Scanning method, scanning system, and storage medium
By using a first scanner to scan and a second scanner to track the pose of the marker, the problem of limited tracking range in narrow environments by traditional 3D scanners is solved. This achieves markerless tracking and adaptability to confined spaces, improving scanning efficiency and simplifying operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHINING 3D TECH CO LTD
- Filing Date
- 2026-04-14
- Publication Date
- 2026-07-14
AI Technical Summary
Existing technologies struggle to achieve markerless tracking and adaptability in confined spaces in narrow or complex environments. Traditional handheld 3D scanners have limited tracking range in narrow or complex environments, and scanners designed for confined spaces are cumbersome to operate.
A first scanner is used for scanning, and a second scanner tracks the markers on the first scanner. A three-dimensional model is constructed through coordinate transformation, and the pose of the markers is determined using the second scanner, thus achieving markerless tracking and adaptability to confined spaces.
It balances markerless tracking with adaptability to confined spaces, reduces hardware costs, improves scanning efficiency, and simplifies the operation process.
Smart Images
Figure CN122391484A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of 3D scanning, and more particularly to a scanning method, scanning system, and storage medium. Background Technology
[0002] Currently, handheld 3D scanners paired with optical trackers typically feature a spherical frame, enabling real-time positioning without markers. However, the trackers used in this approach are relatively large and have limited tracking range, making them difficult to use flexibly in narrow or complex environments. Furthermore, while these scanners can perform small-scene point-based scanning independently of the tracker, their spherical frame limits their access to confined spaces such as pipes and mezzanines. In contrast, handheld scanners specifically designed for confined spaces, while compact, require attaching numerous markers for stitching, making operation cumbersome. Summary of the Invention
[0003] This application discloses a scanning method, scanning system, and storage medium, which solves the technical problem that the prior art is unable to simultaneously achieve both markerless tracking and adaptability in confined spaces.
[0004] This application provides a scanning method, the method comprising: acquiring object data generated by a first scanner scanning a specified object; using a second scanner to track a marker on the first scanner and determine the pose of the marker; performing coordinate transformation on the object data based on the pose of the marker; and constructing a three-dimensional model corresponding to the specified object based on the coordinate-transformed object data.
[0005] In some embodiments of this application, before performing coordinate transformation on the object data based on the pose of the marker, the method further includes: using a preset transformation relationship to convert the object data based on the first coordinate system of the first scanner into first transformed data in the local coordinate system corresponding to the marker; wherein, the transformation relationship is the transformation relationship between the first coordinate system and the local coordinate system.
[0006] In some embodiments of this application, the method further includes: calibrating the transformation relationship between the first coordinate system of the first scanner and the local coordinate system of the marker, including: measuring a preset calibration plate using the first scanner to obtain first measurement data; measuring the calibration plate using the second scanner to obtain second measurement data; and measuring the marker to obtain third measurement data; obtaining the true value of the marker in the local coordinate system; and calibrating the transformation relationship based on the first measurement data, the second measurement data, the third measurement data, and the true value.
[0007] In some embodiments of this application, the coordinate transformation of the object data based on the pose of the marker includes: based on the pose of the marker, converting the first transformation data based on the local coordinate system into the second transformation data in the second coordinate system of the second scanner.
[0008] In some embodiments of this application, the relative position between the marker and the body of the first scanner is fixed.
[0009] In some embodiments of this application, the step of using a second scanner to track a marker on a first scanner and determining the pose of the marker includes: obtaining the true value of the marker in the local coordinate system corresponding to the marker; obtaining the measurement value obtained by the second scanner tracking the marker on the first scanner; and registering the true value and the measurement value to obtain the pose of the marker.
[0010] In some embodiments of this application, the method further includes: in response to a mode switching command, switching the second scanner from a tracking mode to a scanning mode, or switching the first scanner from a scanning mode to a tracking mode.
[0011] In some embodiments of this application, the method further includes: acquiring object data when the first scanner is in the scanning mode; and tracking the marker when the second scanner is in the tracking mode.
