Image processing method and apparatus, medium, and computer device

Abstract

An image processing method and apparatus, a medium, and a computer device. The method comprises: acquiring a target scanning view angle, wherein the target scanning view angle is bound with a first angle transformation mode in advance; acquiring a first output image obtained by scanning a scanning object by means of a scanner; performing angle transformation processing on the first output image on the basis of the first angle transformation mode to obtain a second output image; and outputting the second output image to a display device for display.

Description

Image processing method and device, medium and computer equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 18, 2023, with application number 202311051096.X, and invention name “Image processing method and device, medium and computer equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of image processing technology, and in particular to an image processing method and apparatus, a medium, and a computer device. Background Art

[0003] When an operator operates a scanner to scan an object, the scanner outputs an image of the object to a display device for viewing, allowing the operator to observe the scan results. However, different operators may be accustomed to using different operating methods. In the prior art, scanners may not necessarily present scan results that are consistent with their observation habits, resulting in a less than intuitive presentation of the scan results. Furthermore, in order to obtain scan results that are consistent with their observation habits, operators are forced to use operating methods that are inconsistent with their own operating habits, which affects scanning efficiency. In summary, the scanning methods used in the related art struggle to balance the intuitiveness of scan results with scanning efficiency.

[0004] Summary of the Invention

[0005] In a first aspect, an embodiment of the present disclosure provides an image processing method, comprising: obtaining a target scanning angle of view; the target scanning angle of view is pre-bound to a first angle transformation method; obtaining a first output image obtained by scanning a scanning object through a scanner; performing angle transformation processing on the first output image based on the first angle transformation method to obtain a second output image; and outputting the second output image to a display device for display.

[0006] In a second aspect, an embodiment of the present disclosure provides an image processing device, comprising: a first acquisition module, configured to acquire a target scanning angle; the target scanning angle is pre-bound to a first angle transformation method; a second acquisition module, configured to acquire a first output image obtained by scanning a scanning object through a scanner; an angle transformation module, configured to perform angle transformation processing on the first output image based on the first angle transformation method to obtain a second output image; and an output module, configured to output the second output image to a display device for display.

[0007] In a third aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any embodiment of the present disclosure.

[0008] In a fourth aspect, an embodiment of the present disclosure provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any embodiment of the present disclosure when executing the program.

[0009] In the embodiment of the present disclosure, the target scanning angle of view is pre-bound to the first angle transformation method. After selecting the target scanning angle of view, the first output image of the scanner can be angle-transformed based on the first angle transformation method to obtain a second output image that conforms to one's own observation habits, thereby improving the operator's scanning efficiency.

[0010] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings herein are incorporated into the specification and constitute a part of the present disclosure. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used to explain the technical solutions of the present disclosure.

[0012] FIG1 is a schematic diagram of a scanning scene according to an embodiment of the present disclosure.

[0013] FIG2 is a schematic diagram of the relationship between the scanner posture and the scanning result according to an embodiment of the present disclosure.

[0014] FIG3 is a flowchart of an image processing method according to an embodiment of the present disclosure.

[0015] 4A and 4B are schematic diagrams of how to hold the scanner according to an embodiment of the present disclosure.

[0016] FIG5 is a schematic diagram of a first output image and a second output image under a first scanner viewing angle according to an embodiment of the present disclosure.

[0017] FIG6 is a schematic diagram of a first output image and a second output image under a second scanner viewing angle according to an embodiment of the present disclosure.

[0018] FIG7 is a schematic diagram of a first output image and a second output image from the perspective of an operator when the operator is located in front of a scan object according to an embodiment of the present disclosure.

[0019] FIG8 is a schematic diagram of a first output image and a second output image from the perspective of an operator when the operator is located behind a scanned object according to an embodiment of the present disclosure.

[0020] FIG9 is a schematic diagram of an image before and after mirroring according to an embodiment of the present disclosure.

[0021] FIG10 is a comparison diagram of the second output image and the second three-dimensional model according to an embodiment of the present disclosure.

[0022] 11A is a schematic diagram of a second output image of the mandible and a second three-dimensional model corresponding to the mandible when an operator is located in front of a scanned object and the mirror display setting is not enabled according to an embodiment of the present disclosure.

[0023] 11B is a schematic diagram of a second output image of the upper jaw and a second three-dimensional model corresponding to the upper jaw when the operator is located in front of the scan object and the mirror display setting is not enabled according to an embodiment of the present disclosure.

[0024] 12A is a schematic diagram of a second output image of the mandible and a second three-dimensional model corresponding to the mandible when the operator is located behind the scanned object and the mirror display setting is not enabled according to an embodiment of the present disclosure.

[0025] 12B is a schematic diagram of a second output image of the upper jaw and a second three-dimensional model corresponding to the upper jaw when the operator is located behind the scanned object and the mirror display setting is not enabled according to an embodiment of the present disclosure.

[0026] 13 is a schematic diagram of a second output image of the upper jaw and a second three-dimensional model corresponding to the upper jaw when an operator is located in front of a scan object and a mirror display setting is enabled according to an embodiment of the present disclosure.

[0027] 14 is a schematic diagram of a second output image of the upper jaw and a second three-dimensional model corresponding to the upper jaw when the operator is located behind the scanned object and the mirror display setting is enabled according to an embodiment of the present disclosure.

[0028] FIG15 is a schematic diagram of a scanning method of a dental jaw in an occlusal state according to an embodiment of the present disclosure.

[0029] FIG16 is a schematic diagram of a scanning order setting process according to an embodiment of the present disclosure.

[0030] FIG17 is an overall flow chart of an embodiment of the present disclosure.

[0031] FIG18 is a block diagram of an image processing apparatus according to an embodiment of the present disclosure.

[0032] FIG19 is a schematic diagram of a computer device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0034] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms "a", "the" and "the" used in this disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items. In addition, the term "at least one" herein means any combination of at least two of any one or more of a plurality of.

[0035] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0036] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present disclosure and to make the above-mentioned purposes, features and advantages of the embodiments of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure are further described in detail below with reference to the accompanying drawings.

