number of trackers 20 and scanners 30.

[0027] The electronic device 10 is in communication connection with each tracker 20 and scanner 30. The communication connection can include wired communication connection and wireless communication connection. The wired communication connection can include one or more of Universal Serial Bus (USB), Controller Area Network (CAN), and the like. The wireless communication connection can include one or more of Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication network, Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR), and the like.

[0028] The electronic device 10 can include a notebook computer, a tablet computer, a Programmable Logic Controller (PLC), a Human Machine Interface (HMI) with touch input function, and the like, and can also include a virtual machine or a device simulated by an emulator. The electronic device 10 is used to determine at least one camera 210 from the trackers 20 that do not belong to the same tracker 20 based on the scanning requirement, so as to form a specified camera group. Alternatively, two cameras 210 from the same tracker 20 are determined to form a specified camera group based on the scanning requirement. The target object is scanned by using the specified camera group, so as to achieve the purpose of dynamically setting the baseline distance. The electronic device 10 is also used to determine the scanning data obtained by scanning the target object.

[0029] The tracker 20 can be an optical tracker. Each tracker 20 includes a group of cameras, and each group of cameras includes at least two cameras 210. The two cameras 210 in the same camera group can be cameras of the same type or different types, and the present 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 an example, the tracking instrument sends the positioning information to the electronic device actively after the tracking instrument is powered on within the signal receiving range of the electronic device. Alternatively, the electronic device sends a request instruction to the surrounding devices at a fixed frequency, and the tracking instrument sends the positioning information to the electronic device in response to the request instruction after the tracking instrument is powered on. The device parameters of the tracking instrument that sends the positioning information, such as the positioning information, the measurement range, etc., are displayed on the display device.

[0038] The user can input the scanning requirement on the display device, and the electronic device determines the baseline distance in response to the scanning requirement, determines at least one camera from any two tracking instruments that send the positioning information respectively based on the tracking instruments that send the positioning information and the corresponding device parameters, and forms a specified camera group that meets the baseline distance requirement.

[0039] In an example, taking the measurement range as an example of the scanning requirement, the measurement range represents the limit of the parallax that can be detected by the camera. The maximum measurement range, the minimum measurement range, the maximum parallax of the theoretical camera group, the minimum parallax of the theoretical camera group, and the focal length of the theoretical camera group are determined based on the measurement range. The theoretical baseline distance is calculated according to the maximum measurement range, the minimum measurement range, the maximum parallax of the theoretical camera group, the minimum parallax of the theoretical camera group, and the focal length of the theoretical camera group. The relative distance between any two cameras that do not belong to the same tracking instrument is determined based on the positioning information, all the relative distances are traversed, the relative distance that is closest to the baseline distance is found as the relative distance that matches the baseline distance, and thus the camera pair corresponding to the relative distance that matches the baseline distance is taken as the specified camera group.

[0040] For example, there are two tracking instruments, the first tracking instrument includes camera L1 and camera R1, and the second tracking instrument includes camera L2 and camera R2. If it is determined through the above calculation that the relative distance between camera R1 and camera R2 meets the baseline distance, camera R1 and camera R2 form the specified camera group. If it is determined that the relative distance between camera L1 and camera L2 meets the baseline distance, camera L1 and camera L2 form the specified camera group.

[0041] In another example, taking the measurement accuracy as an example of the scanning requirement. According to the measurement accuracy, the theoretical measurement distance, the parallax error, and the camera focal length are determined. The theoretical baseline distance is determined according to 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 the relative distances are traversed, the relative distance that is closest to the baseline distance is found as the relative distance that matches the baseline distance, and thus the camera pair corresponding to the relative distance that matches the baseline distance is taken as the specified camera group.

[0042] The baseline distance can be determined based on one or more of a measurement range, a measurement accuracy, a measurement scene, and a size parameter of a measurement target object. A relative distance between any two cameras that do not belong to the same tracker is searched for a relative distance that matches the baseline distance, so as to obtain the specified camera group. Alternatively, a relative distance between any two cameras that belong to the same tracker is searched for a relative distance that matches the baseline distance, so as to obtain the specified camera group.

