Three-dimensional data acquisition method and apparatus, and device and storage medium

Abstract

A three-dimensional data acquisition method. The method comprises: during the process of excluding a shielding factor of a shielded area corresponding to a prepared tooth, acquiring three-dimensional scanning data of the prepared tooth, wherein the shielded area is excluded by an auxiliary device on a three-dimensional scanner; on the basis of the three-dimensional scanning data, determining initial three-dimensional data of the shielded area corresponding to the prepared tooth; determining a depth value of each point in the initial three-dimensional data; and processing the initial three-dimensional data on the basis of the depth value, so as to obtain target three-dimensional data of the shielded area. Thus, when an auxiliary device is used to exclude a shielding factor of a shielded area corresponding to a prepared tooth, target three-dimensional data of the shielded area is determined on the basis of a depth value of each point in scanned initial three-dimensional data of the prepared tooth. In this way, it is not necessary to perform a shielded area exclusion operation on a user, thereby avoiding causing discomfort to the user, while ensuring the efficiency and accuracy of collecting the three-dimensional data of the shielded area. Further provided are a corresponding three-dimensional data acquisition apparatus, and a device and a storage medium.

Description

Three-dimensional data acquisition method, device, equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 18, 2023, with application number 202311209071.8, and invention name “Three-dimensional data acquisition method, device, equipment and storage medium”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of three-dimensional scanning technology, and in particular to a three-dimensional data acquisition method, device, equipment and storage medium. Background Art

[0003] In scenarios such as dental restoration and cosmetic dentistry, it is necessary to obtain 3D data of the obscured area around the prepared tooth and perform the restoration or cosmetic procedure based on this 3D data. For example, the cervical shoulder data of the prepared tooth can be obtained and used to create a crown or porcelain veneer based on this data to meet the user's dental restoration or cosmetic needs.

[0004] In the related art, the tooth preparation is first arranged to expose the obscured area, and then the data of this area is acquired using an impression or a 3D scanner as the 3D data of the obscured area. However, this method is inefficient in acquiring 3D data of the obscured area and can cause discomfort to the user.

[0005] Summary of the Invention

[0006] In order to solve the above technical problems, the present disclosure provides a three-dimensional data acquisition method, device, equipment and storage medium.

[0007] In a first aspect, the present disclosure provides a method for acquiring three-dimensional data, the method comprising:

[0008] In the process of eliminating occlusion factors of an obstructed area corresponding to the prepared tooth, obtaining three-dimensional scanning data of the prepared tooth, wherein the obstructed area is eliminated by an auxiliary device on the three-dimensional scanner;

[0009] Determining initial three-dimensional data of an obscured area corresponding to the prepared tooth based on the three-dimensional scanning data;

[0010] Determining the depth value of each point in the initial three-dimensional data;

[0011] The initial three-dimensional data is processed based on the depth value to obtain target three-dimensional data of the blocked area.

[0012] In a second aspect, the present disclosure provides a three-dimensional data acquisition device, the device comprising:

[0013] a first acquisition module configured to acquire three-dimensional scanning data of the prepared tooth while excluding an occlusion factor of an occluded area corresponding to the prepared tooth, wherein the occluded area is excluded by an auxiliary device on the three-dimensional scanner;

[0014] A first determining module is configured to determine initial three-dimensional data of an obscured area corresponding to the prepared tooth based on the three-dimensional scanning data;

[0015] a second determining module, configured to determine a depth value of each point in the initial three-dimensional data;

[0016] The second acquisition module is configured to process the initial three-dimensional data based on the depth value to obtain target three-dimensional data of the blocked area.

[0017] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the device comprising:

[0018] a processor, a memory, and instructions stored in the memory and executable by the processor;

[0019] The processor reads the instruction from the memory and implements the method provided in the first aspect when executing the instruction.

[0020] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which implements the method provided in the first aspect when the computer program is executed by a processor.

