Scan data processing method, device, electronic device, and medium

Abstract

The embodiments of the present disclosure relate to a scan data processing method, device, electronic device, and medium, the method including: acquiring a plurality of scan images including auxiliary feature points; processing the plurality of scan images to acquire three-dimensional coordinate points of the auxiliary feature points; and generating target scan data according to the three-dimensional coordinate points of the auxiliary feature points and point cloud data. According to the above technical solution, the accuracy of the positioning information of the scanning rod is improved, thereby improving the processing efficiency and accuracy of the scan data in the intraoral scanning scene.

Description

[Technical field]

[0001] This disclosure claims priority to a Chinese patent application bearing application number 2022104770842 and entitled "Scanned Data Processing Method, Apparatus, Electronic Device and Medium," filed with the China National Intellectual Property Office on May 2, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the field of intraoral scanning technology, and in particular to scan data processing methods, devices, electronic devices and media. [Background technology]

[0003] Typically, in a scanning scenario, the relevant target positions are determined by scanning.

[0004] In the related art, due to the limited scanning range, the solution of multi-data stitching is commonly used when scanning data, which will cause accumulated errors and ultimately reduce the accuracy of the entire model. Summary of the Invention [Problem to be solved by the invention]

[0005] The problem that the present disclosure aims to solve is to resolve the lack of accuracy of the overall model in conventional scanning scenes. [Means for solving the problem]

[0006] In order to solve the above problems, the embodiment of the present disclosure includes: acquiring a plurality of scanned images including auxiliary features; processing the plurality of scanned images to obtain three-dimensional coordinate points of auxiliary feature points; generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points and the point cloud data. an image acquisition module adapted to acquire a plurality of scanned images including the auxiliary feature points; An embodiment of the present disclosure further includes an image processing module adapted to process the plurality of scanned images to obtain three-dimensional coordinate points of auxiliary feature points;

[0007] The present invention further provides a scan data processing apparatus, including: a generation module adapted for generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points and point cloud data. An embodiment of the present disclosure is an electronic device including a memory, a processor, and a computer program,

[0008] The present invention further provides an electronic device in which the computer program is stored in the memory and configured to be executed by the processor to implement the method for processing scan data.

[0009] An embodiment of the present disclosure further provides a computer readable storage medium having a computer program stored thereon, the computer program implementing the steps of the above-mentioned scan data processing method when executed by a processor. Effect of the Invention

[0010] The above technical solutions according to the embodiments of the present disclosure have the following advantages over the prior art:

[0011] In the scanning data processing aspect of the embodiment of the present disclosure, a plurality of scanning images including auxiliary feature points are obtained, the plurality of scanning images are processed to obtain the three-dimensional coordinate points of the auxiliary feature points, and target scanning data is generated according to the three-dimensional coordinate points of the auxiliary feature points and point cloud data. According to the above technical solution, the accuracy of the positioning information of the scanning rod is improved, thereby improving the processing efficiency and accuracy of the scanning data in the intraoral scanning scene.

[0012] However, the above general description and the following detailed description are merely exemplary and explanatory and are not intended to limit the present disclosure. [Brief description of the drawings]

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0014] In order to more clearly describe the technical solutions in the embodiments or prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below. It is obvious that those skilled in the art can obtain other drawings based on these drawings without creative labor. [Figure 1] FIG. 2 illustrates an application scenario of scan data processing according to an embodiment of the present disclosure. [Diagram 2] 1 is a flow chart of a method for processing scan data according to an embodiment of the present disclosure. [Diagram 3] 10 is a flow chart of another method for processing scan data according to an embodiment of the present disclosure. [Figure 4] 13 is a flow chart of yet another method for processing scan data according to an embodiment of the present disclosure. [Diagram 5] FIG. 1 is a block diagram of a scan data processing apparatus according to an embodiment of the present disclosure. [Figure 6] FIG. 1 is a configuration diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] In order to make the objectives, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure are described below clearly and comprehensively. Of course, the described embodiments are only some of the embodiments of the present disclosure, and not all of the embodiments. Those skilled in the art can easily obtain other embodiments based on the embodiments of the present disclosure without creative labor, and all of the other embodiments are included in the claims of the present disclosure.

[0016] In practical applications, for restoration of missing teeth, due to the limited scanning range of intraoral scanning, the solution of multi-data stitching is commonly used when scanning intraoral data, which will cause accumulated errors and ultimately reduce the accuracy of the entire model.

[0017] In response to the above problems, the present disclosure provides a scan data processing method applicable to an application environment as shown in Fig. 1. Fig. 1 illustrates an application scenario of scan data processing according to an embodiment of the present disclosure, in which the application environment includes attaching a plurality of intraoral scanning rods to a target oral cavity, the intraoral scanning rods include scanning rod parts 11 and auxiliary parts 12 connected to the scanning rod parts 11, the scanning rod parts 11 and / or the auxiliary parts 12 are provided with auxiliary features, the scanning rod parts 11 are matched with an implant body attached to the target oral cavity, and the scanning rod parts 11 are matched and attached to the implant body, so that the intraoral scanning rods are attached to the target oral cavity.