[0037] Referring to FIG. 1 , in an exemplary scanning scenario, an operator U holds a handheld scanner 11 to scan an object M, obtaining an output image from the scanner 11 . The scanner 11 can communicate with a display device 12 via a wired or wireless connection to transmit the output image to the display device 12 for display. The operator U can observe a two-dimensional scanned image (which can be the output image or an image obtained by processing the output image) and a three-dimensional model of the scanned object M obtained by three-dimensional reconstruction based on the output image on the display device 12 . In the embodiment shown in FIG. 1 , the scanned object M is a tooth jaw, and the scanner 11 is an oral scanner 11 (also known as a digital impression device, an intraoral three-dimensional scanner, or an extraoral scanner). It should be understood that the figure is merely illustrative and is not intended to limit the present disclosure. In other embodiments, the scanned object M may also be other types of objects, such as other parts of the human or animal body, electronic instruments, mechanical equipment, printed materials, industrial products, cultural relics, artwork, or architecture. Accordingly, the scanner 11 may be another type of handheld scanning device, a desktop scanning device, or a scanning device moved by a manipulator, drone, or other instrument.

[0038] Different operators U may be accustomed to using different operating methods. These operating methods include, but are not limited to, how the scanner 11 is held and / or the relative position between the operator U and the scanned object M during scanning. For example, some operators U are accustomed to holding the scanner 11 with a pen-like grip, while others are accustomed to holding the scanner 11 with a stick-like grip. Some operators U are accustomed to standing in front of the scanned object M during scanning, while others are accustomed to standing behind the scanned object M during scanning.

[0039] Ideally, regardless of the operator U's holding method and / or relative position, the scanner's scan results should match the operator U's observation habits. For example, in some cases, the operator U desires that the scanned object appear in the same pose in the scanner's scan results, regardless of the holding method and / or relative position. However, depending on the holding method of the scanner 11 and / or the relative position between the operator U and the scanned object M, the relative poses between the scanner 11 and the scanned object M often differ. For example, referring to FIG2 , in an image coordinate system with x as the horizontal coordinate and y as the vertical coordinate, assuming the actual pose of the scanned object M is shown as Loc_0, different holding methods and / or relative positions may result in different positions of the scanner 11 relative to the scanned object M. For example, the four possible poses of the scanner 11 are shown as scan_d, scan_r, scan_u, and scan_1. In these four cases, the poses of the scanned object M in the output image of the scanner 11 are shown as Loc_d, Loc_r, Loc_u, and Loc_1, respectively. Here, Loc_d represents the position obtained by rotating the actual position of the scanned object M 90° counterclockwise, Loc_r represents the same position as the actual position of the scanned object M, Loc_u represents the position obtained by rotating the actual position of the scanned object M 90° clockwise, and Loc_l represents the position obtained by rotating the actual position of the scanned object M 180° clockwise. "A" in the figure represents the position of the scanned object M.

[0040] It should be understood that the diagram is merely illustrative and is not intended to limit the present disclosure. The output image of the scanner 11 is related to the hardware configuration of the camera in the scanner 11. Under different hardware configurations, the correspondence between the position of the scanner 11 relative to the scanned object M and the posture of the scanned object M presented in the scan results may differ from that shown in the diagram. For example, in another embodiment, when the posture of the scanner 11 is shown as scan_r in the diagram, the posture of the scanned object M presented in the output image of the scanner 11 may also be shown as Loc_d, Loc_l, or Loc_u in the diagram.

[0041] When observing the scan results, operator U may wish to observe the same posture of the scanned object M as the actual posture Loc_0 of the scanned object M. This may result in the scan results presented by the scanner not conforming to operator U's expected observation habits. To obtain scan results that conform to their observation habits, operator U is forced to adjust their operating method so that the posture of the scanner 11 is as shown in the figure scan_r, so that the scanned object M in the output image of the scanner 11 appears in the posture shown in the figure Loc_r. However, the operating method that can produce such scan results may be different from the operating method that operator U is accustomed to. If operator U continues to use his accustomed operating method, he will not be able to obtain the expected scan results.

[0042] In addition to the above situations, in other cases, the operator U may also wish to have the scanner present different scan results based on the current holding method and / or relative position. For example, in some relative positions, the operator may wish to mirror the scan results, but not in other relative positions. However, some scanners may not mirror the scan results in all situations, which may result in the scan results presented by the scanner not being consistent with the operator U's expected viewing habits.

[0043] Based on this, an embodiment of the present disclosure provides an image processing method, as shown in FIG3 , which includes:

[0044] Step S1: obtaining a target scanning angle; the target scanning angle is pre-bound to a first angle transformation mode;

[0045] Step S2: obtaining a first output image obtained by the operator U operating the scanner 11 to scan the scanning object M;

[0046] Step S3: performing angle transformation processing on the first output image based on a first angle transformation method corresponding to the target scanning angle of view to obtain a second output image;

[0047] Step S4: outputting the second output image to the display device 12 for display.

[0048] In step S1, the scanning perspective is associated with the posture of the scanned object M in the output image (i.e., the first output image) of the scanner 11. The scanning perspective can include the perspective of the scanner 11 and the perspective of the operator U. From the perspective of the scanner 11, the posture of the scanned object M in the first output image is consistent with the posture of the scanned object M observed by the scanner 11; from the perspective of the operator U, the posture of the scanned object M in the first output image is consistent with the posture of the scanned object M observed by the operator U.

[0049] In some embodiments, the scanning perspective may include a first scanner perspective view1. Under the first scanner perspective view1, the posture of the scanned object M in the first output image is consistent with the posture of the scanned object M in the physical space. In other embodiments, the scanning perspective may include a second scanner perspective view2, under which the posture of the scanned object M in the first output image is inconsistent with the posture of the scanned object M in the physical space. For example, the posture of the scanned object M in the first output image is the posture obtained by rotating the posture of the scanned object M in the physical space by a first preset angle (for example, 90°, 60°, 30°, etc.). The rotation method can be clockwise or counterclockwise. The first preset angle can be determined based on the posture difference between the posture of the scanned object M in the first output image and the posture of the scanned object M in the physical space.

