3D scan data processing method, 3D scanning method, device, apparatus, and storage medium
Patent Information
- Authority / Receiving Office
- KR · KR
- Patent Type
- Applications
- Current Assignee / Owner
- SHINING 3D TECH CO LTD
- Filing Date
- 2024-04-26
- Publication Date
- 2026-08-03
Smart Images
Figure PCT00001_ABST
Abstract
Description
Technology Field
[0001] This application claims priority to the Chinese patent application No. 202410109933.8, filed with the Chinese Intellectual Property Office on January 25, 2024, titled “Method for processing three-dimensional scan data, three-dimensional scan method, apparatus, device and storage medium,” the entire contents of which are incorporated into this application by reference.
[0002] The embodiments of the present disclosure relate to the field of computer technology, and in particular to a method for processing three-dimensional scan data, a three-dimensional scan method, an apparatus, a device, and a storage medium. Background Technology
[0003] Optical tracking devices can perform precise 3D tracking and positioning for scanners in real time and are primarily used for 3D scanning of large-scale sites in industrial fields such as aerospace, automotive, shipbuilding, and energy. Due to their operating principle, optical tracking devices are limited by a fixed field of view, or spatial cone range. If tracking and positioning of the scanner are required in a space outside the field of view during use, a common marker point must be set on or around the scanned object. By integrating the coordinate systems before and after the optical tracking device's position movement using the coordinates of the common marker point, station switching expansion is enabled.
[0004] However, if the common marker point is displaced relative to the scanned object or if the position of the common marker point is inappropriate (e.g., distributed in an extremely narrow area within the field of view), the constraints on spatial position are weakened, leading to a decrease in station switching precision. Furthermore, when the volume of the scanned object is large, the optical tracking device must move its position multiple times; consequently, station switching expansion must be performed in stages multiple times, causing station switching expansion errors to accumulate continuously. As a result, the station switching expansion method based on the common marker point has low precision. Currently, there is no effective solution to this problem. The problem to be solved
[0005] To solve or at least partially solve the technical problems described above, embodiments of the present disclosure provide a three-dimensional scan data processing method, apparatus, device, and storage medium. means of solving the problem
[0006] A first aspect of an embodiment of the present disclosure provides a method for processing three-dimensional scan data, said method, said method
[0007] A step of obtaining a first set of coordinates obtained by measuring a first target ball group when a target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed;
[0008] A step of obtaining a second set of coordinates obtained by a laser tracking device measuring a second target ball group when the target optical tracking device is at the plurality of different target positions, wherein the position of the laser tracking device is not changed and the relative position between the second target ball group and the target optical tracking device is not changed; and
[0009] The method includes the step of determining a target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device based on the first coordinate set sequence and the second coordinate set sequence.
[0010] A second aspect of an embodiment of the present disclosure provides a three-dimensional scanning method, said method, said method
[0011] A step of obtaining a first coordinate set sequence by measuring a first target ball group when the target optical tracking device is at a plurality of different target positions, and obtaining a second coordinate set sequence by measuring a second target ball group when the target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed and the relative position between the second target ball group and the target optical tracking device is not changed;
[0012] A step in which, when the target optical tracking device is in a position prior to the station switch, the laser tracking device measures a second target ball group to obtain a third set of coordinates, and when the target optical tracking device is in a position prior to the station switch, the scanner scans a scan object to obtain first scan data; and
[0013] The method includes the step of a laser tracking device measuring a second target ball group to obtain a fourth set of coordinates when the target optical tracking device is in a position after the station switch, and a scanner scanning a scan object to obtain second scan data when the target optical tracking device is in a position after the station switch.
[0014] A third aspect of an embodiment of the present disclosure provides a three-dimensional scan data processing device, said device
[0015] A first acquisition module configured to acquire a first set of coordinates obtained by measuring a first target ball group when a target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed;
[0016] A second acquisition module configured such that when the target optical tracking device is at the plurality of different target positions, the laser tracking device obtains a second set of coordinates obtained by measuring a second target ball group, wherein the position of the laser tracking device is not changed and the relative position between the second target ball group and the target optical tracking device is not changed; and
[0017] It includes a first determination module configured to determine a target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device based on the first coordinate set sequence and the second coordinate set sequence.
[0018] A fourth aspect of an embodiment of the present disclosure provides a three-dimensional scanning device, said device, said device,
[0019] A first measurement module configured to obtain a first coordinate set sequence by measuring a first target ball group when the target optical tracking device is at a plurality of different target positions while the laser tracking device is fixed, and to obtain a second coordinate set sequence by measuring a second target ball group when the target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed and the relative position between the second target ball group and the target optical tracking device is not changed;
[0020] A first scan module configured such that when the target optical tracking device is in a position prior to station switching, the laser tracking device measures a second target ball group to acquire a third set of coordinates, and when the target optical tracking device is in a position prior to station switching, the scanner scans a scan object to acquire first scan data; and
[0021] It includes a second scan module configured such that when the target optical tracking device is at a position after the station switch, the laser tracking device measures a second target ball group to obtain a fourth set of coordinates, and when the target optical tracking device is at a position after the station switch, the scanner scans the scan target to obtain second scan data.
[0022] A fifth aspect of an embodiment of the present disclosure provides an electronic device, said electronic device comprising a processor and a memory. A computer program is stored in said memory, and when said computer program is executed by said processor, said processor executes the method according to the first aspect described above.