[0018] Here, the auxiliary parts 12 of any two of the multiple intraoral scanning rods are compatible with each other, so that when any two intraoral scanning rods 10 are adjacently attached to the oral cavity, the auxiliary feature points of the two auxiliary parts are continuously distributed, and the true coordinate points of the auxiliary feature points can be obtained, for example, by a single-lens photographing measuring system, a 3D coordinate machine, a high-precision industrial 3D scanner, etc., and theoretically, the 3D coordinate points corresponding to the image obtained by scanning have a one-to-one correspondence with the true coordinate points of the auxiliary feature points obtained in advance.

[0019] As an example of one scenario, multiple intraoral scanning rods are attached to a target oral cavity, the intraoral scanning rods include a scanning rod component connected to an implant body and an auxiliary component connected to the scanning rod, the intraoral scanning rods are provided with target features, and the target features are continuously distributed on the scanning rod and / or the auxiliary components, rather than being distributed on only one side of the scanning rod and / or the auxiliary components.

[0020] Specifically, the intraoral scanner scans the target oral cavity, acquires multiple frames of images, and transfers them to the data processing module for data processing. The data processing module includes: Acquire a plurality of frames of images, and acquire initial three-dimensional data of the target oral cavity based on the plurality of frames of images, the initial three-dimensional data including an initial set of points of the target oral cavity in the same coordinate system, and three-dimensional coordinate measurements of target features; Obtain a preset model of the intraoral scanning rod, the preset model including a 3D coordinate true value of the target feature in the same coordinate system and a real point set (the 3D coordinate true value of each point) of the intraoral scanning rod; stitching the initial point set of the target oral cavity and the real point set of the intraoral scanning rod according to the correspondence relationship between the three-dimensional coordinate measurement value of the target feature and the true value; Positioning information of the intraoral scanning rod is determined based on the real point set of the stitched intraoral scanning rod, and the positioning information of the intraoral scanning rod is positioning information of the implant body, and a method is performed to design the tooth body based on the positioning information so that the designed and manufactured tooth body can be fitted to the implant body.

[0021] Specifically, a plurality of scanning images including auxiliary feature points are obtained by scanning a target oral cavity, the plurality of scanning images are processed to obtain three-dimensional coordinate points of the auxiliary feature points, and target scanning data is generated based on the three-dimensional coordinate points of the auxiliary feature points and point cloud data. According to the above technical solution, the accuracy of the positioning information of the scanning rod is improved, thereby improving the processing efficiency and accuracy of the scanning data in the intraoral scanning scene. According to the above technical solution, the accuracy of the positioning information of the scanning rod is improved, thereby improving the processing efficiency and accuracy of the scanning data in the intraoral scanning scene.

[0022] Specifically, Fig. 2 is a flow chart of a scan data processing method according to an embodiment of the present disclosure that can be executed by a scan data processing device, which can be realized using software and / or hardware, and may be commonly integrated into electronic devices. As shown in Fig. 2, the method includes the following steps 101-103:

[0023] In step 101, a number of scanned images containing auxiliary features are obtained.

[0024] Here, the target oral cavity refers to the oral cavity that needs to perform dental implant treatment, and the intraoral cavity needs to be scanned to determine the implant position in the oral cavity, and the scanning rod is connected via the auxiliary feature body and then performs intraoral scanning.

[0025] In embodiments of the present disclosure, the scanning rod includes an auxiliary feature body, which may have a variety of shapes (eg, features such as spheres, squares, cuboids, pyramids, etc., or combinations of these features).

[0026] In the embodiment of the present disclosure, the scanning rod is a feature object including auxiliary feature points, where the auxiliary feature points can uniquely identify one feature, i.e., the scanning rod is provided with auxiliary feature points, and each auxiliary feature point can uniquely identify a position feature corresponding to the scanning rod, for example, target feature a and target feature b are provided at position 1 and position 2 on the scanning rod, respectively, target feature a can uniquely identify the position feature at position 1 on the scanning rod, and target feature b can uniquely identify the position feature at position 2 on the scanning rod.

[0027] In addition, any feature that can uniquely identify a position feature corresponding to the scanning rod, such as a different shape, color, or two-dimensional code on the scanning rod, can be used as an auxiliary feature.

[0028] For example, the scanning rod and its auxiliary feature body can be provided with protruding or recessed spheres, squares as auxiliary feature points, and further, for example, different colors can be printed on the scanning rod and its auxiliary feature body, and further, for example, different two-dimensional code patterns, circles, squares, etc. of different colors can be printed on the scanning rod and its auxiliary feature body, which can be specifically selected and provided based on application needs.