[0012] This application also provides a scanning system, comprising: a first scanner configured to scan a specified object; a second scanner configured to track a marker on the first scanner; and an electronic device configured to: acquire object data generated by the first scanner scanning the specified object; use the second scanner to track the marker on the first scanner and determine the pose of the marker; perform coordinate transformation on the object data based on the pose of the marker; and construct a three-dimensional model corresponding to the specified object based on the coordinate-transformed object data.
[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, object data generated by a first scanner scanning a specified object is obtained. A second scanner is used to track a marker on the first scanner. By using the second scanner as a tracking device to track the first scanner, the pose of the marker can be determined through the second scanner. Based on the pose of the marker, coordinate transformation is performed on the object data so that a three-dimensional model of the specified object can be constructed based on the coordinate-transformed object data. This method addresses both the technical challenges of markerless tracking and adaptability to confined spaces. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the scanning system provided in an embodiment of this application.
[0016] Figure 2 This is a flowchart of the scanning method provided in the embodiments of this application.
[0017] Figure 3 This is a scanning scene diagram of the first and second scanners provided in the embodiments of this application.
[0018] Figure 4 This is a schematic diagram of a specified object provided in an embodiment of this application.
[0019] Figure 5 This is a flowchart illustrating the calibration of the conversion relationship provided in the embodiments 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] Current handheld 3D scanning systems typically utilize integrated spherical reflective marker frames to establish spatial positioning references. Their core working principle lies in using external optical tracking devices to capture the spatial positions of marker points on the frame in real time, thereby calculating the scanner's own pose and achieving markerless, contactless dynamic 3D data acquisition. This design avoids the need to attach numerous manual markers to the surface of the object being measured, significantly improving scanning efficiency and automation.
[0024] However, this technical solution has certain limitations in application scenarios. As a reference device, the optical tracker is usually large in size, and its placement and tracking field of view directly determine the scanning range. In complex or confined spaces such as narrow industrial pipes, equipment interlayers, and the roots of aero-engine blades, the marker points are easily lost due to obstruction, thus causing tracking interruption.
[0025] In contrast, there are handheld 3D scanners specifically designed for confined spaces or deep cavities. These devices offer significant advantages in physical size, allowing them to flexibly enter such restricted spaces for data acquisition. However, to reconstruct the 3D shape of an object without external positioning equipment, it is necessary to densely affix coded points or markers to the surface of the object and its surrounding environment, using these as spatial features for stitching together adjacent frames of data. This data acquisition method involves a large amount of tedious preprocessing work and relies heavily on the operator's experience, making it difficult to meet the practical needs of efficient, non-contact measurement.
[0026] Therefore, in order to solve the technical problem of simultaneously achieving markerless tracking and adaptability in confined spaces, embodiments of this application propose a scanning method, a scanning system, and a storage medium. The structure of the scanning system of this application will be described first below.
[0027] Figure 1 This is a schematic diagram of the scanning system provided in an embodiment of this application. Figure 1 As shown, the scanning system 10 includes an electronic device 110, a scanner 120, and a scanner 130.
[0028] In one embodiment, electronic device 110 is communicatively connected to scanners 120 and 130, respectively. 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.
[0029] In another embodiment, scanner 120 and scanner 130 can be connected in communication, and scanner 130 can directly acquire the data collected by scanner 120 and send the data collected by scanner 120 to electronic device 110.
[0030] The electronic device 110 can be a mobile phone, tablet computer, smart wearable device, augmented reality (AR) / virtual reality (VR) device, laptop computer, netbook, etc. This application embodiment does not limit the specific type of the electronic device 110. The specific structure of the electronic device 110 can be referred to below. Figure 6 The illustrated embodiment.
[0031] Scanners 120 and 130 can be the same type of device or different types of devices; this application does not limit this. In one example, scanners 120 and 130 can include, but are not limited to, oral scanning devices, facial scanning devices, CT (Computed Tomography) scanning devices or CBCT (Conebeam Computer Tomography) scanning devices, professional scanners, industrial scanners, etc. Oral scanning devices include intraoral scanners and extraoral scanners. Scanners 120 and 130 can be handheld scanning devices or fixed scanning devices. Scanners 120 and 130 can realize three-dimensional reconstruction of objects or scenes such as teeth, faces, bodies, industrial products, industrial equipment, cultural relics, works of art, prostheses, medical instruments, and buildings. This application does not impose specific limitations in this regard.