[0023] A sixth aspect of the embodiment of the present disclosure provides a computer-readable storage medium, said storage medium has a computer program stored therein, and when said computer program is executed by a processor, the method according to the first aspect described above is implemented. Effects of the invention
[0024] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art.
[0025] In an embodiment of the present disclosure, a first coordinate set sequence is obtained by measuring a first target ball group when the target optical tracking device is at a plurality of different target positions, provided that the position of the first target ball group is not changed. Additionally, a second coordinate set sequence is obtained by measuring a second target ball group when the target optical tracking device is at a plurality of different target positions, provided that the position of the laser tracking device is not changed and the relative position between the second target ball group and the target optical tracking device is not changed. Furthermore, a target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device is determined based on the first coordinate set sequence and the second coordinate set sequence. By adopting the technical solution described above, a second coordinate set sequence with high precision can be obtained using the laser tracking device, and furthermore, a target transformation matrix with high precision between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device can be determined based on the first coordinate set sequence and the second coordinate set sequence with high precision. Accordingly, when the target optical tracking device moves from one location to another to track the scanner, high-precision station switching extensions can be implemented based on a high-precision target matrix without the need to use common marker points, thereby improving station switching precision. Brief explanation of the drawing
[0026] The drawings attached to this specification constitute part of the specification and are used to illustrate embodiments according to the present disclosure and to explain the principles of the present disclosure together with the specification. To further clarify the embodiments of the present disclosure or the technical solutions of the prior art, the accompanying drawings used in the description of the embodiments and prior art are briefly introduced below. It is obvious that a person skilled in the art can obtain other drawings based on these drawings without creative effort. FIG. 1 is a flowchart of a three-dimensional scan data processing method according to an embodiment of the present disclosure. FIG. 2 is a scenario diagram of determining a target transformation matrix according to an embodiment of the present disclosure. FIG. 3 is a flowchart of another three-dimensional scan data processing method according to an embodiment of the present disclosure. FIG. 4 is a scenario diagram of a three-dimensional scan according to an embodiment of the present disclosure. FIG. 5 is a flowchart of a three-dimensional scanning method according to an embodiment of the present disclosure. FIG. 6 is a schematic diagram of the structure of a three-dimensional scan data processing device according to an embodiment of the present disclosure. FIG. 7 is a schematic diagram of the structure of a three-dimensional scanning device according to an embodiment of the present disclosure. FIG. 8 is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Specific details for implementing the invention
[0027] To further clarify the above-described objectives, features, and advantages of the present disclosure, technical methods of the present disclosure are further described below. Embodiments of the present disclosure and features within the embodiments may be combined with one another to the extent that they do not conflict.
[0028] Although numerous specific details have been described below to enable a full understanding of the contents of the present disclosure, the present disclosure may be practiced in a manner different from that described herein. Clearly, the embodiments described herein are only some embodiments of the present disclosure and do not represent all embodiments.
[0029] FIG. 1 is a flowchart of a three-dimensional scan data processing method according to an embodiment of the present disclosure, and this method may be executed by an electronic device. The electronic device includes, for example, an optical tracking device, a laser tracking device, a scanner, a mobile phone, a tablet PC, a laptop computer, a desktop computer, a smart TV, etc. As illustrated in FIG. 1, the method according to the present embodiment includes the following steps S110 to S130.
[0030] S110: A step of obtaining a first set of coordinates obtained by measuring a first target ball group when the target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed.
[0031] S120: A step of obtaining a second set of coordinates obtained by a laser tracking device measuring a second target ball group when the target optical tracking device is at a plurality of different target positions, wherein the position of the laser tracking device is not changed and the relative position between the second target ball group and the target optical tracking device is not changed.
[0032] Specifically, the first target ball group includes a plurality of first target balls, and the first target balls do not change their position relative to the ground.
[0033] Optionally, the first target ball group can be placed on the ground. Specifically, the first target ball is fixed to the ground through a target support. This reduces the difficulty of installing the first target ball group.
[0034] Optionally, the first target ball group may be placed on another optical tracking device that does not change its position. Specifically, when performing a 3D scan on a large scan object, the scanner is typically tracked and positioned using multiple optical tracking devices, so the first target ball may be installed on an optical tracking device that does not change its position relative to the ground, excluding the target optical tracking device. Therefore, after the 3D scan is completed, the first target ball group can be used immediately for the next 3D scan without removal or reinstallation, thereby reducing labor costs.
[0035] Specifically, the second target ball group includes a plurality of second target balls, and the second target balls do not change position relative to the target optical tracking device.
[0036] Optionally, a second target ball group is positioned on top of the target optical tracking device. Specifically, the second target balls are evenly distributed on top of the target optical tracking device via a target support. This reduces the risk of the second target ball group being obscured and fully exposes the second target ball group to the laser tracking device, allowing the laser tracking device to easily acquire the coordinates of each second target ball within the second target ball group. Additionally, by allowing the second target ball group to move together with the target optical tracking device, the state in which the second target balls do not change relative to the target optical tracking device can be maintained with greater certainty.