[0029] In the embodiment of the present disclosure, after the scanning rod data and the auxiliary feature point data are acquired, the designed scanning rod data and the real-time acquired scanning rod data need to be aligned by a stitching algorithm. When scanning the intraoral cavity, the accuracy of the single or multiple scanning rod data may be low due to the non-rigid characteristics of the intraoral data. According to the aspect of the embodiment of the present disclosure, the overall accuracy can be improved by improving the alignment accuracy of the designed scanning rod data and the real-time scanning rod data.

[0030] Here, the target oral cavity can be scanned by a handheld oral cavity scanner (single-lens or binocular camera), i.e., multiple scan images can be obtained by photography, for example, tens of scan images can be collected per second, and collected repeatedly.

[0031] Here, the auxiliary feature points refer to points provided on the scanning rod body and / or the auxiliary feature body, and are set based on specific application scenarios.

[0032] In the embodiments of the present disclosure, there are various ways in which a target oral cavity including a scanning rod can be scanned to obtain multiple scanned images, and in some embodiments, multiple scanned images are obtained by controlling a camera to rotate in a certain direction and scan the target oral cavity at a certain frequency.

[0033] Specifically, after the scanning rod is connected to the target oral cavity, the target oral cavity including the scanning rod is scanned to obtain a plurality of scanned images.

[0034] In step 102, the multiple scanned images are processed to obtain the three-dimensional coordinate points of the auxiliary features.

[0035] Here, the three-dimensional coordinate points of the auxiliary feature points refer to the three-dimensional coordinate points corresponding to the auxiliary feature points in the target oral cavity.

[0036] In the embodiments of the present disclosure, there are various manners of processing multiple scanned images to obtain 3D coordinate points of auxiliary feature points, and in some embodiments, 3D reconstruction is performed based on each scanned image to obtain an array of reconstructed images, and the array of reconstructed images is calculated to obtain 3D coordinate points and point cloud data of the auxiliary feature points.

[0037] In another embodiment, two-dimensional coordinate points of the auxiliary feature points in each scanned image are obtained, coordinate system conversion is performed for the two-dimensional coordinate points, three-dimensional coordinate points of the auxiliary feature points in each scanned image are obtained, and the three-dimensional coordinate points of the auxiliary feature points in each scanned image are stitched together to obtain three-dimensional coordinate points and point cloud data of all the auxiliary feature points. The above two aspects are merely examples of processing a plurality of scanned images to obtain three-dimensional coordinate points of the auxiliary feature points, and the embodiments of the present disclosure do not limit the specific aspects of processing a plurality of scanned images to obtain three-dimensional coordinate points of the auxiliary feature points.

[0038] In the embodiment of the present disclosure, after acquiring multiple scanned images, the multiple scanned images can be processed to acquire three-dimensional coordinate points of the auxiliary feature points.

[0039] In step 103, target scan data is generated based on the three-dimensional coordinate points of the auxiliary feature points and the point cloud data.

[0040] Here, the three-dimensional coordinate points of the auxiliary feature points may be three-dimensional coordinate points that have been optimized, and thus the three-dimensional coordinate points of the auxiliary feature points can be more accurately represented.

[0041] In an embodiment of the present disclosure, the step of generating target scan data based on the 3D coordinate points of the auxiliary feature points and point cloud data may be understood as obtaining the target scan data by stitching based on the 3D coordinate points of the auxiliary feature points and point cloud data of teeth and gums, etc.

[0042] In an embodiment of the present disclosure, the step of generating target scan data based on the 3D coordinate points of the auxiliary feature points and the point cloud data includes directly stitching the 3D coordinate points of the auxiliary feature points and the point cloud data to obtain the target scan data.

[0043] In an embodiment of the present disclosure, the step of generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points and the point cloud data includes generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points, the point cloud data and standard data.

[0044] Here, the standard data refers to the scanning data that can be stitched with the 3D coordinate points of the auxiliary feature points, and may be the scanning data by a computer-aided design in advance, or may be the standard scanning data obtained by, for example, a single-lens photographing measuring system, a 3D coordinate measuring device and a high-precision industrial 3D scanner, etc. In addition, in order to improve the processing efficiency, the standard scanning data may be obtained in advance and stored in a database, and then directly obtained when processing, or the standard scanning data may be obtained by measuring in real time according to the required scene, and in the case of intraoral scanning, the standard data may be the standard scanning rod data.

[0045] Here, the target scanning data refers to converting the scanning rod data of the computer-aided design into the same coordinate system as the three-dimensional coordinate points of the auxiliary feature points, and replacing the scanning rod data scanned in real time.

[0046] In the embodiments of the present disclosure, there are various manners of generating target scan data based on the 3D coordinate points of the auxiliary feature points, point cloud data and standard data. In some embodiments, the auxiliary feature points have corresponding true coordinate points, and the standard data is standard scanning rod data. It is determined whether to stitch the 3D coordinate points of the auxiliary feature points and the true coordinate points of the standard auxiliary feature points. If the 3D coordinate points of the auxiliary feature points and the true coordinate points of the auxiliary feature points are stitched, a position transformation matrix between the 3D coordinate points of the auxiliary feature points and the true coordinate points of the auxiliary feature points is obtained, and the standard scanning rod data is transferred to the coordinate system of the auxiliary feature points based on the position transformation matrix, and then the 3D coordinate points of the auxiliary feature points and the point cloud data are stitched to obtain the target scan data.