[0050] A plurality of scanning angles can be pre-generated, and each scanning angle can be bound to a first angle transformation method. The first angle transformation method bound to the scanning angle can be referred to as the first angle transformation method corresponding to the scanning angle. The first angle transformation method is used to transform the angle of the image output by the scanner 11. The first angle transformation method includes a transformation angle and a transformation direction, and "transformation" may include rotation and / or flipping. The first angle transformation methods corresponding to different scanning angles may be the same or different. For example, the first angle transformation methods corresponding to different scanning angles include but are not limited to rotating the first output image output by the scanner 11 by a first preset angle along the first direction, rotating the first output image output by the scanner 11 by a first preset angle along the second direction, rotating the first output image output by the scanner 11 by a second preset angle along the first direction, flipping the first output image output by the scanner 11 by a first preset angle along the first direction, and so on.

[0051] One of the multiple scanning angles can be selected as a target scanning angle. For example, a setting interface can be displayed on the display device 12, and a selection item corresponding to each of the multiple scanning angles can be provided on the setting interface. If a selection instruction is received for one of the selection items, the scanning angle corresponding to the selection item is determined as the target scanning angle.

[0052] In some embodiments, the operator U can also create a new scanning angle based on their own operating habits and establish a binding relationship between the newly created scanning angle and the first angle transformation method. For example, initially, the binding relationship between the scanning angle and the first angle transformation method is empty. The operator U can then create a new first scanner angle, bind the first scanner angle to a certain first angle transformation method, and store the binding relationship. After establishing this binding relationship, if the operator U selects the first scanner angle as the target scanning angle, the image output by the scanner 11 can be automatically processed using the first angle transformation method bound to the first scanner angle in subsequent steps.

[0053] Assuming that the correspondence between the position of the scanner 11 relative to the scanned object M and the posture of the scanned object M presented in the scan result (i.e., the first output image) is shown in FIG2 , when the operator U holds the scanner 11 in the right-handed pen-like grip shown in FIG4A , the posture of the scanner 11 is generally shown as scan_r in the figure. As a result, the posture of the scanned object M presented in the scan result is Loc_r, which is consistent with the actual posture Loc_0 of the scanned object M. Therefore, if the operator U habitually holds the scanner 11 in the right-handed pen-like grip, the first scanner angle of view1 can be determined as the target scanning angle. When the operator U habitually holds the scanner 11 in the right-handed stick-like grip shown in FIG4B , the posture of the scanner 11 is generally shown as scan_d in the figure. As a result, the posture of the scanned object M presented in the scan result is Loc_d, which is inconsistent with the actual posture Loc_0 of the scanned object M. Therefore, if the operator U habitually holds the scanner 11 in the stick-like grip, the second scanner angle of view2 can be determined as the target scanning angle. It should be understood that this is merely an example and is not intended to limit the present disclosure. In addition to the right-handed pen-like grip, the operator U may also use other grips to hold the scanner 11. As long as, under this grip, the posture of the scanned object M in the first output image is consistent with the posture of the scanned object M in physical space, the first scanner 11 perspective view1 may be selected as the target scanning perspective. Similarly, in addition to the right-handed stick-like grip, the operator U may also use other grips to hold the scanner 11. As long as, under this grip, the posture of the scanned object M in the first output image is inconsistent with the posture of the scanned object M in physical space, the second scanner 11 perspective view2 may be selected as the target scanning perspective.

[0054] It should be noted that the posture of the scanned object M in the above-mentioned first output image is consistent with the posture of the scanned object M in the physical space, and it may be that the difference between the posture of the scanned object M in the first output image and the posture of the scanned object M in the physical space is less than or equal to the preset angle threshold. The posture of the scanned object M in the above-mentioned first output image is inconsistent with the posture of the scanned object M in the physical space, and it may be that the difference between the posture of the scanned object M in the first output image and the posture of the scanned object M in the physical space is greater than the preset angle threshold.

[0055] In step S2, the operator U may use the handheld scanner 11 to scan the scan object M. For example, the operator may place the scanner 11 at a certain location on the surface of the scan object M and leave it there for a period of time. The operator may then move the scanner 11 to another location on the surface of the scan object M and leave it there for a period of time. This process may be repeated until the entire scanning process is completed or a scanning stop condition is met. During the scanning process, the scanner 11 may output a first output image including the scan object M in real time.

[0056] In the above embodiment, step S1 may be performed first and then step S2, or step S2 may be performed first and then step S1, or step S1 and step S2 may be performed in parallel.

[0057] In step S3, the first angle transformation method bound to the target scanning angle can be determined. For example, under the above-mentioned first scanner angle view1, since the posture of the scanned object M in the first output image is consistent with the posture of the scanned object M in the physical space, when the target scanning angle is the first scanner angle view1, the second scanner angle view2 is the angle adopted when the operator U holds the scanner 11 with the right-hand pen-like grip shown in Figure 4A. The first angle transformation method corresponding to the target scanning angle is no angle transformation, that is, the image before the angle transformation (first output image) can be directly determined as the image after the angle transformation (second output image). The second output image is used to display the current angle of the scanner 11, and the second output image can be displayed in real time on the display interface of the display device 12.

[0058] As shown in Figure 5, assuming the scanner 11 is positioned at scan_r, the position of the scanned object M in the first output image, Loc_r, is identical to the actual position of the scanned object M, Loc_0. In this case, the view angle view1 of the first scanner 11 can be set as the target scanning view angle, thereby directly determining the first output image as the second output image. In this case, the position of the scanned object M in the second output image is also Loc_r. This ensures that the position of the scanned object M observed by the operator U from the scan results is consistent with the actual position of the scanned object M, consistent with the operator's observation habits.

[0059] Under the above-mentioned second scanner perspective view2, since the posture of the scanned object M in the first output image is inconsistent with the posture of the scanned object M in physical space, in order to make the posture of the scanned object M presented in the scan result consistent with the posture of the scanned object M in physical space, the first angle transformation method corresponding to the target scanning perspective can be to rotate the first output image based on the first preset angle. For example, assuming that the correspondence between the position of the scanner 11 relative to the scanned object M and the posture of the scanned object M presented in the scan result is as shown in Figure 2, and the second scanner perspective view2 is the perspective adopted by the operator U when holding the scanner 11 in the stick-like grip shown in Figure 4B, then the first preset angle can be 90°. The above-mentioned rotation processing of the first output image based on the first preset angle can specifically be to rotate the first output image 90° clockwise. The image obtained after rotation is the second output image.