[0043] In other embodiments of the present application, if a relative distance that matches the baseline distance cannot be found from the 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 tracker, a relative distance that matches the baseline distance is determined again, so as to determine the specified camera group.

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

[0045] In step S202, the scanner is tracked by using the specified camera group, so as to obtain scanning data of the target object scanned by the scanner.

[0046] In some embodiments of the present application, the target object can be a tooth, a face, a human body, an industrial product, an industrial equipment, an artifact, an artwork, a prosthesis, a medical instrument, a building, and the like, a living body, or a scene. After the specified camera group is determined, the pose of a marker on the scanner can be tracked by using the specified camera group. According to the pose of the marker, the scanning data of the target object scanned by the scanner is converted to the coordinate system of the tracker, so as to obtain the scanning data of the target object scanned by the scanner, and to meet the scanning requirement of the target object.

[0047] The conversion relationship between any two cameras can be calibrated in advance (the calibration process is described below with reference to FIG. 2B), so as to be directly used for scanning the target object after the specified camera group is determined. Alternatively, the target conversion relationship of the specified camera group is calibrated after the specified camera group is determined, so as to obtain a target camera group, and the scanner is tracked by using the target camera group, so as to obtain the scanning data of the target object scanned by the scanner. Figure 4 ​

[0048] Specifically, after the specified camera group is determined, a binocular system corresponding to the specified camera group is constructed, and a target conversion relationship of the specified camera group is calibrated, that is, a conversion relationship between a coordinate system of the first camera and a coordinate system of the second camera in the specified camera group is calibrated.

[0049] In order to calibrate the specified camera group, a calibration device can be arranged in a common field of view of the specified camera group. The calibration device can be a calibration board, a calibrator, or other devices for calibration. An image corresponding to the calibration device is captured by the first camera in the specified camera group to obtain a first image. An image corresponding to the calibration device is captured by the second camera in the specified camera group to obtain a second image. The target conversion relationship is determined according to the first image, the second image, a reference value corresponding to the calibration device, a conversion relationship between a calibration device coordinate system of the calibration device and a reference coordinate system, camera parameters of the first camera and camera parameters of the second camera. The specified camera group with the determined target conversion relationship is taken as a target camera group.

[0050] The reference coordinate system can be 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 conversion relationship between the calibration device coordinate system 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 conversion relationship between the calibration device coordinate system and the coordinate system of the second camera is determined based on the second image.

[0051] In addition, the calibration device can be provided with a plurality of mark points. The first image can include first pixel coordinates corresponding to the jth mark point on the ith image. i and j are positive integers. The second image includes second pixel coordinates corresponding to the jth mark point on the ith image. The coordinate of the jth mark point in the calibration device coordinate system is taken as the reference value.

[0052] Therefore, the target conversion relationship is determined according to the first image, the second image, the reference value corresponding to the calibration device, the conversion relationship between the calibration device coordinate system of the calibration device and the reference coordinate system, the camera parameters of the first camera and the camera parameters of the second camera, and the target camera group is obtained. It can include: determining the target conversion relationship based on the first pixel coordinates, the second pixel coordinates, the coordinates of the jth mark point in the calibration device coordinate system, the conversion 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, and obtaining the target camera group.

[0053] In an example, in combination with 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:

[0057]

[0058] 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.

[0059] Through the above embodiment, the tracking scanning system includes at least two trackers and a scanner, each tracker includes a group of cameras, in order to meet the dynamic scanning requirements, at least one camera can be determined from any two trackers respectively to form a specified camera group, which avoids being limited by the fixed baseline distance between the binocular cameras of the tracker, or two camera groups can be determined from the multiple cameras of the same tracker to form a specified camera group. The specified camera group is used to track the scanner, the scanning data of the scanner measuring the target object is obtained, the scanning accuracy and efficiency are improved, the scanning difficulty is reduced, and the flexible scanning requirements are met.

[0060] Figure 4 is a schematic diagram of a scanning method provided by another embodiment of the present application, as shown in Figure 4 at least two trackers can be fixed at any different positions in advance, any two cameras form a random camera group, each random camera group is calibrated, thereby obtaining multiple groups of calibrated random camera groups, and a random camera group meeting the scanning requirements is determined from the multiple groups of calibrated random camera groups as a specified camera group. As shown in Figure 4 the following steps are included.