[0047] In another embodiment, the standard data is standard scanning rod data, and multiple planes are fitted based on the three-dimensional coordinate points of the auxiliary feature points, a target geometry is constructed based on the multiple planes, at least three planes are obtained based on the standard scanning rod data, the normal vectors of each plane and the intersection points of the at least three planes are obtained, a position transformation matrix is ​​obtained based on the normal vectors of each plane and the intersection points of the at least three planes, and the standard scanning rod data is transformed into the coordinate system of the auxiliary feature points based on the position transformation matrix, and then the target geometry is replaced and stitched with the point cloud data to obtain the target scanning data.

[0048] In further some embodiments, the auxiliary feature points have corresponding true coordinate points, and the standard data is standard scanning rod data. The 3D coordinate points of any one of the auxiliary feature points and the true coordinate points of the corresponding auxiliary feature points are stitched together to obtain the 3D coordinate points of the target auxiliary feature points in the same coordinate system, and a position transformation matrix between the 3D coordinate points of the target auxiliary feature points and the true coordinate points of the corresponding auxiliary feature points is obtained. The standard scanning rod data is transferred to the coordinate system of the auxiliary feature points according to the position transformation matrix, and then the 3D coordinate points of the auxiliary feature points and the point cloud data are stitched together to obtain the target scanning data.

[0049] The above three aspects are merely examples of generating target scan data based on three-dimensional coordinate points of auxiliary feature points, point cloud data, and standard data, and the embodiments of the present disclosure do not limit the specific aspects of generating target scan data based on three-dimensional coordinate points of auxiliary feature points, point cloud data, and standard data.

[0050] Specifically, after the three-dimensional coordinate points of the auxiliary feature points are obtained, the target scanning data can be generated according to the three-dimensional coordinate points of the auxiliary feature points, the point cloud data, and the standard data.

[0051] In the scanning data processing aspect of the embodiment of the present disclosure, a plurality of scanning images each including an auxiliary feature point is obtained, the plurality of scanning images are processed to obtain the three-dimensional coordinate points of the auxiliary feature points, and target scanning data is generated according to the three-dimensional coordinate points of the auxiliary feature points and point cloud data. According to the above technical solution, the alignment accuracy between the designed scanning rod data and the real-time scanning rod data is improved, thereby improving the processing efficiency and accuracy of the scanning data in the intraoral scanning scenario.

[0052] Based on the description of the above embodiment, the scanning data processing method in different scenarios will be described in detail below with reference to FIG. 3 and FIG.

[0053] Specifically, Fig. 3 is a flow chart of another scan data processing method according to an embodiment of the present disclosure, which further optimizes the scan data processing method on the basis of the above embodiment. As shown in Fig. 3, the method includes the following steps 201-205:

[0054] In step 201, a target intraoral cavity is scanned to obtain a number of scanned images including auxiliary features.

[0055] Step 201 is the same as step 101, and the description of step 101 is specifically referred to, and detailed description is omitted here.

[0056] In step 202, a 3D reconstruction is performed based on each scanned image to obtain a reconstruction map array, and the reconstruction map array is calculated to obtain the 3D coordinate points and point cloud data of the auxiliary feature points.

[0057] Specifically, the target oral cavity is scanned by intraoral scanning, scanning images (reconstruction image and texture image) for 3D reconstruction are collected, the arrangement of the reconstruction image is used to calculate 3D data including teeth, gums, and scanning rod, and the arrangement of the texture image is used to reconstruct the 3D coordinate points of the auxiliary feature points. Since the reconstruction image and the texture image are acquired at the same time, it is considered that the 3D data and the 3D coordinate points of the auxiliary feature points correspond one-to-one in the same coordinate system.

[0058] In step 203, it is determined whether the three-dimensional coordinate points of the auxiliary feature points and the true coordinate points of the standard auxiliary feature points are stitched together.

[0059] In step 204, when the three-dimensional coordinate points of the auxiliary feature points and the true coordinate points of the auxiliary feature points are stitched, a position transformation matrix between the three-dimensional coordinate points of the auxiliary feature points and the true coordinate points of the auxiliary feature points is obtained.

[0060] Specifically, the auxiliary feature points are processed into the scanning rod body and the auxiliary feature body, and the coordinates related to the auxiliary feature points are defined as the true coordinate points of the auxiliary feature points. The three-dimensional coordinate points of the auxiliary feature points obtained during the scanning process are matched with the true coordinate points of the auxiliary feature points. If the matching is found to be successful, the scanning rod data designed for the current scanning rod can be replaced.