[0060] As shown in Figure 6, assuming the scanner 11 is positioned as scan_d, the position of the scanned object M in the first output image, Loc_d, is the position obtained by rotating the actual position of the scanned object M, Loc_0, counterclockwise by 90°. In this case, the second scanner 11's view angle, view2, can be set to the target scanning view angle, thereby rotating the first output image 90° clockwise to obtain the second output image. In this case, the position of the scanned object M in the second output image is Loc_r. In this way, the position of the scanned object M observed by the operator U from the scan results is consistent with the actual position of the scanned object M, which conforms to the operator's observation habits.

[0061] From the perspective of the operator U, the posture of the scanned object M in the first output image is consistent with the posture of the scanned object M observed by the operator U, and the posture of the scanned object M observed by the operator U is affected by the relative position between the operator U and the scanned object M. Therefore, when the target scanning perspective is the perspective of the operator U, pre-set scanning position information representing the relative position between the operator U and the scanned object M can be obtained, and the first angle transformation mode corresponding to the target scanning perspective is determined based on the scanning position information.

[0062] The scanning position information includes first scanning position information and second scanning position information. The first scanning position information is used to indicate that the operator U is located in front of the scanned object M, and the second scanning position information is used to indicate that the operator U is located behind the scanned object M. The front of the scanned object M may be the direction that the front of the scanned object M faces, and the back of the scanned object M may be the direction that the back of the scanned object M faces. For example, if the scanned object M is a tooth or jaw of a human or animal, the front of the scanned object M may be the direction that the human or animal's face faces, and the back of the scanned object M may be the direction that the back of the human or animal's head faces.

[0063] In the two cases where the operator U is located in front of the scanning object M and the operator U is located behind the scanning object M, the posture of the scanning object M observed by the operator U is opposite. Therefore, in some embodiments, the transformation angle determined based on the first scanning position information is the same as the transformation angle determined based on the second scanning position information, and the transformation direction determined based on the first scanning position information is opposite to the transformation direction determined based on the second scanning position information.

[0064] For example, when the operator U is located in front of or behind the scanning object M, the first angle transformation method corresponding to the target scanning angle of view is to rotate the first output image clockwise by a second preset angle, and when the operator U is located in the other of the front of or behind the scanning object M, the first angle transformation method corresponding to the target scanning angle of view is to rotate the first output image counterclockwise by the second preset angle.

[0065] Take the scanning object M as an example, which is a tooth jaw and a mandible. From the perspective of the operator U, there is an angle difference of about 180° between the posture of the scanner 11 when scanning the upper jaw and the posture of the scanner 11 when scanning the mandible. For example, assuming that the mandible is scanned first, after the mandible scan is completed, the scanner 11 needs to be flipped 180° so that the scanning window of the scanner 11 is facing upward instead of downward, and then the upper jaw is scanned. Therefore, from the perspective of the operator U, the first angle transformation method when scanning the upper jaw and scanning the mandible needs to take into account the above-mentioned posture flipping of the scanner 11. To facilitate the viewing of the operator U, when processing the upper jaw and the mandible, the upper jaw needs to be mirrored, as shown in Figure 9, to conform to the observation habits of the operator U.

[0066] When the scanning position information is the first scanning position information (the operator U is located in front of the scanned object M), if the first output image is obtained by scanning the maxilla, the first angle transformation method corresponding to the target scanning angle may be to rotate the first output image counterclockwise by a second preset angle, so that the second output image may be an image obtained by rotating the first output image counterclockwise by the second preset angle. If the first output image is obtained by scanning the mandible, the first angle transformation method corresponding to the target scanning angle may be to rotate the first output image clockwise by the second preset angle, so that the second output image may be an image obtained by rotating the first output image clockwise by the second preset angle.

[0067] Referring to FIG. 7 , when the target scanning angle is the operator U angle, assuming that when scanning the mandible, the posture of the scanner 11 is as shown in the figure scan_d, then the posture of the scanned object M in the first output image Loc_d is the posture obtained by rotating the actual posture Loc_0 of the scanned object M counterclockwise by 90°. In this case, the first output image including the mandible can be rotated 90° clockwise to obtain a second output image including the mandible, and the posture of the mandible in the second output image is Loc_r. Since the scanner 11 needs to be flipped when scanning the maxilla, when the target scanning angle is the operator U angle and the maxilla is being scanned, the first output image including the maxilla can be rotated 90° counterclockwise (i.e., rotated 270° clockwise) to obtain a second output image including the maxilla.

[0068] Similarly, when the scanning position information is the second scanning position information (operator U is located behind the scanned object M), if the first output image is obtained by scanning the maxilla, the first angle transformation method corresponding to the target scanning angle may be rotating the first output image clockwise by the second preset angle, and the second output image may be an image obtained by rotating the first output image clockwise by the second preset angle. If the first output image is obtained by scanning the mandible, the first angle transformation method corresponding to the target scanning angle may be rotating the first output image counterclockwise by the second preset angle, and the second output image may be an image obtained by rotating the first output image counterclockwise by the second preset angle.

[0069] Referring to FIG8 , when the target scanning angle is the operator U angle, assuming that when scanning the mandible, the posture of the scanner 11 is as shown in the figure scan_d, then the posture of the scanned object M in the first output image Loc_d is the posture obtained by rotating the actual posture Loc_0 of the scanned object M by 90° clockwise. In this case, the first output image including the mandible can be rotated 90° counterclockwise to obtain a second output image including the maxilla, and the posture of the maxilla in the second output image is Loc_r. Since the scanner 11 needs to be flipped when scanning the maxilla, when the target scanning angle is the operator U angle and the maxilla is being scanned, the first output image including the maxilla can be rotated 90° clockwise (i.e., 270° clockwise) to obtain a second output image including the mandible.