[0032] For specific scanning scenarios, such as narrow industrial pipes, equipment compartments, and the roots of aircraft engine blades—complex or confined spaces—the scanner 120 can be equipped with markers 1201. These markers 1201 can be reflective domes, infrared LEDs, or attached frame points. The scanner 120 can function as a light pen to scan these specific scenarios; a light pen typically refers to a handheld, contact-type probe device. Alternatively, the scanner 120 may not have actual contact points, achieving scanning through light projection. The scanner 120 can be an industrial scanner, an intraoral scanner, or a handheld scanner. Using the scanner 120, scanning can be performed in complex or confined spaces such as narrow industrial pipes, equipment compartments, and the roots of aircraft engine blades.
[0033] In one embodiment, the scanner 120 can support both contact scanning and non-contact scanning. Taking contact scanning as an example, when the scanner 120 is used as a light pen to touch a specific point (such as the center of a hole, the edge, or the bottom of a deep hole) on a designated object, the scanner 130 can capture the position of the marker 1201 (such as an infrared light-emitting diode or a reflective sphere) on the light pen in real time, thereby calculating the three-dimensional coordinates of the touch point and realizing the scanning of narrow spaces.
[0034] Taking non-contact scanning as an example, scanner 120 scans a specified object by emitting laser lines or light spots, and scanner 130 can capture the marker 1201 on scanner 120 in real time to achieve scanning of narrow spaces (which may be at least part of the specified object).
[0035] The illustration Figure 1 This is merely an example of the scanning system 10 and does not constitute a limitation on the scanning system 10. It may include more or fewer components than shown, or combine certain components, or different components. For example, the scanning system 10 may also include a tracker, a display device, etc.
[0036] For ease of description, the following embodiments will be described as follows: Figure 1 The scanner 120 shown is referred to as the first scanner, and the scanner 130 is referred to as the second scanner.
[0037] Figure 2 This is a flowchart of a scanning method provided in an embodiment of this application, applied in a scanning system (e.g., Figure 1 In the scanning system 10), the order of steps in the flowchart can be changed, and some steps can be omitted, depending on different requirements.
[0038] Step S201: Obtain object data generated by the first scanner scanning the specified object.
[0039] In some embodiments of this application, the designated object may be a tooth, a face, a body, an industrial product, an industrial equipment, a cultural relic, a work of art, a prosthesis, a medical device, a building, etc., which usually contain some narrow spaces that are difficult to scan directly. The narrow space may be a recess, gap, hole, corner, or internal cavity in the structure of the designated object.
[0040] In one example, the specific narrow spaces of the specified objects are represented as: the narrow areas inside the oral cavity, such as the proximal surfaces, pits, and gaps between teeth; the details of facial features, such as the ear canal, nasal cavity, and inner eyelids; the ear canal, oral cavity, and skin folds of the human body; the threaded holes, grooves, and seams of industrial products; the internal pipes, narrow passages, and heat sink gaps of industrial equipment; the cracks, carvings, and surface texture details of cultural relics; the fine reliefs, openwork parts, and traces under the coating of artworks; the joints and fitting gaps of prostheses; the cavities, catheters, and small holes of medical devices; and the corners, decorative lines, and ventilation ducts of buildings.
[0041] To scan the aforementioned confined space, a first scanner is used as a light pen to scan the confined space; this can be a contact scan. For example, the first scanner makes contact with a specified object to determine the contact points on the object, which can be contact points within the confined space. Multiple contact points within the confined space of the specified object are collected to obtain object data, which is then mapped onto the first coordinate system of the first scanner.
[0042] The first scanner can also be a non-contact scanner, which scans a specified object by emitting light or light spots in different postures to obtain object data.
[0043] Step S202: Use the second scanner to track the marker on the first scanner and determine the pose of the marker.
[0044] In some embodiments of this application, a marker may be deployed on the first scanner. This marker may be a reflective sphere, an infrared light-emitting diode, an attached frame point, etc. The marker may be fixed to the first scanner, and the relative position between the marker and the body of the first scanner is fixed. The second scanner can determine the position of the marker in the second coordinate system of the second scanner by detecting the marker, thereby determining the pose of the marker.
[0045] During the aforementioned tracking process, the second scanner is used as a tracker, which can locate the first scanner by tracking the marker.