[0037] In an embodiment of the present disclosure, in order to obtain a target transformation matrix between the coordinate system of a target optical tracking device and the coordinate system of a laser tracking device, a first target ball group and a second target ball group are first set. Then, with the laser tracking device fixed to the ground, the target optical tracking device is moved continuously multiple times so that the target optical tracking device sequentially passes through a plurality of different target positions (wherein the number of target positions is three or more). When the target optical tracking device is at each target position, the target optical tracking device performs coordinate measurements for the first target ball group to obtain a first set of coordinates corresponding to the target position, and the first set of coordinates includes the first coordinates of each first target ball within the first target ball group. Similarly, the laser tracking device performs coordinate measurements for the second target ball group to obtain a second set of coordinates corresponding to the target position, and the second set of coordinates includes the second coordinates of each second target ball within the second target ball group. A plurality of first coordinate sets corresponding to a plurality of different target positions constitute a first coordinate set sequence, and a plurality of second coordinate sets corresponding to a plurality of different target positions constitute a second coordinate set sequence. An electronic device can receive the first coordinate set sequence transmitted from a target optical tracking device and the second coordinate set sequence transmitted from a laser tracking device. Of course, if the first coordinate set sequence and the second coordinate set sequence are stored in a storage device such as a USB memory, the electronic device may also read the first coordinate set sequence and the second coordinate set sequence from the storage device.
[0038] For example, FIG. 2 is a scenario diagram of determining a target transformation matrix according to an embodiment of the present disclosure. As shown in FIG. 2, first, a first target ball group (BQ1) is fixed to the ground, and a second target ball group (BQ2) is fixed uniformly to the top of a target optical tracking device (GX). Then, with the laser tracking device (JG) fixed to the ground, the target optical tracking device (GX) is moved twice in succession so that the target optical tracking device (GX) passes through three different target positions S1, S2, and S3 sequentially. When the target optical tracking device (GX) is at target position S1, the target optical tracking device (GX) measures the first target ball group (BQ1) to obtain a first set of coordinates (P11) corresponding to target position S1, and the laser tracking device (JG) measures the second target ball group (BQ2) to obtain a second set of coordinates (P21) corresponding to target position S1. Likewise, when the target optical tracking device (GX) moves from target position S1 to target position S2, the target optical tracking device (GX) measures the first target ball group (BQ1) to obtain a first coordinate set (P12) corresponding to target position S2, and the laser tracking device (JG) measures the second target ball group (BQ2) to obtain a second coordinate set (P22) corresponding to target position S2. Likewise, when the target optical tracking device (GX) moves from target position S2 to target position S3, the target optical tracking device (GX) measures the first target ball group (BQ1) to obtain a first coordinate set (P13) corresponding to target position S3, and the laser tracking device (JG) measures the second target ball group (BQ2) to obtain a second coordinate set (P23) corresponding to target position S3.Through this, the electronic device can obtain a first coordinate set sequence including a first coordinate set (P11), a first coordinate set (P12), and a first coordinate set (P13), and a second coordinate set sequence including a second coordinate set (P21), a second coordinate set (P22), and a second coordinate set (P23).
[0039] S130: Based on the first coordinate set sequence and the second coordinate set sequence, determine the target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device.
[0040] Here, the target transformation matrix is used to integrate the first scan data and the second scan data into the same coordinate system, the first scan data is data obtained by scanning the scan target when the target optical tracking device is in a position before the station switch, and the second scan data is data obtained by scanning the scan target when the target optical tracking device is in a position after the station switch.
[0041] In some embodiments, step S130 comprises: S131, determining a first transformation matrix corresponding to two adjacent target positions based on two first coordinate sets for two first coordinate sets corresponding to two adjacent target positions within a first coordinate set sequence; S132, determining a second transformation matrix corresponding to two adjacent target positions based on two second coordinate sets for two second coordinate sets corresponding to two adjacent target positions within a second coordinate set sequence; and S133, determining a target transformation matrix based on the first transformation matrix and the second transformation matrix.
[0042] Specifically, the first transformation matrix corresponding to two target positions refers to the transformation matrix between the optical tracking device coordinate system when the target optical tracking device is at one target position and the optical tracking device coordinate system when the target optical tracking device is at another target position. This can be described as a position transformation within the optical tracking device coordinate system of the first target ball group.
[0043] For example, continuing to refer to the preceding example, for a first coordinate set sequence including a first coordinate set (P11), a first coordinate set (P12), and a first coordinate set (P13), a first transformation matrix (A1) corresponding to target position S1 and target position S2 is determined based on the first coordinate set (P11) and the first coordinate set (P12), and a first transformation matrix (A2) corresponding to target position S2 and target position S3 is determined based on the first coordinate set (P12) and the first coordinate set (P13).
[0044] Specifically, the second transformation matrix corresponding to the two target positions refers to the transformation matrix used when moving the target optical tracking device from one target position to another in the laser tracking device coordinate system.
[0045] Referring continuously to the previous example, for a sequence of second coordinate sets including a second coordinate set (P21), a second coordinate set (P22), and a second coordinate set (P23), a second transformation matrix (B1) corresponding to target position S1 and target position S2 is determined based on the second coordinate set (P21) and the second coordinate set (P22), and a second transformation matrix (B2) corresponding to target position S2 and target position S3 is determined based on the second coordinate set (P22) and the second coordinate set (P23).
[0046] Specifically, the target transformation matrix can be obtained using the hand-eye calibration relationship AX=XB. Here, A is the first transformation matrix, X is the target transformation matrix, and B is the second transformation matrix.
[0047] Referring back to the previous example, the target transformation matrix is obtained by solving the two equations A1X=XB1 and A2X=XB2 simultaneously.
[0048] Of course, in some other embodiments, step S130 includes inputting a first coordinate set sequence and a second coordinate set sequence into a first network model that has been pre-trained, and obtaining a target transformation matrix between the coordinate system of a target optical tracking device and the coordinate system of a laser tracking device output from the first network model.