[0070] In some embodiments, when the target scanning angle of view is the operator U's angle of view, a mirror display setting for indicating whether to perform mirror processing on the first output image can also be obtained, and the first angle transformation method corresponding to the target scanning angle of view is determined based on the mirror display setting. Figure 9 shows a schematic diagram of the first output image and the second output image obtained after the first output image is mirrored. When the scan object M includes the upper jaw and the lower jaw, only the first output image including the upper jaw can be mirrored to obtain the second output image including the upper jaw. For the first output image including the lower jaw, no mirror processing is required. Mirror processing is mainly designed for patients in sitting and lying positions. When the patient is lying, the mirror display setting does not need to be selected, so that the first output image is not mirrored; when the patient is sitting, under the operator U's angle of view, the patient's upper jaw is similar to being mirrored. Therefore, the mirror display setting can be selected to perform mirror processing on the first output image including the upper jaw.

[0071] The scanning position information and the mirror display setting may also be obtained simultaneously, and the first angle transformation mode corresponding to the target scanning viewing angle may be determined based on the scanning position information and the mirror display setting.

[0072] In some embodiments, when the scanned object M is a jaw, the jaw includes a non-occlusal state and an occlusal state. If the jaw is in a non-occlusal state, the first angle transformation method corresponding to the target scanning angle includes rotating and / or mirroring the first output image. If the jaw is in an occlusal state, the first angle transformation method corresponding to the target scanning angle is no angle transformation. When scanning a jaw in an occlusal state, since the initial position needs to be changed from horizontal scanning to vertical scanning (the posture of the scanner 11 during the scanning process is shown in Figure 15), the image obtained by direct scanning with the scanner (i.e., the first output image) is used at different viewing angles without rotation. The second output image obtained is the same as the first output image, and the three-dimensional model is also not rotated, as shown in Figure 15.

[0073] In some embodiments, the target scanning angle can be pre-bound to a second angle transformation method, and the second angle transformation method is used to perform angle transformation on the three-dimensional model corresponding to the scanned object M. The three-dimensional model represents a three-dimensional model reconstructed in real time by the scanner 11 based on the currently obtained first output image, and can also be displayed in real time on the display interface of the display device 12. In the case where multiple scanning angles are pre-generated, each scanning angle can be bound to a second angle transformation method, and the second angle transformation methods bound to different scanning angles can be the same or different. It is also possible to obtain a first three-dimensional model of the scanned object M obtained by three-dimensionally reconstructing the first output image, perform angle transformation processing on the first three-dimensional model based on the second angle transformation method corresponding to the target scanning angle (i.e., the second angle transformation method bound to the target scanning angle), obtain a second three-dimensional model, and display the second three-dimensional model on the display device 12. By performing angle transformation processing on the first three-dimensional model of the scanned object M, the embodiment of the present disclosure can display a second three-dimensional model that conforms to the observation habits of the operator U on the display device 12.

[0074] Because the 3D model is reconstructed from multiple 2D images, its coordinate direction is consistent with the 2D image coordinates. Therefore, the transformation angle of the 3D model is the same as the transformation angle of the 2D image. That is, the posture of the second 3D model is the same as the posture of the scanned object M in the second output image, as shown in Figure 10. If the first angle transformation method for performing angle transformation processing on the first output image only includes rotating the first output image, the second angle transformation method can be rotating the first 3D model using the same transformation angle and transformation direction. If the first angle transformation method for performing angle transformation processing on the first output image includes mirroring the first output image (i.e., flipping the image by 180°), the second angle transformation method includes rotating the first 3D model by 180°.

[0075] In the above embodiment, if the target scanning angle is the first scanner angle (for example, holding the scanner 11 by a pen-like grip) or the second scanner angle (for example, holding the scanner 11 by a stick-like grip), the first angle transformation method at most includes rotating the first image. Therefore, when the target scanning angle is the first scanner angle or the second scanner angle, the second angle transformation method is the same as the first angle transformation method, that is, the second three-dimensional model is the same as the posture of the scanned object M in the second output image. If the target scanning angle is the operator U angle, you can choose whether to select the mirror display setting. If the mirror display setting is selected, since the mirror display setting is only effective for the upper jaw, the upper jaw model corresponding to the upper jaw can be rotated 180°, and the posture of the mandibular model corresponding to the lower jaw is the same as the posture of the lower jaw in the second output image including the lower jaw.

[0076] When the scan object M is a jaw, for the upper jaw, the first angle transformation method includes mirroring the first output image including the upper jaw, and the second angle transformation method includes rotating the first output image of the upper jaw by 180°.

[0077] The following is an example of a method for performing angle transformation processing on the first output image and the first three-dimensional model based on the mirror display setting and the scanning position information:

[0078] If the mirror display setting indicates that the first output image is not to be mirrored (i.e., the mirror display setting is not enabled) and the scanning position information is the first scanning position information (the operator U is in front of the scanned object M), the first output image including the maxilla can be rotated 90° counterclockwise (or 270° clockwise), and the first output image including the mandible can be rotated 90° clockwise (or 270° counterclockwise), and the rotation angle of the maxillary model is the same as the rotation angle of the first output image including the maxilla, and the rotation angle of the mandibular model is the same as the rotation angle of the first output image including the mandible. When the scanning position information is the first scanning position information and the mirror display setting is not enabled, the second output image including the mandible and the corresponding second three-dimensional model of the mandible are shown in FIG11A, and the second output image including the maxilla and the corresponding second three-dimensional model of the mandible are shown in FIG11B.

[0079] If the mirror display setting indicates that the first output image is not to be mirrored (i.e., the mirror display setting is not enabled) and the scanning position information is the second scanning position information (the operator U is located behind the scanned object M), the first output image including the maxilla can be rotated 90° clockwise (or 270° counterclockwise), and the first output image including the mandible can be rotated 90° counterclockwise (or 270° clockwise), with the maxilla model having the same rotation angle as the first output image including the maxilla, and the mandible model having the same rotation angle as the first output image including the mandible. When the scanning position information is the second scanning position information and the mirror display setting is not enabled, the second output image including the mandible and the corresponding second three-dimensional model of the mandible are shown in FIG12A, and the second output image including the maxilla and the corresponding second three-dimensional model of the mandible are shown in FIG12B.