[0046] In some embodiments of this application, the true value of the marker in the local coordinate system corresponding to the marker is obtained, and this true value can be obtained in advance through measurement. Within the field of view of the second scanner, the first scanner can change different positions to achieve mobile scanning. The second scanner detects the marker and obtains the measurement value corresponding to the marker. The true value and the measurement value are registered to obtain the pose of the marker.
[0047] To better understand the process of acquiring the poses of object data and markers, the following section combines... Figure 3 Describe the scanning scenario of the first and second scanners.
[0048] Combination Figure 3 As shown, in the case where the first scanner 120 supports contact scanning, point Q can be the contact point of the first scanner 120. Within the field of view of the second scanner 130, the first scanner 120 continuously moves and scans, making contact with the designated object H through point Q of the first scanner 120. The designated object H contains a small space, such as... Figure 3 The groove h1 is shown. By contacting the inner surface of the groove h1 through point Q, the data of the inner surface of the groove h1 is collected as object data. The second scanner 130 tracks the marker 1201 to obtain the pose of the marker.
[0049] Combination Figure 3 As shown, the first scanner 120 supports non-contact scanning, and point Q can be the camera module of the first scanner 120. Within the field of view of the second scanner 130, the first scanner 120 scans the groove h1 within the specified object H through point Q, acquiring data of the inner surface of the groove h1 as object data. The second scanner 130 tracks the marker 1201 to obtain the marker's pose.
[0050] Step S203: Based on the pose of the marker, perform coordinate transformation on the object data.
[0051] In some embodiments of this application, the transformation relationship between the first coordinate system and the local coordinate system is pre-calibrated. The specific calibration process can be found below. Figure 5 The illustrated embodiment utilizes this transformation relationship to convert object data based on the first coordinate system of the first scanner into first transformed data in the local coordinate system corresponding to the marker. Based on the marker's pose, the first transformed data in the local coordinate system is then converted into second transformed data in the second coordinate system of the second scanner.
[0052] Step S204: Based on the object data after coordinate transformation, construct a 3D model corresponding to the specified object.
[0053] In some embodiments of this application, the object data after coordinate transformation is second transformation data in a second coordinate system. Based on the second transformation data, a three-dimensional model corresponding to a specified object can be constructed. In one example, if the specified object includes a gap between teeth, the three-dimensional model can be constructed from the surface data of the cavity corresponding to that gap.
[0054] Through the above embodiments, object data generated by a first scanner scanning a specified object is obtained. A second scanner is used to track a marker on the first scanner. By using the second scanner as a tracking device to track the first scanner, the pose of the marker can be determined. Based on the marker's pose, coordinate transformation is performed on the object data to construct a 3D model of the specified object. These embodiments address both the technical challenges of markerless tracking and adaptability to confined spaces. Furthermore, these embodiments eliminate the need for a laser tracker, using the second scanner as the tracker, which reduces hardware costs and enables scanning in confined spaces.
[0055] In other embodiments of this application, both the first scanner and the second scanner are scanning devices, and both support scanning mode and tracking mode. In response to a mode switching command, the second scanner can be switched from tracking mode to scanning mode, or the first scanner can be switched from scanning mode to tracking mode.
[0056] In one embodiment, for scanning scenarios in confined spaces, when the volume of the first scanner is less than or equal to that of the second scanner, the first scanner is set to scanning mode and configured to acquire object data; the second scanner is set to tracking mode to track a marker on the first scanner. The marker on the first scanner may include at least one spherical disc.
[0057] Combination Figure 4 As shown, non-narrow spaces, such as Figure 4 The h2 portion of the specified object H shown; narrow spaces such as Figure 4 The groove h1 portion of the specified object H is shown; the shaded area is only for distinguishing different parts and does not limit the actual structure of the specified object H.
[0058] In another embodiment, if the number of marker discs on the first scanner is less than the number of marker discs on the second scanner, in order to improve the pose calculation accuracy, data stitching accuracy and enhance anti-occlusion capability when facing scanning scenarios with high accuracy requirements, the mode of the second scanner can be set to scanning mode and configured to collect surface data of the object; the mode of the first scanner can be set to tracking mode to track multiple marker discs on the second scanner, thereby meeting the accuracy requirements.