[0021] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0022] A three-dimensional data acquisition method, apparatus, device, and storage medium according to an embodiment of the present disclosure acquires three-dimensional scanning data of the prepared tooth in the process of eliminating occlusion factors of the occluded area corresponding to the prepared tooth, wherein the occluded area is excluded by an auxiliary device on the three-dimensional scanner; determines initial three-dimensional data of the occluded area corresponding to the prepared tooth based on the three-dimensional scanning data; determines the depth value of each point in the initial three-dimensional data; and processes the initial three-dimensional data based on the depth value to obtain target three-dimensional data of the occluded area. Thus, in the process of eliminating occlusion factors of the occluded area corresponding to the prepared tooth using the auxiliary device, the target three-dimensional data of the occluded area is determined based on the depth value of each point in the scanned initial three-dimensional data of the prepared tooth. In this way, there is no need to perform tooth arrangement operations on the user, which avoids causing discomfort to the user, while also ensuring the efficiency and accuracy of the acquisition of the three-dimensional data of the occluded area. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0024] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] FIG1 is a schematic flow chart of a three-dimensional data acquisition method provided by an embodiment of the present disclosure;

[0026] FIG2 is a schematic diagram of a tooth preparation provided by an embodiment of the present disclosure;

[0027] FIG3 is a schematic diagram of the process of S130 provided in an embodiment of the present disclosure;

[0028] FIG4 is a schematic structural diagram of a three-dimensional data acquisition device provided by an embodiment of the present disclosure;

[0029] FIG5 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0032] In order to avoid causing discomfort to the user whose gums are being retracted when collecting cervical shoulder data, while ensuring the collection efficiency and accuracy of cervical shoulder data, the embodiments of the present disclosure provide a three-dimensional data acquisition method, device, equipment and storage medium.

[0033] The following describes the three-dimensional data acquisition method provided by the embodiments of the present disclosure in conjunction with Figures 1 to 3. In the embodiments of the present disclosure, the three-dimensional data acquisition method can be performed by an electronic device. The electronic device can include a device with communication capabilities, such as a tablet computer, desktop computer, or laptop computer, or a device simulated by a virtual machine or simulator.

[0034] FIG1 shows a schematic flow chart of a three-dimensional data acquisition method provided by an embodiment of the present disclosure.

[0035] As shown in FIG1 , the three-dimensional data acquisition method may include the following steps.

[0036] S110 , in the process of eliminating occlusion factors of an obstructed area corresponding to the prepared tooth, obtaining three-dimensional scanning data of the prepared tooth, wherein the obstructed area is eliminated by auxiliary equipment on the three-dimensional scanner.

[0037] In this embodiment, in order to collect scanning data of the obscured area around the prepared tooth, the auxiliary equipment configured on the three-dimensional scanner is used to exclude the obscured area around the prepared tooth, so that the obscured area is exposed, which facilitates the camera of the three-dimensional scanner to collect three-dimensional scanning data of the obscured area. Then, the three-dimensional scanner sends the collected three-dimensional scanning data to the electronic device, so that the electronic device determines the three-dimensional data of the obscured area around the prepared tooth based on the three-dimensional scanning data.

[0038] The three-dimensional scanning data of the prepared tooth can be understood as point cloud data of the prepared tooth, and the point cloud data can be displayed to the user in the form of an intraoral image.

[0039] Among them, the auxiliary equipment includes but is not limited to an air gun or a prying device on the three-dimensional scanner, and during the scanning process of the three-dimensional scanner, the air gun is used to blow away the obscured area around the prepared tooth, or the prying device is used to pry away the obscured area around the prepared tooth to expose the obscured area.

[0040] Optionally, the obscured area includes, but is not limited to, the cervical shoulder area, and the obstructing factors include gums or other impurities. In many cases, the cervical shoulder area is obscured by the gums of the prepared tooth, and it is necessary to use auxiliary equipment on the 3D scanner to blow at the gums of the prepared tooth to blow away and expose the cervical shoulder area of ​​the prepared tooth, or to use auxiliary equipment on the 3D scanner to push aside the gums of the prepared tooth to push aside and expose the cervical shoulder area of ​​the prepared tooth, thereby facilitating the 3D scanner to obtain 3D scanning data of the prepared tooth.

[0041] S120 : Determine initial three-dimensional data of the blocked area corresponding to the prepared tooth based on the three-dimensional scanning data.

[0042] In this embodiment, after the electronic device acquires the three-dimensional scanning data, it reconstructs the three-dimensional scanning data, and then determines the blocked area of ​​the prepared tooth based on the reconstructed image to obtain initial three-dimensional data of the blocked area.

[0043] In some embodiments, S120 may specifically include the following steps: reconstructing the three-dimensional scanning data to generate a three-dimensional reconstruction model of the prepared tooth; determining the occluded area in response to the area determination operation on the three-dimensional reconstruction model, and using the three-dimensional scanning data located in the occluded area as the initial three-dimensional data.