[0080] If the mirror display setting indicates that the first output image is to be mirrored (i.e., the mirror display setting is enabled), and the scanning position information is the first scanning position information (the operator U is in front of the scanned object M), the first output image including the maxilla can be rotated 90° counterclockwise (or 270° clockwise) and then mirrored up and down. The first output image including the mandible is rotated 90° clockwise (or 270° counterclockwise), and the rotation angle of the maxilla model is rotated 180° clockwise based on the rotation angle of the first output image including the maxilla. The rotation angle of the mandibular model is the same as the rotation angle of the first output image including the mandible. When the scanning position information is the first scanning position information and the mirror display setting is enabled, the second output image including the maxilla and the corresponding second three-dimensional model of the maxilla are shown in Figure 13.

[0081] If the mirror display setting indicates that the first output image is to be mirrored (i.e., the mirror display setting is enabled), and the scanning position information is the second scanning position information (the operator U is located behind the scanned object M), the first output image including the maxilla can be rotated 90° clockwise (or 270° counterclockwise) and then mirrored up and down. The first output image including the mandible is rotated 90° counterclockwise (or 270° clockwise), and the rotation angle of the maxilla model is rotated 180° clockwise based on the rotation angle of the first output image including the maxilla. The rotation angle of the mandibular model is the same as the rotation angle of the first output image including the mandible. When the scanning position information is the second scanning position information and the mirror display setting is enabled, the second output image including the maxilla and the corresponding second three-dimensional model of the maxilla are shown in Figure 14.

[0082] It should be noted that the first and second angle conversion modes in the aforementioned embodiments may be used when the operator U holds the scanner 11 with his right hand. If the operator U holds the scanner 11 with his left hand, the first and second angle conversion modes, based on the aforementioned embodiments, require an additional bilaterally symmetrical operation, i.e., another 180° clockwise rotation.

[0083] In step S4 , the second output image may be output to the display device 12 for display, so that the operator U can observe the second output image from the display device 12 .

[0084] In an embodiment where the scanned object M is a jaw, a preset jaw scanning order may be obtained, the current jaw being scanned is determined based on the jaw scanning order and the previously scanned jaws, and the first angle transformation mode is determined based on the target scanning angle and the currently scanned jaw. The jaw scanning order may include maxillary priority, mandibular priority, or working jaw priority, with the working jaw being the jaw specified by the operator U.

[0085] In the maxillary scanning sequence with maxillary priority, operator U scans the maxillary first and then the mandibular. Therefore, when the maxillary scanning sequence is maxillary priority, after the scan is started, the scan process corresponding to the maxillary will be jumped to first, and after the maxillary scan is completed, the scan process corresponding to the mandibular will be jumped to. In the scanning process corresponding to the maxillary, according to the pre-set information (for example, part or all of the target scanning angle, mirror display setting, scanning position information, etc.), the first angle transformation mode of the first output image of the maxillary and the second angle transformation mode of the maxillary model are determined. In the scanning process corresponding to the mandibular, the first angle transformation mode of the first output image of the mandibular and the second angle transformation mode of the mandibular model are determined according to the pre-set information.

[0086] In the mandibular-first scanning sequence, operator U scans the mandible first, followed by the maxilla. After starting the scan, the system will jump to the mandibular scanning process first, followed by the maxillary scanning process. The maxillary and mandibular scanning processes can be found in the previous examples and will not be further described here.

[0087] When the order of jaw scanning prioritizes the working jaw, the operator U can designate the upper jaw or the lower jaw as the working jaw. In some embodiments, the upper jaw model corresponding to the upper jaw and the lower jaw model corresponding to the lower jaw can be displayed on the display device 12, and the jaw selected in the upper jaw model or the lower jaw model can be determined as the working jaw. For example, both the upper jaw model and the lower jaw model can include multiple teeth. If the operator U scans the teeth in the upper jaw through the scanner 11, it can be determined that the upper jaw is selected, thereby determining the upper jaw as the working jaw; if the operator U scans the teeth in the lower jaw through the scanner 11, it can be determined that the lower jaw is selected, thereby determining the lower jaw as the working jaw.

[0088] In some embodiments, a pre-stored scanning plan can also be retrieved. The scanning plan may include a scanning angle, and the target scanning angle can be read from the scanning plan. Furthermore, the scanning plan may further include mirror display settings and / or scanning position information, so that the mirror display settings and / or scanning position information can be read from the scanning plan. Optionally, the most recently set scanning plan or plans can be stored for selection by the operator U. By adopting the above method, a pre-configured scanning plan can be directly selected, eliminating the need for the operator U to set each information one by one, thereby improving the efficiency of scanning plan setting.

[0089] In some embodiments, the scanning plan can be bound to the identity information of the operator U. The identity information of the operator U can be obtained, so as to obtain the scanning plan bound to the identity information of the operator U. The identity information of the operator U can be the name of the operator U, mobile phone number, account pre-registered by the operator U, voice, facial recognition, and other information that can uniquely identify the operator U. The scanning plans bound to each operator U in one or more operators U can be pre-stored. When the operator U operates the scanner 11, the scanning plan bound to the operator U can be selected from the pre-stored scanning plans. Furthermore, the scanning plan can be identified by the identity information of the operator U bound to the scanning plan. For example, if the name of the operator U is A, the scanning plan bound to the operator U can be recorded as scanning plan A. In this way, the operator U can quickly locate the scanning plan bound to itself.

[0090] In some embodiments, the display interface for displaying the second output image on the display device 12 includes a settings entry for switching the display interface to a settings interface for setting the target scanning angle. In actual use, the operator U may select the incorrect target scanning angle. To facilitate changing the target scanning angle, the disclosed embodiments provide a settings entry directly in the display interface for the second output image. This allows the operator U to return to the settings interface and reset the target scanning angle directly during the scanning process, thereby improving the efficiency of setting the target scanning angle.

[0091] Figure 16 shows how to set the scanning order. Add the setting for "Scan Order" selection in the scanning settings. "Scan Order" can select "Working Jaw Priority", "Maxillary Priority", "Mandibular Priority", and other information (for example, patient information, operator U information, etc.) can be submitted to generate an order. Load the order to define the scanning process. For example, under the maxillary priority scanning order, the scanning process is maxillary scanning process → mandibular scanning process. Then, all the jaws to be scanned can be obtained according to the scanning process, and the scanning jaw jump rules can be initialized according to the scanning order settings. For example, when the maxillary scanning completion reaches the preset completion threshold, jump to the mandibular scanning process. Then, each jaw can be scanned in turn.