[0059] In other embodiments of this application, if the specified object is constructed from multiple parts with different structures, for example, the specified object can be divided into multiple parts according to geometric parameters, such as the specified object including a first part and a second part, wherein the surface of the first part is relatively smooth, its structural complexity is low, and it is easy to scan; the structural complexity of the second part is high, for example, a groove in the specified object. Combined with... Figure 4 As shown, the first part is as follows Figure 4 The h2 portion of the specified object H shown; the second part as... Figure 4 The groove h1 portion of the specified object H is shown; the shaded area is only for distinguishing different parts and does not limit the actual structure of the specified object H.
[0060] For the first part, since the number of markers on the second scanner is greater than the number of markers on the first scanner, to ensure scanning accuracy, the second scanner can be used to scan the object, and the first scanner can track multiple spheres of the second scanner. The scan data corresponding to the first part is obtained and recorded as the scan data in the first coordinate system of the first scanner.
[0061] For the second part, a scan is performed using the first scanner. The scan data corresponding to the second part is obtained and recorded as the second transformation data of the second coordinate system of the second scanner.
[0062] To construct a complete model of a specified object, the scan data from the first scanner in the first coordinate system and the second transformed data are transformed to the same reference coordinate system, which can be either the first or the second coordinate system. The scan data and the second transformed data in the reference coordinate system are then fused to obtain fused data. The fused data is then triangulated to generate a complete 3D model.
[0063] Figure 5 This is a flowchart illustrating the calibration of the conversion relationship provided in an embodiment of this application. Taking a first scanner that supports non-contact scanning as an example, the following method is used... Figure 5 The steps shown define the transformation relationship between the first coordinate system of the first scanner and the local coordinate system of the marker.
[0064] Step S501: Use the first scanner to measure the preset calibration plate to obtain the first measurement data.
[0065] In some embodiments of this application, the preset calibration board can be a physical reference with known high-precision geometric features (such as a circular array or checkerboard pattern). The marker points on the calibration board are evenly distributed, and there are at least three non-collinear marker points.
[0066] The calibration plate is fixed in one position, the position of the first scanner is continuously changed, and the first scanner in different positions is used to perform multiple measurements on the preset calibration plate to obtain the first measurement data.
[0067] In one example, assuming the first scanner moves to n positions, the first measurement data obtained at each position by measuring the preset calibration plate is recorded, denoted as . , indicating that the first scanner measures the k-th marker on the calibration plate when it is at position i.
[0068] In step S502, the calibration plate is measured using a second scanner to obtain second measurement data, and the marker is measured to obtain third measurement data.
[0069] In some embodiments of this application, while the first scanner is moving, the second scanner also measures the calibration plate to obtain second measurement data, denoted as... , indicating the k-th marker point measured on the calibration plate. The first and second measurement data include the data corresponding to the same marker point k on the calibration plate.
[0070] The first scanner moves within the field of view of the second scanner, which tracks the position of the calibration object to obtain the third measurement data, denoted as... , represents the result of tracking the calibration object when the first scanner moves to the i-th position.
[0071] Step S503: Obtain the true value of the marker in the local coordinate system.
[0072] In some embodiments of this application, the true value of the marker in the local coordinate system can be measured in advance. The true value refers to the three-dimensional coordinate value of the marker in the local coordinate system, which can represent the true geometric information of the marker.
[0073] Step S504: Based on the first measurement data, the second measurement data, the third measurement data, and the true value, calibrate the conversion relationship.
[0074] In some embodiments of this application, the transformation relationship is the transformation relationship between the first coordinate system of the first scanner and the local coordinate system of the marker.
[0075] For each pose i of the first scanner's movement, the first measurement data can be used... Second measurement data Calculate the transformation relationship between the first coordinate system and the second coordinate system. .
[0076] The third measurement data is obtained by scanning the marker with the second scanner. In order to determine the orientation and origin of the marker and calculate its pose, the third measurement data can be used. The pose of the marker is calculated from the true value. .
[0077] Since the marker is fixed on the first scanner, it can be determined according to the conversion relationship. Transpose and the pose of the marker The transformation relationship between the first coordinate system of the first scanner and the local coordinate system of the marker is calculated.