[0044] In other embodiments, S120 may specifically include the following steps: reconstructing the three-dimensional scanning data to generate a three-dimensional reconstruction model of the prepared tooth; using a pre-trained recognition model to identify the occluded area from the prepared tooth reconstruction model, and using the three-dimensional scanning data located in the occluded area as the initial three-dimensional data.

[0045] Optionally, when the blocked area is the neck edge shoulder area, the initial three-dimensional data is initial neck edge shoulder data.

[0046] For ease of understanding, referring to the tooth preparation schematic diagram shown in Figure 2, the tooth preparation area 100 includes the tooth preparation tissue 200 and the gingival tissue around the prepared tooth. The obscured area 300 of the prepared tooth is located within the tooth preparation area 100 and outside the tooth preparation tissue 200. The obscured area 300 in Figure 2 can specifically be the cervical shoulder area.

[0047] S130: Determine the depth value of each point in the initial three-dimensional data.

[0048] It is understandable that when the auxiliary device jams or the auxiliary device cannot completely blow open the obscured area corresponding to the prepared tooth, the initial three-dimensional data directly obtained may not be completely the three-dimensional data of the obscured area, but may also be the three-dimensional data of materials such as gums covering the obscured area. Therefore, the initial three-dimensional data needs to be post-processed to accurately determine the data belonging to the obscured area.

[0049] In this embodiment, the initial 3D data is determined by 3D scanning data acquired by a 3D scanner's camera at different scanning postures. Therefore, different points in the initial 3D data correspond to different phase planes. Therefore, each point in the initial 3D data can be converted to the same phase plane, and the depth value of each point in the initial 3D data can be determined based on the same phase plane.

[0050] S140 : Process the initial three-dimensional data based on the depth value to obtain target three-dimensional data of the blocked area.

[0051] In actual application, the depth difference between each point in the occluded area is small, and the depth difference between the point in the occluded area and the point covered by the gum or other material is large. Based on this, this embodiment can use but is not limited to the following methods to determine the target three-dimensional data of the prepared tooth:

[0052] S1401, obtaining a reference point from the initial three-dimensional data according to the depth value of each point in the initial three-dimensional data, and using all points in the initial three-dimensional data except the reference point as points to be processed, wherein the reference point is a point in the occluded area;

[0053] S1402 : Determine target three-dimensional data from the initial three-dimensional data based on the depth value of the to-be-processed point and the depth value of the reference point in the initial three-dimensional data.

[0054] For S1401, the reference point can be the point with the largest depth value in the initial 3D data, the point with the second largest depth value, or a point with a depth value that is a preset ratio of the maximum depth value, without limitation. Optionally, the preset ratio can be 10%, 20%, or other data.

[0055] Among them, S1402 specifically includes: calculating the depth difference between the depth value of the point to be processed and the depth value of the reference point; selecting a point whose depth difference is less than or equal to a preset depth threshold from the points to be processed as a target point; and determining the target point and the reference point as target three-dimensional data.

[0056] The preset depth threshold can be set based on experience.

[0057] Optionally, when the blocked area is the neck edge shoulder area and the initial three-dimensional data is initial neck edge shoulder data, the target three-dimensional data is target neck edge shoulder data.

[0058] It can be understood that if the depth difference between the depth value of the point to be processed and the depth value of the reference point is less than or equal to the preset depth threshold, it means that the point to be processed belongs to a point in the occluded area, and the point to be processed is used as the target point, and the target point and the reference point are used as target three-dimensional data; on the contrary, if the depth difference between the depth value of the point to be processed and the depth value of the reference point is greater than the preset depth threshold, it means that the point to be processed does not belong to a point in the occluded area, and the point to be processed is eliminated.

[0059] Through the above method, a reference point can be determined from the occluded area, and based on the depth difference between the point to be processed other than the reference point and the reference point, it can be determined whether the point to be processed also belongs to the point in the occluded area, thereby realizing the accurate determination of the target three-dimensional data belonging to the occluded area based on the depth value of each point in the initial three-dimensional data.