[0061] In an embodiment of the present disclosure, a first auxiliary feature point distance between a 3D coordinate point of an auxiliary feature point and a 3D coordinate point of an auxiliary feature point within a standard distance range is obtained, a true coordinate point of an auxiliary feature point matching the 3D coordinate point of the auxiliary feature point is obtained, a second auxiliary feature point distance between the true coordinate point of the auxiliary feature point and a true coordinate point of an auxiliary feature point within the distance range is obtained, and whether to stitch the 3D coordinate point of the auxiliary feature point and the true coordinate point of the auxiliary feature point is determined based on the first auxiliary feature point distance and the second auxiliary feature point distance, where the distance range can be set according to an application scenario.

[0062] In step 205, the standard scanning rod data is transferred to the coordinate system of the auxiliary feature points according to the position transformation matrix, and then the 3D coordinate points of the auxiliary feature points and the point cloud data are stitched to obtain the target scanning data.

[0063] Specifically, the 3D coordinate points of the collected auxiliary feature points and the true coordinate points of the standard auxiliary feature points are stitched together. If the stitching is successful, the designed scanning rod data can be transferred to the coordinate system of the auxiliary feature points through a position transformation matrix to replace the scanning rod data acquired in real time.

[0064] In the scanning data processing mode according to the embodiment of the present disclosure, a target oral cavity is scanned to obtain a plurality of scanning images each including an auxiliary feature point, 3D reconstruction is performed according to each scanning image, the array of the reconstruction image is obtained, the array of the reconstruction image is calculated to obtain the 3D coordinate points and point cloud data of the auxiliary feature point, it is determined whether to stitch the 3D coordinate points of the auxiliary feature point and the true value coordinate points of the standard auxiliary feature point, if the 3D coordinate points of the auxiliary feature point and the true value coordinate points of the auxiliary feature point are stitched, the position transformation matrix between the 3D coordinate points of the auxiliary feature point and the true value coordinate points of the auxiliary feature point is obtained, the standard scanning rod data is transferred to the coordinate system of the auxiliary feature point according to the position transformation matrix, and then the 3D coordinate points of the auxiliary feature point and the point cloud data are stitched to obtain the target scanning data, thereby improving the alignment accuracy between the designed scanning rod data and the real-time scanning rod data, thereby improving the processing efficiency and accuracy of the scanning data in the intraoral scanning scene.

[0065] Specifically, Fig. 4 is a flow chart of another scan data processing method according to an embodiment of the present disclosure, which further optimizes the scan data processing method on the basis of the above embodiment. As shown in Fig. 4, the method includes the following steps 301 to 305:

[0066] In step 301, a target intraoral cavity is scanned to obtain a number of scanned images including auxiliary features.

[0067] Step 301 is the same as step 101, so refer specifically to the description of step 101 and omit the detailed description here.

[0068] Step 302 performs 3D reconstruction based on each scanned image, obtains the array of the reconstruction image, and calculates the array of the reconstruction image to obtain the 3D coordinate points and point cloud data of the auxiliary feature points.

[0069] Specifically, the target oral cavity is scanned by intraoral scanning, scanned images (reconstructed image and texture image) for 3D reconstruction are collected, the array of the reconstructed image is used to calculate point cloud data including teeth, gums, and scanning rods, and the array of the texture image is used to reconstruct the 3D coordinate points of the auxiliary feature points. Since the reconstructed image and the texture image are acquired at the same time, it is considered that the 3D data and the 3D coordinate points of the auxiliary feature points correspond one-to-one in the same coordinate system.

[0070] In step 303, multiple planes are fitted based on the three-dimensional coordinate points of the auxiliary feature points, a target geometry is constructed based on the multiple planes, at least three planes are obtained based on the standard scanning rod data, and the normal vectors of each plane and the intersection points of the at least three planes are obtained.

[0071] In step 304, a position transformation matrix is ​​obtained based on the normal vector of each plane and the intersection point of at least three planes.

[0072] In step 305, the standard scanning rod data is transformed into the coordinate system of the auxiliary feature points according to the position transformation matrix, and then the target geometry is replaced and stitched with the point cloud data to obtain the target scanning data.

[0073] Here, the position transformation matrix refers to transforming the standard scanning rod data into the position transformation relationship of the coordinate system of the auxiliary feature points.

[0074] Specifically, the basic geometric features of the scanning rod are fitted by multiple auxiliary feature points. For example, the scanning rod is a rectangular prism, and auxiliary feature points are distributed on five planes, including the four sides and one top plane of the rectangular prism. The coordinates of the auxiliary feature points on each plane can be used to fit a rectangular prism respectively to obtain the target geometry.

[0075] Therefore, the auxiliary feature points acquired during the scanning process are fitted to a standard target geometry based on a rule, and the target geometry may be directly used as the position of the designed scanning rod data, or the position of the designed scanning rod data may be determined by aligning the target geometry with the designed scanning rod data.