[0061] Step S401, image acquisition of the calibration device is performed by using each camera in the tracking scanning system, and an image set is obtained.

[0062] In some embodiments of the present application, the tracking scanning system includes multiple trackers, and each tracker includes two cameras. Image acquisition of the calibration device is performed by using each camera in the tracking scanning system, wherein the calibration device is arranged in the common field of view range of all cameras.

[0063] As shown in Figure 5 there are camera L1, camera R1, camera L2, and camera R2, and the calibration device is arranged in the common field of view range of camera L1, camera R1, camera L2, and camera R2. Images collected at the same time by all cameras are obtained, and an image set is obtained.

[0064] Step S402, based on the image set, the reference value corresponding to the calibration device, the conversion relationship between the calibration device coordinate system corresponding to the calibration device and the reference coordinate system, and the camera parameters corresponding to each camera, the conversion relationship corresponding to each random camera group is determined.

[0065] In some embodiments of the present application, the reference coordinate system represents the coordinate system corresponding to any one of all cameras. The conversion relationship corresponding to each random camera group is calculated, and the reference coordinate system is taken as the coordinate system corresponding to camera L1 as an example, the conversion relationship corresponding to the random camera groups formed by camera L1, camera R1, camera L2, and camera R2 respectively is calculated.

[0066] As shown in Figure 5As shown, the numbers of the two cameras of the first tracker are set as L1 and R1, and the numbers of the two cameras of the second tracker are set as L2 and R2. The corresponding camera intrinsic parameters are obtained according to the device parameters, the camera intrinsic parameters of L1 are KL1, the camera intrinsic parameters of R1 are KR1, the camera intrinsic parameters of L2 are KL2, and the camera intrinsic parameters of R2 are KR2.

[0067] The conversion relationships of the random camera group corresponding to the camera L1, the camera R1, the camera L2 and the camera R2 are calculated, and are expressed by the following formulas:

[0068]

[0069]

[0070]

[0071]

[0072] wherein, an optimization function for representing the conversion relationship of the calibration target; represents the conversion relationship between the camera L1 and the camera R1; represents the conversion relationship between the camera L1 and the camera L2; represents the conversion relationship between the camera L1 and the camera R2; represents the intrinsic back-projection; represents the conversion relationship between the coordinate system of the calibration device and the coordinate system of the camera L1 determined based on the i-th frame of image collected by the camera L1; represents a reference value, which is the coordinate of the j-th mark point in the coordinate system of the calibration device; represents the pixel coordinate of the j-th mark point on the i-th frame of image collected by the camera L1; represents the pixel coordinate of the j-th mark point on the i-th frame of image collected by the camera R1; represents the pixel coordinate of the j-th mark point on the i-th frame of image collected by the camera L2; represents the pixel coordinate of the j-th mark point on the i-th frame of image collected by the camera R2.

[0073] Based on the above example, the conversion relationships between the random camera group include the conversion relationship between the camera L1 and the camera R1, the conversion relationship between the camera L1 and the camera L2, and the conversion relationship between the camera L1 and the camera R2.

[0074] By completing the calibration between 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, the transformation relationship between camera R1 and camera L2 can also be obtained according to the transformation relationship between camera L1 and camera R1 and the transformation relationship between camera L1 and camera L2. According to the transformation relationship between camera L1 and camera R1 and the transformation relationship between camera L1 and camera R2, the transformation relationship between camera R1 and camera R2 is obtained. The transformation relationship between camera L2 and camera R2 can also be obtained according to the transformation relationship between camera L1 and camera L2 and the transformation relationship between camera L1 and camera R2. Therefore, assuming that there are two trackers, each tracker includes two cameras, then six random camera groups can be randomly formed to meet the tracking scanning requirements of different measurement ranges and measurement accuracies.

[0075] Through the above embodiment, by pre-calibrating multiple pairs of random camera groups, the corresponding random camera group can be dynamically selected as the specified camera group according to the actual scanning requirements, so as to obtain a tracking scanning device with different baseline lengths, meet the requirements of different measurement ranges and measurement accuracies, improve the measurement efficiency and flexibility, and not be limited by the physical baseline. The measurement range is dynamically adjusted.