[0060] A three-dimensional data acquisition method of an embodiment of the present disclosure acquires three-dimensional scanning data of the prepared tooth in the process of eliminating occlusion factors of the occluded area corresponding to the prepared tooth, wherein the occluded area is excluded by an auxiliary device on the three-dimensional scanner; based on the three-dimensional scanning data, initial three-dimensional data of the occluded area corresponding to the prepared tooth is determined; the depth value of each point in the initial three-dimensional data is determined; and the initial three-dimensional data is processed based on the depth value to obtain target three-dimensional data of the occluded area. Thus, in the process of eliminating occlusion factors of the occluded area corresponding to the prepared tooth using the auxiliary device, the target three-dimensional data of the occluded area is determined based on the depth value of each point in the scanned initial three-dimensional data of the prepared tooth. In this way, there is no need to perform tooth arrangement operations on the occluded area for the user, which avoids causing discomfort to the user, while also ensuring the efficiency and accuracy of the acquisition of the three-dimensional data of the occluded area.

[0061] In another embodiment of the present disclosure, a method for determining the depth value of each point in the initial three-dimensional data is explained in detail.

[0062] FIG3 shows a schematic flow chart of S130 in an embodiment of the present disclosure.

[0063] As shown in FIG3 , a specific implementation method of S130 may include the following steps.

[0064] S310: Determine key frame data from the initial three-dimensional data, and use data other than the key frame data in the initial three-dimensional data as non-key frame data.

[0065] Since the non-key frame data is data other than the key frame data in the initial three-dimensional data, the non-key frame data can also be understood as single frame data associated with the key frame data.

[0066] In some embodiments, the method for determining key frame data specifically includes: determining the key frame data from the initial three-dimensional data based on a timestamp carried by the initial three-dimensional data.

[0067] Specifically, the initial 3D data may include data from multiple consecutive timestamps (e.g., 10s), and each timestamp may include multiple frames of data. A frame of data may be randomly selected from each timestamp as the key frame for that timestamp, thereby determining the key frame data in the initial 3D data. Alternatively, the first frame of data, the last frame of data, or any intermediate frame of data may be selected from each timestamp as the key frame for that timestamp, thereby determining the key frame data in the initial 3D data.

[0068] In other embodiments, key frame data is determined from the initial three-dimensional data based on coordinate data of each point in the initial three-dimensional data.

[0069] Specifically, based on the coordinate data of each point in the initial 3D data, a frame of data is selected as the key frame data at each specific distance along the x-axis, y-axis, or z-axis. Optionally, the specific distance can be a predetermined empirical value or determined based on the scanning trajectory of the 3D scanner.

[0070] In some further embodiments, key frame data is determined from the initial three-dimensional data based on consensus feature points carried by the initial three-dimensional data.

[0071] Specifically, one or more frames of data carrying different consensus point features are selected from the initial three-dimensional data as key frame data, or one or more frames of data carrying a preset number of different consensus point features are selected from the initial three-dimensional data as key frame data.

[0072] S320 : Determine the depth value of each point in the initial three-dimensional data based on the viewing angle phase plane corresponding to the key frame data and the non-key frame data.

[0073] In this embodiment, optionally, S320 specifically includes the following steps:

[0074] S3201, converting non-key frame data from the world coordinate system to the key frame coordinate system corresponding to the key frame data;

[0075] S3202: Determine a first parameter corresponding to the keyframe data, and determine a second parameter corresponding to the non-keyframe data, wherein the first parameter includes a first intrinsic parameter and a first extrinsic parameter when the camera of the 3D scanner acquires the keyframe data, and the second parameter includes a second intrinsic parameter and a second extrinsic parameter when the camera of the 3D scanner acquires the non-keyframe data;

[0076] S3203: Based on the first parameter and the second parameter, convert the non-key frame data in the key frame coordinate system to the viewing angle phase plane corresponding to the key frame data;

[0077] S3204: Determine the first depth value of each point in the keyframe data and the second depth value of each point in the non-keyframe data on the viewing angle phase plane, and use the first depth value and the second depth value as the depth value of each point in the initial three-dimensional data.

[0078] The keyframe coordinate system can be understood as the camera coordinate system of the 3D scanner camera when capturing keyframes. Specifically, in S3201, based on the first intrinsic parameter and the first extrinsic parameter used by the 3D scanner camera when capturing keyframe data, and the second intrinsic parameter and the second extrinsic parameter used by the 3D scanner camera when capturing non-keyframe data, the non-keyframe data is converted from the world coordinate system to the keyframe coordinate system corresponding to the keyframe data.