[0049] In an embodiment of the present disclosure, a second coordinate set sequence with high precision is obtained using a laser tracking device, and a high-precision target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device is determined based on the first coordinate set sequence and the second coordinate set sequence with high precision. Accordingly, when the target optical tracking device moves from one location to another to track the scanner, high-precision station switching extension can be implemented based on the high-precision target matrix without the need to use common marker points, thereby improving station switching precision.
[0050] FIG. 3 is a flowchart of another three-dimensional scan data processing method according to an embodiment of the present disclosure. This embodiment is optimized based on the above-described embodiment, and this embodiment can be used in combination with each optional technical method within one or more of the above-described embodiments.
[0051] As illustrated in FIG. 3, this three-dimensional scan data processing method includes steps S310 to S360.
[0052] S310: A step of obtaining a first set of coordinates obtained by measuring a first target ball group when the target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed.
[0053] Step S310 is identical to Step S110 described above, so a repetitive explanation is omitted here.
[0054] S320: A step of obtaining a second set of coordinates obtained by a laser tracking device measuring a second target ball group when the target optical tracking device is at a plurality of different target positions, wherein the position of the laser tracking device is not changed and the relative position between the second target ball group and the target optical tracking device is not changed.
[0055] Step S320 is identical to Step S120 described above, so a repetitive explanation is omitted here.
[0056] S330: Based on the first coordinate set sequence and the second coordinate set sequence, determine the target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device.
[0057] Step S330 is identical to Step S130 described above, so a repetitive explanation is omitted here.
[0058] S340: When the target optical tracking device is in the position prior to the station switch, the laser tracking device obtains a third set of coordinates obtained by measuring the second target ball group.
[0059] S350: When the target optical tracking device is in the position after the station switch, the laser tracking device obtains a fourth set of coordinates obtained by measuring the second target ball group.
[0060] In an embodiment of the present disclosure, after acquiring a target transformation matrix, a first target ball group is removed without changing the position of the laser tracking device on the ground, that is, while the laser tracking device is fixed. Then, while the laser tracking device remains fixed on the ground, when the target optical tracking device is at the position prior to the station transition, the laser tracking device performs coordinate measurements for a second target ball group to acquire a third set of coordinates (the third set of coordinates includes the third coordinates of each second target ball within the second target ball group), and the target optical tracking device tracks and positions a scanner within the field of view of the position prior to the station transition, and the scanner performs a three-dimensional scan of the scan object. When the scanner moves out of the field of view, the target optical tracking device moves from the position prior to the station transition to the position after the station transition. When the target optical tracking device is at the position after the station switch, the laser tracking device performs coordinate measurements for the second target ball group to obtain a fourth coordinate set (the fourth coordinate set includes the fourth coordinates of each second target ball within the second target ball group), and the target optical tracking device tracks and positions the scanner within the field of view of the position after the station switch. The electronic device can receive the third coordinate set and the fourth coordinate set transmitted from the laser tracking device. Of course, if the third coordinate set and the fourth coordinate set are stored in a storage device, the electronic device may also read the third coordinate set and the fourth coordinate set from the storage device.
[0061] For example, FIG. 4 is a scenario diagram of a three-dimensional scan according to an embodiment of the present disclosure. Referring to FIG. 2 and FIG. 4 together, first, a laser tracking device (JG) is fixed and a first target ball group (BQ1) is removed. Then, while the laser tracking device (JG) remains fixed to the ground, when the target optical tracking device (GX) is at the position (Z1) before the station switch, the laser tracking device (JG) measures the second target ball group (BQ2) to obtain a third set of coordinates (P3), the target optical tracking device (GX) tracks and positions the scanner (SMY) within the field of view of the position before the station switch, and the scanner (SMY) performs a three-dimensional scan on the scan target (BS). When the scanner (SMY) moves from position Y1 to position Y2 and exits the field of view, the target optical tracking device (GX) moves from the position (Z1) before the station switch to the position (Z2) after the station switch. When the target optical tracking device (GX) is at the position (Z2) after the station switch, the laser tracking device (JG) measures the second target ball group (BQ2) to obtain the fourth coordinate set (P4), the target optical tracking device (GX) tracks and positions the scanner (SMY) within the field of view of the position (Z2) after the station switch, and the scanner (SMY) performs a three-dimensional scan of the scan target (BS). Through this, the electronic device can obtain the third coordinate set (P3) and the fourth coordinate set (P4).
[0062] S360: Based on the third coordinate set, the fourth coordinate set, and the target transformation matrix, determine the third transformation matrix corresponding to the position before the station transition and the position after the station transition.
[0063] Specifically, the third transformation matrix refers to the transformation matrix between the optical tracking device coordinate system when the target optical tracking device is in a position before the station switch and the optical tracking device coordinate system when the target optical tracking device is in a position after the station switch.
[0064] In some embodiments, the step S360 may include: S361, determining a fourth transformation matrix corresponding to a position before the station transition and a position after the station transition based on a third set of coordinates and a fourth set of coordinates; S362, obtaining a target inverse matrix by performing an inverse matrix transformation on a target transformation matrix; and S363, determining a third transformation matrix based on the fourth transformation matrix, the target transformation matrix, and the target inverse matrix.
[0065] Specifically, the fourth transformation matrix refers to the transformation matrix used when moving the target optical tracking device from its position before the station switch to its position after the station switch in the laser tracking device coordinate system.
[0066] For example, continuing to refer to the previous example, a fourth transformation matrix (T1) corresponding to the position (Z1) before the station switch and the position (Z2) after the station switch is determined based on the third coordinate set (P3) and the fourth coordinate set (P4).