[0078] Through the above embodiments, since the marker is fixed on the first scanner and the relative distance between the marker and the first scanner is fixed, the coordinate transformation of the object data collected by the first scanner can be realized by calibrating the rigid transformation relationship between the marker and the first scanner.
[0079] In other embodiments of this application, when calibrating as Figure 5 Before the conversion relationship shown in the embodiment, the device parameters of the first scanner and the second scanner can be calibrated, including device intrinsic parameters.
[0080] 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 110 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.
[0081] The display device 100 may be a touch screen, specifically a touch-sensitive liquid crystal display device. Alternatively, the display device 100 may be a non-touch screen. The display device 100 is used to display the constructed three-dimensional model.
[0082] 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.
[0083] 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.
[0084] 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.
[0085] Memory 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by processor 103. The one or more computer programs include multiple instructions that, when executed by processor 103, enable a scanning method to be executed on electronic device 110.
[0086] In other embodiments, the electronic device 110 also includes an external memory interface for connecting to an external memory to expand the storage capacity of the electronic device 110.
[0087] 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.
[0088] 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.
[0089] 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.
[0090] Bus 105 is used at least to provide a channel for communication between display device 100, communication module 101, memory 102, processor 103 and I / O interface 104 in electronic device 110.
[0091] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device 110. In other embodiments of this application, the electronic device 110 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.
[0092] 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.
[0093] 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.
[0094] 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.
[0095] 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.
[0096] 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.
[0097] 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.
[0098] 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.
[0099] 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, characterized in that, The method includes: Obtain object data generated by the first scanner scanning the specified object; The pose of the marker is determined by tracking the marker on the first scanner using a second scanner. Based on the pose of the marker, the object data is transformed into coordinates; Based on the object data after coordinate transformation, construct a 3D model corresponding to the specified object.
2. The scanning method according to claim 1, characterized in that, Before performing coordinate transformation on the object data based on the pose of the marker, the method further includes: Using a preset transformation relationship, object data based on the first coordinate system of the first scanner is converted into first transformed data in the local coordinate system corresponding to the marker; wherein, the transformation relationship is the transformation relationship between the first coordinate system and the local coordinate system.
3. The scanning method according to claim 1 or 2, characterized in that, The method further includes: calibrating the transformation relationship between the first coordinate system of the first scanner and the local coordinate system of the marker, including: The first scanner is used to measure the preset calibration plate to obtain the first measurement data; The calibration plate is measured using the second scanner to obtain second measurement data, and the marker is measured to obtain third measurement data; Obtain the true value of the marker in the local coordinate system; The conversion relationship is calibrated based on the first measurement data, the second measurement data, the third measurement data, and the true value.
4. The scanning method according to claim 2, characterized in that, The coordinate transformation of the object data based on the pose of the marker includes: Based on the pose of the marker, the first transformation data based on the local coordinate system is converted into second transformation data in the second coordinate system of the second scanner.
5. The scanning method according to claim 1, characterized in that, The relative positions between the marker and the body of the first scanner are fixed.
6. The scanning method according to claim 1, characterized in that, The step of using a second scanner to track a marker on the first scanner and determining the pose of the marker includes: Obtain the true value of the marker in the local coordinate system corresponding to the marker; Acquire measurements obtained by the second scanner tracking the markers on the first scanner; The pose of the marker is obtained by registering the true value and the measured value.
7. The scanning method according to claim 1, characterized in that, The method further includes: In response to a mode switching command, the second scanner is switched from tracking mode to scanning mode, or the first scanner is switched from scanning mode to tracking mode.
8. The scanning method according to claim 1, characterized in that, The method further includes: The object data is acquired while the first scanner is in the scanning mode; When the second scanner is in the tracking mode, it tracks the marker.
9. A scanning system, characterized in that, The scanning system includes: The first scanner is configured to scan the specified object; A second scanner is configured to track markers on the first scanner; Electronic devices are configured as follows: Obtain object data generated by the first scanner scanning the specified object; The pose of the marker is determined by tracking the marker on the first scanner using a second scanner. Based on the pose of the marker, the object data is transformed into coordinates; Based on the object data after coordinate transformation, construct a 3D model corresponding to the specified object.
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.