[0079] The perspective phase plane corresponding to the keyframe data can be understood as the pixel coordinate system corresponding to the keyframe. Specifically, after determining the first and second parameters, the non-keyframe data in the keyframe coordinate system can be reprojected onto the perspective phase plane corresponding to the keyframe data based on the first and second parameters, so that the first depth value and the second depth value of each point in the keyframe data are calculated on the perspective phase plane to obtain the depth value of each point in the initial three-dimensional data.

[0080] Therefore, firstly, key frame data and non-key frame data are determined from the initial three-dimensional data, and the key frame data and non-key frame data are subjected to coordinate transformation to determine the depth value of each point in the initial three-dimensional data to ensure the accuracy of the depth value.

[0081] In order to further improve the efficiency of determining the depth value and thereby improve the efficiency of determining the target three-dimensional data, before S3201, the method further includes:

[0082] Determine the overlapping area of ​​non-key frame data and key frame data;

[0083] Accordingly, S3201 specifically includes: converting the non-key frame data in the overlapping area from the world coordinate system to the key frame coordinate system;

[0084] Accordingly, S3203 specifically includes: based on the first parameter and the second parameter, converting the non-key frame data in the overlapping area in the key frame coordinate system to the perspective phase plane corresponding to the key frame data;

[0085] Accordingly, S3204 specifically includes: determining, on the viewing angle phase plane, a first depth value of each point in the key frame data within the overlapping area and a second depth value of each point in the non-key frame data within the overlapping area.

[0086] The overlapping area can be understood as a partial area of ​​non-key frame data that can be seen in key frame data, or can be understood as a partial area of ​​key frame data that can be seen in non-key frame data.

[0087] In one embodiment, the method for determining the overlapping area includes: determining the overlapping area according to an overlapping ratio between all key frame data and non-key frame data.

[0088] In another case, a method for determining an overlapping area includes: determining, in a world coordinate system, first coordinate data of each point in the key frame data and second coordinate data of each point in the non-key frame data; determining a first center point of the key frame data and a second center point of the non-key frame data based on the first coordinate data and the second coordinate data of each point, and determining a first distribution range of the key frame data and a second distribution range of the non-key frame data; calculating a first distance between the first center point and the second center point in the world coordinate system based on the first coordinate data of the first center point and the second coordinate data of the second center point; and determining an overlapping area of ​​the non-key frame data and the key frame data based on the first distance, the first distribution range, and the second distribution range in the world coordinate system.

[0089] In another case, a method for determining an overlapping area includes: converting keyframe data and non-keyframe data from a world coordinate system to a keyframe camera coordinate system or a non-keyframe camera coordinate system; determining third coordinate data of each point in the keyframe data and fourth coordinate data of each point in the non-keyframe data in the keyframe camera coordinate system or the non-keyframe camera coordinate system; determining a third center point of the keyframe data and a fourth center point of the non-keyframe data based on the third coordinate data and the fourth coordinate data of each point, and determining a third distribution range of the keyframe data and a fourth distribution range of the non-keyframe data; calculating a second distance between the third center point and the fourth center point in the keyframe camera coordinate system or the non-keyframe camera coordinate system based on the third coordinate data of the third center point and the fourth coordinate data of the fourth center point; determining an overlapping area of ​​the non-keyframe data and the keyframe data based on the second distance, the third distribution range and the fourth distribution range in the keyframe camera coordinate system or the non-keyframe camera coordinate system.

[0090] In this way, only the coordinates of the overlapping area between the key frame and the non-key frame need to be changed, so that the first depth value of each point in the key frame data and the second depth value of each point in the key frame data can be determined in the viewing angle phase plane corresponding to the key frame data, thereby achieving the effect of quickly determining the depth value of each point in the initial three-dimensional data based only on the overlapping area.

[0091] The present disclosure also provides a 3D data acquisition device for implementing the above-mentioned 3D data acquisition method, which is described below in conjunction with FIG4 . In the present disclosure, the 3D data acquisition device can be an electronic device. The electronic device can include a tablet computer, desktop computer, laptop computer, or other device with communication capabilities, as well as a device simulated by a virtual machine or simulator.

[0092] FIG4 shows a schematic structural diagram of a three-dimensional data acquisition device provided by an embodiment of the present disclosure.