[0067] Specifically, the formula T2=X -1 The third transformation matrix can be obtained based on ×T1×X. Here, T1 is the fourth transformation matrix, X is the target transformation matrix, and X -1 is the target inverse matrix, and T2 is the third transformation matrix.
[0068] It can be seen that by using the third transformation matrix, the scanner tracking positions of the target optical tracking device before and after station switching can be integrated into the same optical tracking device coordinate system, thereby enabling the implementation of station switching extensions.
[0069] In some embodiments, the method further comprises: S370, a step of obtaining first scan data obtained by scanning a scan target when the target optical tracking device is in a position before the station switch; S380, a step of obtaining second scan data obtained by scanning a scan target when the target optical tracking device is in a position after the station switch; and S390, a step of integrating the first scan data and the second scan data into the same coordinate system based on a third transformation matrix.
[0070] Specifically, the first scan data is an image frame obtained by the scanner collecting images of the scan object when the target optical tracking device is in a position prior to the station switch.
[0071] Specifically, the second scan data is an image frame obtained by the scanner performing image acquisition on the scan target when the target optical tracking device is at the position after the station switch.
[0072] As described above, the scanner tracking position (i.e., attitude) of the target optical tracking device before and after station switching can be integrated into the same optical tracking device coordinate system through the third transformation matrix. Accordingly, the first scan data and the second scan data can be joined based on the attitude on the scanner in the same optical tracking device coordinate system, thereby finally integrating the first scan data and the second scan data into the same coordinate system.
[0073] According to an embodiment of the present disclosure, by using a high-precision laser tracking device together with a target optical tracking device, a third transformation matrix corresponding to the target optical tracking device before and after station switching can be determined, and station switching expansion can be implemented. This method eliminates the need to use marker points during station switching and offers high precision. Furthermore, since the laser tracking device has a wide measurement range (generally reaching a radius of 160 meters), it can satisfy the continuous multiple station switching expansion requirements of the target optical tracking device, thereby enabling the realization of a wide expansion of the tracking work area. Moreover, by using the third transformation matrix, the first scan data and the second scan data can be integrated into the same coordinate system, thereby enabling the expansion of the range of the large-scale scan space.
[0074] FIG. 5 is a flowchart of a three-dimensional scanning method according to an embodiment of the present disclosure, wherein the three-dimensional scanning method may be executed by an electronic device. The electronic device refers, for example, to a three-dimensional scanning system, and the three-dimensional scanning system may include a laser tracking device, a target optical tracking device, and a scanner. As illustrated in FIG. 5, the method according to the present embodiment comprises the following steps.
[0075] S510: A step of obtaining a first set of coordinates sequence by measuring a first target ball group when the target optical tracking device is at a plurality of different target positions, and obtaining a second set of coordinates sequence by measuring a second target ball group when the target optical tracking device is at the plurality of different target positions, wherein the position of the first target ball group is not changed, and the relative position between the second target ball group and the target optical tracking device is not changed.
[0076] For a detailed description of step S510, refer to the contents of S110 and S120 described above, and a repetitive explanation is omitted here.
[0077] S520: When the target optical tracking device is in a position prior to the station switch, the laser tracking device measures the second target ball group to obtain a third set of coordinates, and when the target optical tracking device is in a position prior to the station switch, the scanner scans the scan object to obtain first scan data.
[0078] For a detailed description of step S520, refer to the contents of S340 and S370 described above, and a repetitive explanation is omitted here.
[0079] S530: When the target optical tracking device is at the position after the station switch, the laser tracking device measures the second target ball group to obtain a fourth set of coordinates, and when the target optical tracking device is at the position after the station switch, the scanner scans the scan object to obtain second scan data.
[0080] For a detailed description of step S530, please refer to the contents of S350 and S380 described above, and a repetitive explanation is omitted here.
[0081] In the embodiment of the present disclosure, a high-precision laser tracking device is used together with a target optical tracking device to implement station switching expansion, so there is no need to use marker points when switching stations of the target optical tracking device, and high precision is achieved. In addition, since the measurement range of the laser tracking device is wide, it can satisfy the requirements for multiple consecutive station switching expansions of the target optical tracking device, thereby enabling extensive three-dimensional scanning.
[0082] FIG. 6 is a schematic diagram of the structure of a three-dimensional scan data processing device according to an embodiment of the present disclosure, wherein the three-dimensional scan data processing device may refer to the electronic device described above or a part of a functional module within the electronic device. As shown in FIG. 6, the three-dimensional scan data processing device (600) includes a first acquisition module (610), a second acquisition module (620), and a first determination module (630).
[0083] The first acquisition module (610) is configured to acquire a first set of coordinates obtained by measuring a first target ball group when the target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed.
[0084] The second acquisition module (620) is configured to acquire a second set of coordinates obtained by a laser tracking device measuring a second target ball group when the target optical tracking device is at the plurality of different target positions, wherein the position of the laser tracking device is not changed and the relative position between the second target ball group and the target optical tracking device is not changed.
[0085] The first determination module (630) is configured to determine a target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device based on the first coordinate set sequence and the second coordinate set sequence.
[0086] In another embodiment of the present disclosure, the first determination module (630) is specifically configured to determine a first transformation matrix corresponding to two adjacent target positions based on two first coordinate sets corresponding to two adjacent target positions within the first coordinate set sequence; to determine a second transformation matrix corresponding to two adjacent target positions based on two second coordinate sets corresponding to two adjacent target positions within the second coordinate set sequence; and to determine a target transformation matrix based on the first transformation matrix and the second transformation matrix.