[0076] Figure 6 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. As shown in Figure 6 The electronic device 10 can 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 through the bus 105.

[0077] The display device 100 can be a touch screen, which is a kind of inductive touchable liquid crystal display device. Alternatively, the display device 100 can also be a non-touch screen. The display device 100 is used to display AAAA.

[0078] The communication module 101 can include a wired communication module and / or a wireless communication module. The wired communication module can provide one or more of the following wired communication solutions: Universal Serial Bus (USB), Controller Area Network (CAN) bus, etc. The wireless communication module can provide one or more of the following wireless communication solutions: Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication network, Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR) technology, etc.

[0079] The memory 102 can include one or more Random Access Memories (RAMs) and one or more Non-Volatile Memories (NVMs). The Random Access Memory can be directly read and written by the processor 103, and can be used to store executable programs (e.g., machine instructions) of operating systems or other programs running, and can also be used to store data of users and applications, etc.

[0080] The 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.

[0081] The Non-Volatile Memory can also store executable programs and store data of users and applications, etc., and can be loaded in advance into the Random Access Memory for direct reading and writing by the processor 103. The Non-Volatile Memory can include a magnetic disk storage device, a Flash Memory.

[0082] The memory 102 is configured 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 a plurality of instructions which, when executed by the processor 103, can implement a scanning method executed on the electronic device 10.

[0083] In other embodiments, the electronic device 10 further comprises an external memory interface for connecting an external memory to extend the storage capability of the electronic device 10.

[0084] The processor 103 can include one or more processing units, for example: the processor 103 can include 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), etc. Different processing units can be independent devices or integrated in one or more processors.

[0085] The processor 103 provides computing and control capabilities, for example, the processor 103 is used to execute a computer program stored in the memory 102 to implement the scanning method described above.

[0086] The I / O interface 104 is used to provide a channel for user input or output, for example, the I / O interface 104 can be used to connect various input and output devices, such as a mouse, a keyboard, a touch device, a display screen, etc., so that the user can enter information or make the information visualized.

[0087] The bus 105 is used to provide a communication channel between the communication module 101, the memory 102, the processor 103, and the I / O interface 104 in the electronic device 10.

[0088] It can be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device 10. In other embodiments of the present application, the electronic device 10 can include more or fewer components than the illustration, or combine certain components, or split certain components, or different component arrangements. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0089] The embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium stores a computer program, the computer program includes program instructions, and the method implemented when the program instructions are executed can refer to the method in each of the embodiments of the present application.

[0090] The computer readable storage medium can be an internal storage of the electronic device, such as a hard disk or a memory of the electronic device. The computer readable storage medium can also be an external storage of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like.

[0091] In some embodiments, the computer readable storage medium can include a program storage area and a data storage area. The program storage area can store an operating system, an application required by at least one function, and the like. The data storage area can store data created according to use of the electronic device, and the like.

[0092] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0093] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. A person 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 the present application.

[0094] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / terminal device and method can be implemented by other ways. For example, the apparatus / terminal device embodiments described above are only schematic, and the division of the modules or units is only a logical function division, and there can be another division way in actual implementation. For example, a plurality of 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 couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0095] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0096] The above examples are only used to illustrate the technical solutions of the present application, but not limit the same; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalent ones; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present 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: Calibrate a random camera group consisting of any two cameras in the tracking scanning system; 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 two cameras in the designated camera group belong to two different trackers; wherein, from multiple groups of calibrated random camera groups, a random camera group that meets the scanning requirements is determined as the designated camera group; the measurement range and measurement accuracy are determined from the scanning requirements; based on the measurement range and / or the measurement accuracy, the baseline distance is determined; a relative distance matching the baseline distance is found from the relative distances between any two cameras; based on the relative distance matching the baseline distance, the designated camera group is determined from multiple cameras; 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 of claim 1, wherein, 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 of claim 2, wherein, 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 of claim 3, wherein, 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 of claim 3, wherein, 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 of claim 1, wherein, The calibration of a random camera group consisting of any two cameras in the tracking scanning system includes: 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.

7. A tracking scanning system characterized by, 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 6 when executing the computer program.

8. 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 6.

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