[0092] FIG17 shows an overall flow chart of an embodiment of the present disclosure. First, the scanning settings are loaded, and when the scanned jaw (hereinafter referred to as the scanned jaw) changes, the transformation angle between the two-dimensional image and the three-dimensional model is calculated, the three-dimensional model is rotated based on the transformation angle of the three-dimensional model, the first output image of the scanner 11 is cropped, and the cropped image is rotated based on the transformation angle of the two-dimensional image to obtain a second output image, which is then displayed on the display device 12.

[0093] In some embodiments, the relative position between the scanner 11 and the scanned object M can be determined based on the first output image, and a target angle transformation method for the first output image can be determined based on this relative position. Referring to Figure 2 , the relative positions between the scanner 11 and the scanned object M can include, but are not limited to, scan_d, scan_r, scan_u, and scan_l. Different angle transformation methods can be used for these relative positions. For example, when the relative position is scan_d, the target angle transformation method includes rotating the first output image 90° clockwise; while when the relative position is scan_u, the target angle transformation method includes rotating the first output image 90° counterclockwise. Therefore, based on this relative position, the angle transformation method intended by the operator U, i.e., the target angle transformation method, can be determined. If the target angle transformation method matches the first angle transformation method, the first output image can be angle-transformed based on the first angle transformation method. If the target angle transformation method does not match the first angle transformation method, a prompt message can be output, prompting the operator U to reset the first angle transformation method.

[0094] Furthermore, when the scanner 11 is equipped with a sensor, the posture of the scanner 11 detected by the sensor can also be obtained, and the target angle transformation mode can be jointly determined based on the above relative posture and the posture of the scanner 11 detected by the sensor. The sensor can be an inertial measurement unit or a motion sensor, and the absolute posture of the scanner 11 can be detected by the sensor. The absolute posture can be used to represent the holding method of the scanner 11, thereby determining the target angle transformation mode. This embodiment combines the absolute posture of the scanner 11 and the relative posture between the scanner 11 and the scanned object M to jointly determine the target angle transformation mode, with high accuracy, so that the first angle transformation mode can be set for the operator U more accurately.

[0095] FIG18 shows an image processing apparatus, the apparatus comprising:

[0096] The first acquisition module 21 is configured to acquire a target scanning angle; the target scanning angle is pre-bound to a first angle transformation mode;

[0097] The second acquisition module 22 is configured to acquire a first output image obtained by scanning the scanning object M through the scanner 11;

[0098] An angle transformation module 23 is configured to perform angle transformation processing on the first output image based on the first angle transformation method to obtain a second output image;

[0099] The output module 24 is configured to output the second output image to the display device 12 for display.

[0100] An embodiment of the present disclosure further provides a computer device, which includes at least a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any of the aforementioned embodiments when executing the program.

[0101] FIG19 shows a more specific hardware structure diagram of a computing device provided by an embodiment of the present disclosure. The device may include: a processor 31, a memory 32, an input / output interface 33, a communication interface 34, and a bus 35. The processor 31, the memory 32, the input / output interface 33, and the communication interface 34 are connected to each other within the device via the bus 35.

[0102] The processor 31 can be implemented using a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured to execute relevant programs to implement the technical solutions provided in the embodiments of the present disclosure. The processor 31 may also include a graphics card, which may be an Nvidia Titan X graphics card or an 10120Ti graphics card.

[0103] The memory 32 can be implemented in the form of a read-only memory (ROM), a random access memory (RAM), a static storage device, a dynamic storage device, etc. The memory 32 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present disclosure are implemented through software or firmware, the relevant program codes are stored in the memory 32 and are called and executed by the processor 31.

[0104] The input / output interface 33 is used to connect to input / output modules to enable information input and output. The input / output modules can be configured as components within the device (not shown) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0105] The communication interface 34 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0106] The bus 35 comprises a pathway for transmitting information between the various components of the device (eg, the processor 31 , the memory 32 , the input / output interface 33 , and the communication interface 34 ).

[0107] It should be noted that although the above device only shows the processor 31, memory 32, input / output interface 33, communication interface 34, and bus 35, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will understand that the above device may only include the components necessary to implement the embodiments of the present disclosure, and does not necessarily include all the components shown in the figure.

[0108] An embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which implements the method described in any of the aforementioned embodiments when the program is executed by a processor.

[0109] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0110] Through the description of the above implementation methods, it can be seen that those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented by means of software plus the necessary general hardware platform. Based on this understanding, the technical solution of the embodiments of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments of the present disclosure.

[0111] The systems, devices, modules, or units described in the above embodiments may be implemented by a computer device or entity, or by a product having certain functions. A typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email transceiver, game console, tablet computer, wearable device, or any combination of these devices.

[0112] Each embodiment in the present disclosure is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is merely illustrative, wherein the modules described as separate components may or may not be physically separated, and when implementing the embodiment of the present disclosure, the functions of each module can be implemented in the same one or more software and / or hardware. It is also possible to select some or all of the modules according to actual needs to achieve the purpose of the embodiment. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0113] The above is only a specific implementation of the embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the embodiment of the present disclosure. These improvements and modifications should also be regarded as the scope of protection of the embodiment of the present disclosure. Industrial Applicability

[0114] In the image processing method provided by the present invention, the target scanning angle of view is pre-bound to the first angle transformation method. After the target scanning angle of view is selected, the first output image of the scanner can be angle-transformed based on the first angle transformation method, thereby obtaining a second output image that conforms to the operator's own observation habits, thereby improving the operator's scanning efficiency and having strong industrial applicability.

Claims

1. An image processing method, the method comprising: Get the target scanning angle; The target scanning angle of view is pre-bound to the first angle transformation mode; Acquire a first output image obtained by scanning a scanning object through a scanner; Performing angle transformation processing on the first output image based on the first angle transformation mode to obtain a second output image; The second output image is output to a display device for display.