[0076] In the scanning data processing mode according to the embodiment of the present disclosure, a target oral cavity is scanned, a plurality of scanning images including auxiliary feature points are obtained, a 3D reconstruction is performed according to each scanning image, a sequence of the reconstruction is obtained, the sequence of the reconstruction is calculated to obtain the 3D coordinate points and point cloud data of the auxiliary feature points, a plurality of planes are fitted according to the 3D coordinate points of the auxiliary feature points, a target geometry is constructed according to the plurality of planes, at least three planes are obtained according to the standard scanning rod data, a normal vector of each plane and an intersection point of at least three planes are obtained, a position transformation matrix is ​​obtained according to the normal vector of each plane and an intersection point of at least three planes, and the standard scanning rod data is transferred to the coordinate system of the auxiliary feature points according to the position transformation matrix, and then the target geometry is replaced and stitched with the point cloud data to obtain the target scanning data. This improves the accuracy of the positioning information of the scanning rod, thereby improving the processing efficiency and accuracy of the scanning data in the intraoral scanning scene.

[0077] 5 is a block diagram of a scan data processing apparatus according to an embodiment of the present disclosure, which can be realized by software and / or hardware and can be integrated into a general electronic device. As shown in FIG. 5, the apparatus includes: an image acquisition module 401 used to acquire a plurality of scanned images including auxiliary feature points; an image processing module 402 used for processing the plurality of scanned images to obtain three-dimensional coordinate points of auxiliary feature points; and a generation module 403, which is used to generate target scan data based on the three-dimensional coordinate points of the auxiliary feature points and the point cloud data.

[0078] Optionally, the generating module 403 specifically: The method is used to generate target scan data based on the three-dimensional coordinate points of the auxiliary feature points, the point cloud data, and standard data.

[0079] Optionally, the auxiliary feature points have corresponding true coordinate points, and the image processing module 402 specifically: Performing a three-dimensional reconstruction based on each of the scanned images to obtain an array of reconstruction views; The array of the reconstructed image is calculated to obtain the 3D coordinate points and point cloud data of the auxiliary feature points.

[0080] Optionally, the generating module 403: a judgment unit used for judging whether to stitch the three-dimensional coordinate points of the auxiliary feature points and the true coordinate points of the standard auxiliary feature points; an acquisition unit, which is used for acquiring a position transformation matrix between the three-dimensional coordinate points of the auxiliary feature points and the true coordinate points of the auxiliary feature points when stitching the three-dimensional coordinate points of the auxiliary feature points and the true coordinate points of the auxiliary feature points; a stitching unit, which is used to transform the standard scanning rod data into a coordinate system of an auxiliary feature point based on the position transformation matrix, and then stitch the three-dimensional coordinate points of the auxiliary feature point and the point cloud data to obtain the target scanning data.

[0081] Optionally, the judging unit used for judging whether to stitch the 3D coordinate points of the auxiliary feature points and the true coordinate points of the standard auxiliary feature points is specifically: obtaining a first auxiliary feature point distance between a three-dimensional coordinate point of the auxiliary feature point and a three-dimensional coordinate point of an auxiliary feature point within a standard distance range; obtain a true coordinate point of an auxiliary feature point matching the three-dimensional coordinate point of the auxiliary feature point; and obtain a second auxiliary feature point distance between the true coordinate point of the auxiliary feature point and a true coordinate point of an auxiliary feature point within the distance range. The first auxiliary feature point distance and the second auxiliary feature point distance are used to determine whether to stitch the three-dimensional coordinate point of the auxiliary feature point and the true coordinate point of the auxiliary feature point.

[0082] Optionally, the generating module 403 specifically: Fitting a plurality of planes based on the three-dimensional coordinate points of the auxiliary feature points, and constructing a target geometry based on the plurality of planes; Obtaining at least three planes based on the standard scanning rod data, and obtaining a normal vector of each plane and an intersection point of the at least three planes; Obtain a position transformation matrix based on the normal vector of each of the planes and an intersection point of the at least three planes; The standard scanning rod data is transformed into a coordinate system of auxiliary feature points according to the position transformation matrix, and then used to replace the target geometry and stitch it with the point cloud data to obtain the target scanning data.

[0083] Optionally, the auxiliary feature points have corresponding true coordinate points, and the generating module 403 specifically: The 3D coordinate points of any one of the auxiliary feature points and the true coordinate points of the corresponding auxiliary feature points are stitched to obtain the 3D coordinate points of the target auxiliary feature points in the same coordinate system, and a position transformation matrix between the 3D coordinate points of the target auxiliary feature points and the true coordinate points of the corresponding auxiliary feature points is obtained. The standard scanning rod data is transferred to the coordinate system of the auxiliary feature points according to the position transformation matrix, and then the 3D coordinate points of the auxiliary feature points and the point cloud data are stitched to obtain the target scanning data.

[0084] The scan data processing apparatus according to the embodiments of the present disclosure can execute the scan data processing method according to any embodiment of the present disclosure, and has beneficial effects with corresponding functional modules for executing the method.

[0085] An embodiment of the present disclosure further provides a computer program product including a computer program / instructions which, when executed by a processor, implements the scan data processing method according to any embodiment of the present disclosure.