[0093] As shown in FIG4 , the three-dimensional data acquisition device 400 may include:

[0094] A first acquisition module 410 is configured to acquire three-dimensional scanning data of the prepared tooth while excluding an occlusion factor of an occluded area corresponding to the prepared tooth, wherein the occluded area is excluded by an auxiliary device on the three-dimensional scanner;

[0095] A first determining module 420 is configured to determine initial three-dimensional data of the blocked area corresponding to the prepared tooth based on the three-dimensional scanning data;

[0096] A second determination module 430 is configured to determine a depth value of each point in the initial three-dimensional data;

[0097] The second acquisition module 440 is configured to process the initial three-dimensional data based on the depth value to obtain target three-dimensional data of the blocked area.

[0098] A three-dimensional data acquisition device according to an embodiment of the present disclosure acquires three-dimensional scanning data of the prepared tooth in the process of eliminating occlusion factors of the occluded area corresponding to the prepared tooth, wherein the occluded area is excluded by an auxiliary device on the three-dimensional scanner; determines initial three-dimensional data of the occluded area corresponding to the prepared tooth based on the three-dimensional scanning data; determines the depth value of each point in the initial three-dimensional data; and processes the initial three-dimensional data based on the depth value to obtain target three-dimensional data of the occluded area. Thus, in the process of eliminating occlusion factors of the occluded area corresponding to the prepared tooth using the auxiliary device, the target three-dimensional data of the occluded area is determined based on the depth value of each point in the scanned initial three-dimensional data of the prepared tooth. In this way, there is no need to perform tooth arrangement operations on the occluded area for the user, thereby avoiding discomfort to the user, while also ensuring the efficiency and accuracy of the acquisition of the three-dimensional data of the occluded area.

[0099] In some embodiments of the present disclosure, the first determining module 420 includes:

[0100] a reconstruction unit configured to reconstruct the three-dimensional scanning data to generate a three-dimensional reconstructed model of the prepared tooth;

[0101] a first determining unit configured to determine the blocked area in response to an area determination operation on the three-dimensional reconstructed model, and use the three-dimensional scanning data within the blocked area as the initial three-dimensional data; and / or

[0102] The second determining unit is configured to use a pre-trained recognition model to identify the blocked area from the three-dimensional reconstruction model, and use the three-dimensional scanning data located in the blocked area as the initial three-dimensional data.

[0103] In some embodiments of the present disclosure, the second determining module 430 includes:

[0104] a third determining unit configured to determine key frame data from the initial three-dimensional data, and use data other than the key frame data in the initial three-dimensional data as non-key frame data;

[0105] The fourth determining unit is configured to determine a depth value of each point in the initial three-dimensional data based on the viewing angle phase plane corresponding to the key frame data and the non-key frame data.

[0106] In some embodiments of the present disclosure, the third determining unit is specifically configured to:

[0107] determining the key frame data from the initial three-dimensional data based on a timestamp carried by the initial three-dimensional data; and / or,

[0108] determining the key frame data from the initial three-dimensional data based on coordinate data of each point in the initial three-dimensional data; and / or,

[0109] The key frame data is determined from the initial three-dimensional data based on the consensus feature points carried by the initial three-dimensional data.

[0110] In some embodiments of the present disclosure, the fourth determining unit is specifically configured to:

[0111] Converting the non-key frame data from a world coordinate system to a key frame coordinate system corresponding to the key frame data;

[0112] Determining a first parameter corresponding to the keyframe data, and determining a second parameter corresponding to the non-keyframe data, wherein the first parameter includes a first intrinsic parameter and a first extrinsic parameter when the camera of the 3D scanner acquires the keyframe data, and the second parameter includes a second intrinsic parameter and a second extrinsic parameter when the camera of the 3D scanner acquires the non-keyframe data;

[0113] Based on the first parameter and the second parameter, converting the non-key frame data in the key frame coordinate system to a viewing angle phase plane corresponding to the key frame data;

[0114] In the viewing phase plane, a first depth value of each point in the key frame data and a second depth value of each point in the non-key frame data are determined, and the first depth value and the second depth value are used as the depth value of each point in the initial three-dimensional data.

[0115] In some embodiments of the present disclosure, the second determining module 430 further includes:

[0116] The fifth determining unit is configured to determine an overlapping area between the non-key frame data and the key frame data.