[0087] In another embodiment of the present disclosure, the device further includes a third acquisition module, a fourth acquisition module, and a second determination module.
[0088] The third acquisition module is configured to acquire a third set of coordinates obtained by the laser tracking device measuring the second target ball group when the target optical tracking device is in a position prior to station switching.
[0089] The fourth acquisition module is configured to acquire a fourth set of coordinates obtained by the laser tracking device measuring the second target ball group when the target optical tracking device is at a position after station switching.
[0090] The second determination module is configured to determine a third transformation matrix corresponding to the position before the station transition and the position after the station transition, based on the third coordinate set, the fourth coordinate set, and the target transformation matrix.
[0091] In another embodiment of the present disclosure, the second determination module is specifically configured to determine a fourth transformation matrix corresponding to a position before a station transition and a position after a station transition based on the third set of coordinates and the fourth set of coordinates; to obtain a target inverse matrix by performing an inverse matrix transformation on the target transformation matrix; and to determine the third transformation matrix based on the fourth transformation matrix, the target transformation matrix, and the target inverse matrix.
[0092] In another embodiment of the present disclosure, the device further includes a fifth acquisition module, a sixth acquisition module, and an integration module.
[0093] The fifth acquisition module is configured to acquire first scan data obtained by the scanner scanning the scan object when the target optical tracking device is in a position prior to the station switch.
[0094] The sixth acquisition module is configured to acquire second scan data obtained by the scanner scanning the scan object when the target optical tracking device is in a position after the station switch.
[0095] The integration module is configured to integrate the first scan data and the second scan data into the same coordinate system based on the third transformation matrix.
[0096] In another embodiment of the present disclosure, the first target ball group is placed on the ground or on another optical tracking device that is not positioned.
[0097] In another embodiment of the present disclosure, the second target ball group is positioned at the top of the target optical tracking device.
[0098] The device according to the present embodiment can execute the methods of all the embodiments described above, and since the execution method and advantageous effects are the same as those previously described, a redundant description is omitted.
[0099] Embodiments of the present disclosure further provide an electronic device. The electronic device includes a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the computer program, and when the computer program is executed, a method according to each of the embodiments described above is implemented.
[0100] FIG. 7 is a schematic diagram of the structure of a three-dimensional scanning device according to an embodiment of the present disclosure. This three-dimensional scanning device may be interpreted as the electronic device described above or as a functional module within the electronic device. As shown in FIG. 7, this three-dimensional scanning device (700) includes a first measurement module (710), a first scanning module (720), and a second scanning module (730).
[0101] The first measurement module (710) is configured to obtain a first coordinate set sequence by measuring a first target ball group when the target optical tracking device is at a plurality of different target positions while the laser tracking device is fixed, and to obtain a second coordinate set sequence by measuring a second target ball group when the target optical tracking device is at a plurality of different target positions, provided that the position of the first target ball group is not changed and the relative position between the second target ball group and the target optical tracking device is not changed.
[0102] The first scan module (720) is configured such that when the target optical tracking device is in a position prior to the station switch, the laser tracking device measures the second target ball group to obtain a third set of coordinates, and when the target optical tracking device is in a position prior to the station switch, the scanner scans the scan target to obtain the first scan data.
[0103] The second scan module (730) is configured such that when the target optical tracking device is at a position after the station switch, the laser tracking device measures the second target ball group to obtain a fourth set of coordinates, and when the target optical tracking device is at a position after the station switch, the scanner scans the scan target to obtain second scan data.
[0104] FIG. 8 is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Hereinafter, the structure of an electronic device (800) suitable for the present disclosure will be described in detail with reference to FIG. 8. The electronic device (800) of the present disclosure includes, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistance), PADs (Tablet PCs), PMPs (Portable Multimedia Players), and vehicle terminals (e.g., vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. The electronic device illustrated in FIG. 8 is merely an example and does not impose any limitations on the function and scope of application of the present disclosure.
[0105] As illustrated in FIG. 8, the electronic device (800) may include a processing unit (801) (e.g., a central processing unit, a graphics processing unit, etc.), and the processing unit (801) performs various operations and processing according to a program stored in a read-only memory (ROM) (802) or a program loaded from a storage device (808) into a random access memory (RAM) (803). Various programs and data required for the operation of the electronic device are stored in the RAM (803). The processing unit (801), ROM (802), and RAM (803) are interconnected via a bus (804). An input / output (I / O) interface (805) is also connected to the bus (804).
[0106] Generally, an input device (806) including a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device (807) including a liquid crystal display, speaker, vibration device, etc.; a storage device (808) including a magnetic tape, hard disk, etc.; and a communication device (809) may be connected to the I / O interface (805). The communication device (809) enables the electronic device to transmit and receive data with another device wirelessly or via a wired method. Although an electronic device (800) equipped with various devices is illustrated in FIG. 8, it is not necessary to implement or equip all the presented devices, and more or fewer configurations may be adopted.
[0107] In particular, according to an embodiment of the present disclosure, the operation process described through the above-described flowchart may be implemented as a computer software program. For example, the present disclosure provides a computer program product comprising a computer program mounted on a non-transient computer-readable medium, wherein the computer program includes program code for executing the method illustrated in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via a communication device (809), or installed via a storage device or ROM (802). When the computer program is executed by a processing device (801), the function defined in the above-described method is performed.