2. The method according to claim 1, wherein the target scanning angle comprises a first scanner angle and a second scanner angle; under the first scanner angle, the posture of the scanned object in the first output image is consistent with the posture of the scanned object in the physical space, and the first angle transformation mode corresponding to the target scanning angle is no angle transformation; Under the viewing angle of the second scanner, the posture of the scanned object in the first output image is inconsistent with the posture of the scanned object in the physical space, and the first angle transformation method includes rotating the first output image based on a first preset angle; The step of performing angle transformation processing on the first output image based on the first angle transformation mode to obtain a second output image includes: If the target scanning angle of view is the first scanner angle of view, determining the first output image as the second output image; If the target scanning angle of view is a second scanner angle of view, the first output image is rotated based on a first preset angle to obtain the second output image.

3. The method according to claim 1, wherein the target scanning angle comprises an operator angle; in the operator angle, the posture of the scanned object in the first output image is consistent with the posture of the scanned object observed by the operator of the scanner; and when the target scanning angle is the operator angle, the first angle transformation mode is determined based on at least one of the following: Pre-set scanning position information, wherein the scanning position information is used to represent the relative position between the operator and the scanning object; A mirror display setting is used to indicate whether to perform mirror processing on the first output image.

4. The method according to claim 3, wherein the scanning position information comprises first scanning position information and second scanning position information, wherein the first scanning position information is used to indicate that the operator is located in front of the scanning object, and the second scanning position information is used to indicate that the operator is located behind the scanning object; The first angle transformation method includes a transformation angle and a transformation direction; the transformation angle determined based on the first scanning position information is the same as the transformation angle determined based on the second scanning position information, and the transformation direction determined based on the first scanning position information is opposite to the transformation direction determined based on the second scanning position information.

5. The method according to claim 4, wherein the scanned object is a jaw, and the jaw includes an upper jaw and a lower jaw; and performing angle transformation processing on the first output image based on the first angle transformation mode to obtain a second output image comprises: In the case where the scanning position information is the first scanning position information, if the first output image is obtained by scanning the maxilla, the first output image is rotated counterclockwise by a second preset angle to obtain the second output image; if the first output image is obtained by scanning the mandible, the first output image is rotated clockwise by a second preset angle degrees, and obtain the second output image; When the scanning position information is the second scanning position information, if the first output image is obtained by scanning the upper jaw, the first output image is rotated clockwise by a second preset angle to obtain the second output image; if the first output image is obtained by scanning the lower jaw, the first output image is rotated counterclockwise by a second preset angle to obtain the second output image.

6. The method according to claim 3, wherein the scanned object is a tooth jaw, and the tooth jaw includes an upper jaw; performing angle transformation processing on the first output image based on the first angle transformation mode to obtain a second output image comprises: If the first output image is obtained by scanning the maxilla, the first output image is mirrored to obtain the second output image.

7. The method according to claim 1, wherein the scanned object is a tooth jaw, and the tooth jaw includes a non-occlusal state and an occlusal state; If the jaw is in the non-occlusal state, the first angle transformation method includes rotating and / or mirroring the first output image; If the jaw is in the occlusal state, the first angle change mode is to not perform angle change.

8. The method according to claim 1, wherein the target scanning angle of view is pre-bound to the second angle transformation mode; The method further comprises: Acquire a first three-dimensional model of the scanned object obtained by three-dimensionally reconstructing the first output image; Performing angle transformation processing on the first three-dimensional model based on the second angle transformation mode to obtain a second three-dimensional model; The second three-dimensional model is displayed on the display device. 9 . The method according to claim 8 , wherein the posture of the second three-dimensional model is the same as the posture of the scanned object in the second output image.

10. According to the method of claim 9, the scanning object is a tooth jaw, and the tooth jaw includes the upper jaw; the first angle transformation method includes mirroring the first output image including the upper jaw, and the second angle transformation method includes rotating the first output image including the upper jaw by 180°.

11. The method according to claim 1, wherein the scanned object is a jaw, and the jaw includes an upper jaw and a lower jaw; the method further comprises: Get the preset dental scan sequence; Determine a currently scanned jaw based on the jaw scanning sequence and the scanned jaws; The first angle transformation method is determined based on the target scanning angle of view and the currently scanned jaw. 12 . The method according to claim 11 , wherein the dental jaw scanning sequence comprises maxillary priority, mandibular priority or working jaw priority, and the working jaw is the dental jaw designated by the operator.

13. The method according to claim 12, further comprising: In the case where the tooth-jaw scanning order is that the working jaw is given priority, the upper jaw model corresponding to the upper jaw and the lower jaw model corresponding to the lower jaw are displayed on the display device; The tooth jaw corresponding to the selected model in the maxillary model or the mandibular model is determined as the working jaw.

14. The method according to claim 1, further comprising: A pre-stored scanning scheme is obtained, wherein the scanning scheme includes a scanning angle; wherein the target scanning angle is read from the scanning scheme.

15. The method according to claim 14, wherein the scanning scheme is bound to the identity information of the operator; The obtaining of a pre-stored scanning scheme comprises: Obtaining identity information of the operator; A scanning plan bound to the identity information of the operator is obtained.

16. The method according to claim 1, wherein the display interface on the display device for displaying the second output image comprises a setting entry for switching the display interface to a setting interface for setting the target scanning viewing angle.

17. The method according to any one of claims 1 to 16, further comprising: determining a relative position between the scanner and the scanned object based on the first output image; Determining a target angle transformation mode of the first output image according to the relative posture; If the target angle transformation mode does not match the first angle transformation mode, a prompt message is output.

18. The method according to claim 17, wherein the scanner is equipped with a sensor for detecting the posture of the scanner; and determining the target angle transformation mode of the first output image according to the relative posture comprises: The target angle transformation method is determined based on the posture detected by the sensor and the relative posture.

19. An image processing device, the device comprising: A first acquisition module is configured to acquire a target scanning angle of view; the target scanning angle of view is pre-bound to a first angle transformation mode; A second acquisition module is configured to acquire a first output image obtained by scanning the scanned object through a scanner; an angle transformation module, configured to perform angle transformation processing on the first output image based on the first angle transformation mode to obtain a second output image; The output module is configured to output the second output image to a display device for display.

20. A computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method according to any one of claims 1 to 18 is implemented.

21. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 18 when executing the program.

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