[0117] In some embodiments of the present disclosure, the fourth determining unit is specifically configured to: transform the non-key frame data in the overlapping area from the world coordinate system to the key frame coordinate system;

[0118] Based on the first parameter and the second parameter, converting the non-key frame data in the overlapping area in the key frame coordinate system to a perspective phase plane corresponding to the key frame data;

[0119] In the viewing angle phase plane, a first depth value of each point in the key frame data within the overlapping area and a second depth value of each point in the non-key frame data within the overlapping area are determined.

[0120] In some embodiments of the present disclosure, the second acquisition module 440 includes:

[0121] a sixth determining unit configured to obtain a reference point from the initial three-dimensional data based on a depth value of each point in the initial three-dimensional data, and to use other points in the initial three-dimensional data except the reference point as points to be processed, wherein the reference point is a point in the occluded area;

[0122] The seventh determining unit is configured to determine the target three-dimensional data from the initial three-dimensional data based on the depth value of the to-be-processed point in the initial three-dimensional data and the depth value of the reference point.

[0123] In some embodiments of the present disclosure, the seventh determining unit is specifically configured to:

[0124] Calculating the depth difference between the depth value of the point to be processed and the depth value of the reference point;

[0125] Selecting a point whose depth difference is less than or equal to a preset depth threshold from the points to be processed as a target point;

[0126] The target point and the reference point are determined as the target three-dimensional data.

[0127] In some embodiments of the present disclosure, the blocked area is a neck shoulder area, the initial three-dimensional data is initial neck shoulder data, and the target three-dimensional data is target neck shoulder data.

[0128] It should be noted that the three-dimensional data acquisition device 400 shown in Figure 4 can execute the various steps in the method embodiments shown in Figures 1 to 3, and realize the various processes and effects in the method embodiments shown in Figures 1 to 3, which will not be repeated here.

[0129] FIG5 shows a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.

[0130] As shown in FIG5 , the electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0131] Specifically, the processor 501 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0132] Memory 502 may include a large-capacity memory for storing information or instructions. By way of example, and not limitation, memory 502 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway device. In certain embodiments, memory 502 is non-volatile solid-state memory. In certain embodiments, memory 502 includes read-only memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0133] The processor 501 reads and executes the computer program instructions stored in the memory 502 to perform the steps of the three-dimensional data acquisition method provided in the embodiment of the present disclosure.

[0134] In one example, the electronic device may further include a transceiver 503 and a bus 504. As shown in FIG5, the processor 501, the memory 502 and the transceiver 503 are connected via the bus 504 and communicate with each other.

[0135] Bus 504 includes hardware, software or both. For example, and not limitation, bus may include Accelerated Graphics Port (AGP) or other graphics bus, Extended Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), Hyper Transport (HT) interconnection, Industrial Standard Architecture (ISA) bus, InfiniBand interconnection, Low Pin Count (LPC) bus, memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local Bus (VLB) bus or other suitable bus or two or more of these combinations. Where appropriate, bus 504 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0136] The following is an embodiment of a computer-readable storage medium provided in an embodiment of the present disclosure. The computer-readable storage medium and the three-dimensional data acquisition method of the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiment of the computer-readable storage medium, please refer to the embodiment of the above-mentioned three-dimensional data acquisition method.

[0137] This embodiment provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions implement a three-dimensional data acquisition method. The method includes:

[0138] In the process of eliminating occlusion factors of an obstructed area corresponding to the prepared tooth, three-dimensional scanning data of the prepared tooth is obtained, wherein the obstructed area is eliminated by auxiliary equipment on the three-dimensional scanner;

[0139] Determining initial three-dimensional data of an obscured area corresponding to the prepared tooth based on the three-dimensional scanning data;

[0140] Determining the depth value of each point in the initial three-dimensional data;

[0141] The initial three-dimensional data is processed based on the depth value to obtain target three-dimensional data of the blocked area.

[0142] Of course, the computer executable instructions of the storage medium provided by the embodiment of the present disclosure are not limited to the above method operations, but can also execute related operations in the three-dimensional data acquisition method provided by any embodiment of the present disclosure.

[0143] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present disclosure can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented with hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the existing technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., and includes a number of instructions for enabling a computer cloud platform (which can be a personal computer, server, or network cloud platform, etc.) to execute the three-dimensional data acquisition method provided by each embodiment of the present disclosure.