[0108] The computer-readable media mentioned in the present disclosure may be computer-readable signal media, computer-readable storage media, or a combination thereof. Computer-readable storage media include, but are not limited to, systems, devices, or elements of the electric, magnetic, optical, electromagnetic, infrared, or semiconductor series. Specific examples of computer-readable storage media include electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage elements, magnetic storage elements, and suitable combinations thereof. In the present disclosure, computer-readable storage media refers to a type of medium that stores a program used in or combined with an instruction execution system, device, or element. In the present disclosure, computer-readable signal media include a data signal that propagates as part of a base band or carrier wave, and the data signal carries computer program code. The propagating data signal may have various forms, such as electromagnetic signals, optical signals, or combinations thereof. Computer-readable signal media refers to any computer-readable medium capable of transmitting, propagating, or delivering a program to be used in an instruction execution system, device, or element, in addition to computer-readable storage media. Program code stored on a computer-readable medium can be transmitted through any suitable medium, such as wires, optical cables, RF (frequency), etc.
[0109] In some embodiments, the client and the server may communicate using any currently known or future-developed network protocol, such as HTTP (HyperText Transfer Protocol), and may be interconnected with digital data communication (e.g., communication networks) based on any format or medium. Examples of communication networks include local area networks (LAN), wide area networks (WAN), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad-hoc peer-to-peer networks), and any currently known or future-developed networks.
[0110] The aforementioned computer-readable medium may be in a form embedded in an electronic device, or it may be a separate, independent medium not assembled in an electronic device.
[0111] One or more computer programs are stored on the computer-readable medium, and when the program is executed by an electronic device, the electronic device performs the following operations: obtaining a first set of coordinates obtained by measuring a first target ball group when the target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed; obtaining a second set of coordinates obtained by measuring a second target ball group when the target optical tracking device is at a plurality of different target positions, wherein the position of the laser tracking device is not changed and the relative position between the second target ball group and the target optical tracking device is not changed; and determining a target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device based on the first set of coordinates sequence and the second set of coordinates sequence.
[0112] Computer program code for executing the operations of the present disclosure may be written in one or more programming languages or a combination thereof. Programming languages include, but are not limited to, object-oriented languages such as Java, Smalltalk, C++, etc., and procedural programming languages such as C. The program code may be executed entirely on a user computer, partially on a user computer, or as an independent software package; it may be executed distributed across a user computer and a remote computer; or it may be executed entirely on a remote computer or server. Where a remote computer is used, the remote computer may be connected to the user computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it may be connected to an external computer (e.g., by connecting to the Internet through an Internet service provider).
[0113] The attached flowcharts and block diagrams illustrate the architecture, functions, and operations that can be implemented in systems, methods, and computer program products according to various embodiments of the present disclosure. Herein, each block within a flowchart or block diagram may represent a module, program segment, or part of code, and such module, program segment, or part of code may contain one or more executable instructions for executing a defined logical function. Additionally, it should be noted that in some alternative implementations, the functions described in the blocks may be performed differently from the order shown in the attached drawings. For example, two consecutively shown blocks may be executed substantially in parallel, and in some cases, may be executed in reverse order depending on the related functions. Furthermore, it should be noted that each block within a block diagram and / or flowchart, and combinations of blocks within a block diagram and / or flowchart, may be implemented as a dedicated hardware-based system for performing the defined function or operation, or as a combination of dedicated hardware and computer instructions.
[0114] Each unit described in the embodiments of the present disclosure may be implemented in software or in hardware, and the name of the unit itself does not limit the unit.
[0115] At least some of the functions described in this specification may be executed by one or more hardware logic components. Examples of hardware logic components include, but are not limited to, field programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-chip (SOCs), and complex programmable logic devices (CPLDs).
[0116] In the context of the present disclosure, a machine-readable medium may be a tangible medium and may contain or store a program used in or in combination with a command execution system, device, or apparatus. 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, systems, devices, or apparatus of the electrical, magnetic, optical, electromagnetic, infrared, or semiconductor series. More specific examples of a machine-readable storage medium include an electrical connection consisting of one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or a suitable combination thereof.
[0117] Embodiments of the present disclosure further provide a computer-readable storage medium. A computer program is stored on the storage medium, and when this program is executed by a processor, the method of all the embodiments described above is implemented. Since the manner of execution and the advantageous effects of this method are the same as those previously described, a redundant description is omitted.
[0118] It must be clarified in this specification that relational terms such as “first,” “second,” etc. within the text are intended merely to distinguish one entity or action from another, and do not require or imply the existence of an actual relationship or sequence between such entities or actions. Furthermore, since “include,” “contain,” and all derived expressions thereof imply non-exclusive inclusion, a process, method, product, or device comprising a series of components may include additional components not separately described, or components that are essentially associated with the process, method, product, or device, in addition to the specified components. Unless otherwise limited, a component defined by the phrase “comprising one” does not exclude the additional existence of other components of the same kind within the process, method, product, or device comprising said component.
[0119] The foregoing are merely specific embodiments of the present disclosure, and a person skilled in the art may utilize or modify the present disclosure based on the above. Various modifications to the present disclosure are obvious to a person skilled in the art, and general principles defined in this specification may be applied to other embodiments without departing from the spirit and scope of the present disclosure. Accordingly, the present disclosure is not limited to the embodiments described in this specification and should be interpreted in the broadest possible scope consistent with the principles and novel features disclosed in this specification.