[0086] FIG. 6 is a configuration diagram of an electronic device according to an embodiment of the present disclosure. As shown in FIG. 6 specifically, a configuration diagram of an electronic device 500 for implementing the embodiment of the present disclosure is shown below. The electronic device 500 in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (bullet computers), PMPs (portable multimedia players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. The electronic device shown in FIG. 6 is merely an example and does not limit the functions and scope of use of the embodiment of the present disclosure.

[0087] 6, the electronic device 500 may include a processing unit (e.g., a central processing unit, a graphics processor, etc.) 501 that can perform various suitable operations and processes based on programs stored in a read-only memory (ROM) 502 or programs loaded from a storage device 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic device 500 are further stored. The processing unit 501, the ROM 502, and the RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0088] In general, the I / O interface 505 may be connected to input devices 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc., output devices 507 including, for example, a liquid crystal display (LCD), a speaker, an oscillator, etc., storage devices 508 including, for example, a magnetic tape, a hard disk, etc., and a communication device 509. The communication device 509 allows the electronic device 500 to communicate wirelessly or via wires with other devices to exchange data. Although FIG. 6 illustrates the electronic device 500 with various devices, it should be understood that it is not required to implement or include all of the illustrated devices. Alternatively, more or fewer devices may be implemented or included.

[0089] In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product including a computer program carried on a non-transitory computer readable medium, the computer program including program code for performing the method illustrated in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network by the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, it performs the functions described above that are specific to the scan data processing method of the embodiment of the present disclosure.

[0090] In addition, the computer-readable medium of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to, an electrical connection having one or more conductors, a portable computer magnetic disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact magnetic disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in combination with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier, the data signal carrying computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may be any computer-readable medium other than a computer-readable storage medium, the computer-readable signal medium may be used to transmit, propagate, or transmit a program used by or in connection with an instruction execution system, apparatus, or device. The program code contained in the computer-readable medium may be transmitted by any suitable medium, including, but not limited to, conductive wire, fiber optic cable, RF (radio frequency), or the like, or any combination of the above.

[0091] In some embodiments, the clients and servers may communicate using any now known or later developed network protocol, such as HyperText Transfer Protocol (HTTP), and may be connected to each other (e.g., a communications network) in communication with digital data in any form or medium. Examples of communications networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the internet), and end-to-end networks (e.g., ad hoc end-to-end networks), and any now known or later developed networks.

[0092] The computer-readable medium may be included in the electronic device, or may be separate from and not located in the electronic device.

[0093] The computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to obtain a plurality of scanned images including auxiliary feature points, process the plurality of scanned images to obtain three-dimensional coordinate points of the auxiliary feature points, and generate target scanned data based on the three-dimensional coordinate points of the auxiliary feature points and point cloud data.

[0094] Computer program code for carrying out the operations of the present disclosure may be written in one or more programming languages ​​or combinations thereof, including, but not limited to, the above programming languages, object-oriented programming languages ​​such as Java, Smalltalk, C++, and even conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a single independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. When a remote computer is involved, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., connected via the Internet using an Internet service provider).

[0095] The flowcharts and block diagrams in the drawings illustrate possible system architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams may represent a module, program section or part of code, which includes one or more executable instructions for implementing a specified logical function. It should be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than the order noted in the drawings. For example, two blocks shown in succession may actually be executed essentially in parallel or in the reverse order, depending on the functionality involved. It should be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented in a dedicated system of hardware that performs a given function or operation, or may be implemented in a combination of dedicated hardware and computer instructions.

[0096] The units described in the embodiments of the present disclosure may be implemented in the form of software or hardware, and the names of the units do not necessarily limit the units themselves in some cases.

[0097] The functions described herein above may be performed, at least in part, by one or more hardware logic devices. For example, without limitation, exemplary types of hardware logic components that may be utilized include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), etc.

[0098] In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of machine-readable storage media include an electrical connection by one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0099] According to one or more embodiments of the present disclosure, the present disclosure provides a method for producing a liquid crystal display comprising: A processor; a memory adapted to store executable instructions of the processor, The processor provides electronic equipment that can be used to read the executable instructions from the memory and execute the instructions to implement any one of the scan data processing methods according to the present disclosure.

[0100] According to one or more embodiments of the present disclosure, the present disclosure provides a computer readable storage medium having stored thereon a computer program for use in performing any one of the scan data processing methods according to the present disclosure, further comprising: A processor; a memory adapted to store processor-executable instructions, The processor, Obtaining a plurality of scanned images including auxiliary features; Processing the plurality of scanned images to obtain three-dimensional coordinate points and point cloud data of auxiliary feature points; There is further provided an apparatus configured to generate target scan data based on the three-dimensional coordinate points of the auxiliary features and the point cloud data.