Claims
Claim 1 A method for processing three-dimensional scan data, comprising: a step of obtaining a first set of coordinates obtained by measuring a first target ball group when a target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed; a step of obtaining a second set of coordinates obtained by measuring a second target ball group when a laser tracking device is at the plurality of different target positions, wherein the position of the laser tracking device is not changed and the relative position between the second target ball group and the target optical tracking device is not changed; and a step of determining a target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device based on the first set of coordinates sequence and the second set of coordinates sequence. Claim 2 A three-dimensional scan data processing method according to claim 1, wherein the step of determining a target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device based on the first coordinate set sequence and the second coordinate set sequence comprises: for two first coordinate sets corresponding to two adjacent target positions within the first coordinate set sequence, determining a first transformation matrix corresponding to two adjacent target positions based on the two first coordinate sets; for two second coordinate sets corresponding to two adjacent target positions within the second coordinate set sequence, determining a second transformation matrix corresponding to two adjacent target positions based on the two second coordinate sets; and determining the target transformation matrix based on the first transformation matrix and the second transformation matrix. Claim 3 A three-dimensional scan data processing method according to claim 1, further comprising: a step of obtaining a third set of coordinates obtained by the laser tracking device measuring the second target ball group when the target optical tracking device is in a position before the station switch; a step of obtaining a fourth set of coordinates obtained by the laser tracking device measuring the second target ball group when the target optical tracking device is in a position after the station switch; and a step of determining a third transformation matrix corresponding to the position before the station switch and the position after the station switch based on the third set of coordinates, the fourth set of coordinates, and the target transformation matrix. Claim 4 A three-dimensional scan data processing method according to claim 3, wherein the step of determining a third transformation matrix corresponding to a position before a station switch and a position after a station switch based on the third coordinate set, the fourth coordinate set, and the target transformation matrix comprises: a step of determining a fourth transformation matrix corresponding to a position before a station switch and a position after a station switch based on the third coordinate set and the fourth coordinate set; a step of obtaining a target inverse matrix by performing an inverse matrix transformation on the target transformation matrix; and a step of determining the third transformation matrix based on the fourth transformation matrix, the target transformation matrix, and the target inverse matrix. Claim 5 A three-dimensional scan data processing method according to claim 3, further comprising: a step of acquiring first scan data obtained by scanning a scan target when the target optical tracking device is in a position before the station switch; a step of acquiring second scan data obtained by scanning a scan target when the target optical tracking device is in a position after the station switch; and a step of integrating the first scan data and the second scan data into the same coordinate system based on the third transformation matrix. Claim 6 A three-dimensional scan data processing method according to any one of claims 1 to 5, wherein the first target ball group is placed on a ground or on another optical tracking device that is not positioned; and / or the second target ball group is placed on the top of the target optical tracking device. Claim 7 A three-dimensional scanning method, wherein the position of a laser tracking device is not changed during the three-dimensional scanning process, and the three-dimensional scanning method comprises the steps of: measuring a first target ball group to obtain a first coordinate set sequence when the target optical tracking device is at a plurality of different target positions, and measuring a second target ball group to obtain a second coordinate set sequence when the target optical tracking device is at the plurality of different target positions, wherein the position of the first target ball group is not changed and the relative position between the second target ball group and the target optical tracking device is not changed; measuring the second target ball group to obtain a third coordinate set when the target optical tracking device is at a position before the station switch, and scanning a scan target object to obtain a first scan data when the target optical tracking device is at a position before the station switch; and measuring the second target ball group to obtain a fourth coordinate set when the target optical tracking device is at a position after the station switch, and scanning a scan target object to obtain a second scan data when the target optical tracking device is at a position after the station switch. Claim 8 A three-dimensional scan data processing device comprising: a first acquisition module configured to acquire a first set of coordinates obtained by measuring a first target ball group when a target optical tracking device is at a plurality of different target positions, wherein the position of the first target ball group is not changed; a second acquisition module configured to acquire a second set of coordinates obtained by measuring a second target ball group when the target optical tracking device is at the plurality of different target positions, wherein the position of the laser tracking device is not changed and the relative position between the second target ball group and the target optical tracking device is not changed; and a first determination module configured to determine a target transformation matrix between the coordinate system of the target optical tracking device and the coordinate system of the laser tracking device based on the first set of coordinates sequence and the second set of coordinates sequence. Claim 9 A 3D scanning device comprises: a first measurement module configured such that, while a laser tracking device is fixed, a first target ball group is measured to obtain a first coordinate set sequence when a target optical tracking device is at a plurality of different target positions, and a laser tracking device is configured to measure a second target ball group to obtain a second coordinate set sequence when the target optical tracking device is at the plurality of different target positions, wherein the position of the first target ball group is not changed and the relative position between the second target ball group and the target optical tracking device is not changed; and a first scan module configured such that when the target optical tracking device is at a position prior to station switching, the laser tracking device measures the second target ball group to obtain a third coordinate set, and when the target optical tracking device is at a position prior to station switching, a scanner scans a scan object to obtain first scan data. A three-dimensional scanning device characterized by including a second scanning module configured such that when the target optical tracking device is in a position after station switching, the laser tracking device measures the second target ball group to obtain a fourth set of coordinates, and when the target optical tracking device is in a position after station switching, the scanner scans the scan object to obtain second scan data. Claim 10 An electronic device comprising a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes a method according to any one of claims 1 to 6 or a method according to claim 7. Claim 11 A computer-readable storage medium, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, a method according to any one of claims 1 to 6 or a method according to claim 7 is implemented.