[0101] In this specification, the use of related terms such as "first" and "second" is merely intended to distinguish one entity or operation from another entity or operation, and does not necessarily require or imply that any such actual relationship or sequence exists between these entities or operations. Furthermore, the technical terms "comprise", "have", or any other variations thereof, by covering the non-exclusive "comprise", mean that a process, method, article, or device that includes a set of elements not only includes those elements, but also further includes other elements not expressly listed, or further includes elements that are specific to such process, method, article, or device. Unless further limited, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, article, or device that includes the element.

[0102] The above contents are merely embodiments of the present disclosure, and are intended for those skilled in the art to understand or realize the present disclosure. A number of modifications of these embodiments can be easily realized by those skilled in the art, and the general principles defined herein can be realized in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not limited to these embodiments shown herein, but should be accorded the widest scope consistent with the principles and novel features disclosed herein. [Industrial Applicability]

[0103] The scanning data processing method disclosed herein can effectively calculate scanning data, improve the alignment accuracy of the designed scanning rod data and the real-time scanning rod data, and can well consider the impact on scanning efficiency and accuracy in the context of intraoral scanning, optimize the scanning process, and have great industrial applicability.

Claims

1. 1. A method for processing scan data, comprising: acquiring a plurality of scanned images including auxiliary features; processing the plurality of scanned images to obtain three-dimensional coordinate points and point cloud data of auxiliary feature points; generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points and the point cloud data.

2. The step of generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points and the point cloud data includes:

2. The method of claim 1, further comprising the step of generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points, the point cloud data, and standard data.

3. The step of processing the plurality of scanned images to obtain three-dimensional coordinate points and point cloud data of auxiliary feature points includes: performing a three-dimensional reconstruction based on each of the scanned images to obtain an array of reconstruction views; 2. The method of claim 1, further comprising the step of: calculating an array of the reconstruction image to obtain three-dimensional coordinate points of the auxiliary feature points and the point cloud data.

4. The auxiliary feature points have corresponding true coordinate points, and the standard data are standard scanning rod data; The step of generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points, the point cloud data, and standard data includes: determining whether to stitch the three-dimensional coordinate points of the auxiliary feature points and the true coordinate points of standard auxiliary feature points; When stitching the three-dimensional coordinate points of the auxiliary feature points and the true coordinate points of the auxiliary feature points, obtaining a position transformation matrix between the three-dimensional coordinate points of the auxiliary feature points and the true coordinate points of the auxiliary feature points; 3. The scanning data processing method of claim 2, further comprising: converting the standard scanning rod data into a coordinate system of an auxiliary feature point based on the position transformation matrix, and then stitching the three-dimensional coordinate points of the auxiliary feature point and the point cloud data to obtain the target scanning data.

5. the standard data is standard scanning rod data; The step of generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points, the point cloud data, and standard data includes: fitting a plurality of planes based on the three-dimensional coordinate points of the auxiliary feature points, and constructing a target geometry based on the plurality of planes; obtaining at least three planes based on the standard scanning rod data, and obtaining normal vectors of each plane and intersections of the at least three planes; obtaining a position transformation matrix based on the normal vector of each plane and an intersection point of the at least three planes; 3. The scan data processing method of claim 2, further comprising: transforming the standard scan rod data into a coordinate system of an auxiliary feature point based on the position transformation matrix, and then replacing the target geometry and stitching it with the point cloud data to obtain the target scan data.

6. The auxiliary feature points have corresponding true coordinate points, and the standard data are standard scanning rod data; The step of generating target scan data based on the three-dimensional coordinate points of the auxiliary feature points, the point cloud data, and standard data includes: stitching the three-dimensional coordinate point of any one of the auxiliary feature points and the true coordinate point of the corresponding auxiliary feature point to obtain a three-dimensional coordinate point of a target auxiliary feature point in the same coordinate system; obtaining a position transformation matrix between three-dimensional coordinate points of the target auxiliary feature points and true coordinate points of the corresponding auxiliary feature points; 3. The scanning data processing method of claim 2, further comprising: converting the standard scanning rod data into a coordinate system of an auxiliary feature point based on the position transformation matrix, and then stitching the three-dimensional coordinate points of the auxiliary feature point and the point cloud data to obtain the target scanning data.

7. 1. A scanning data processing apparatus comprising: an image acquisition module adapted to acquire a plurality of scanned images including the auxiliary feature points; an image processing module used for processing the plurality of scanned images to obtain three-dimensional coordinate points of auxiliary feature points; a generation module adapted to generate target scan data based on the three-dimensional coordinate points of the auxiliary feature points and point cloud data.

8. Specifically, the generation module: performing a three-dimensional reconstruction based on each of the scanned images to obtain an array of reconstruction views; 8. The scanning data processing apparatus according to claim 7, further comprising: a calculation unit for calculating an array of the reconstruction image to obtain three-dimensional coordinate points of auxiliary feature points.

9. An electronic device, A processor; a memory adapted to store executable instructions for said processor; The electronic device, characterized in that the processor is adapted to read the executable instructions from the memory and execute the instructions to realize the scan data processing method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, A computer readable storage medium, characterized in that the computer program is used to execute the scan data processing method according to any one of claims 1 to 6.

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