[0144] Note that the above are only preferred embodiments of the present disclosure and the technical principles employed. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims. Industrial Applicability

[0145] The three-dimensional data acquisition method provided by the present invention determines the target three-dimensional data of the occluded area according to the depth value of each point in the scanned initial three-dimensional data of the prepared tooth in the process of using auxiliary equipment to eliminate the occlusion factors of the occluded area corresponding to the prepared tooth. Therefore, there is no need to perform tooth arrangement operations on the user, which not only avoids discomfort to the user, but also ensures the efficiency and accuracy of the acquisition of the three-dimensional data of the occluded area, and has strong industrial applicability.

Claims

1. A three-dimensional data acquisition method, wherein: include: In the process of eliminating the occlusion factor of the occluded area corresponding to the prepared tooth, obtaining three-dimensional scanning data of the prepared tooth, wherein the occluded area is excluded by the auxiliary equipment on the three-dimensional scanner; Based on the three-dimensional scanning data, determining initial three-dimensional data of the blocked area corresponding to the prepared tooth; Determining the depth value of each point in the initial three-dimensional data; The initial three-dimensional data is processed based on the depth value to obtain target three-dimensional data of the blocked area.

2. The method according to claim 1, wherein: The determining, based on the three-dimensional scanning data, initial three-dimensional data of the blocked area corresponding to the prepared tooth comprises: Reconstructing the three-dimensional scanning data to generate a three-dimensional reconstruction model of the prepared tooth; In response to the region determination operation on the three-dimensional reconstructed model, the blocked region is determined, and the three-dimensional scanning data located in the blocked region is used as the initial three-dimensional data; and / or, The blocked area is identified from the three-dimensional reconstruction model using a pre-trained recognition model, and the three-dimensional scanning data located in the blocked area is used as the initial three-dimensional data.

3. The method according to claim 1, wherein: Determining the depth value of each point in the initial three-dimensional data includes: Determining key frame data from the initial three-dimensional data, and using data other than the key frame data in the initial three-dimensional data as non-key frame data; Determine the depth value of each point in the initial three-dimensional data based on the viewing angle phase plane corresponding to the key frame data and the non-key frame data.

4. The method according to claim 3, wherein: The step of determining key frame data from the initial three-dimensional data comprises: determining the key frame data from the initial three-dimensional data based on a timestamp carried by the initial three-dimensional data; and / or, determining the key frame data from the initial three-dimensional data based on the coordinate data of each point in the initial three-dimensional data; and / or, The key frame data is determined from the initial three-dimensional data based on the consensus feature points carried by the initial three-dimensional data.

5. The method according to claim 3, wherein: The determining the depth value of each point in the initial three-dimensional data based on the viewing angle phase plane corresponding to the key frame data and the non-key frame data includes: Converting the non-key frame data from a world coordinate system to a key frame coordinate system corresponding to the key frame data; Determine a first parameter corresponding to the key frame data, and determine a second parameter corresponding to the non-key frame data, wherein the first parameter includes a first internal parameter and a first external parameter when the camera of the three-dimensional scanner collects the key frame data, and the second parameter includes a second internal parameter and a second external parameter when the camera of the three-dimensional scanner collects the non-key frame data; Based on the first parameter and the second parameter, converting the non-key frame data in the key frame coordinate system to a viewing angle phase plane corresponding to the key frame data; In the perspective phase plane, determine the first depth value of each point in the key frame data and the first depth value of each point in the non-key frame data The first depth value and the second depth value are used as the depth value of each point in the initial three-dimensional data.

6. The method according to claim 5, wherein: Before converting the non-key frame data from the world coordinate system to the key frame coordinate system corresponding to the key frame data, the method further includes: An overlapping area between the non-key frame data and the key frame data is determined.

7. The method according to claim 6, wherein: The converting the non-key frame data from the world coordinate system to the key frame coordinate system corresponding to the key frame data includes: Converting the non-key frame data in the overlapping area from the world coordinate system to the key frame coordinate system; Correspondingly, the converting the non-key frame data in the key frame coordinate system to the viewing angle phase plane corresponding to the key frame data based on the first parameter and the second parameter includes: Based on the first parameter and the second parameter, converting the non-key frame data in the overlapping area in the key frame coordinate system to the viewing angle phase plane corresponding to the key frame data; Accordingly, determining the first depth value of each point in the key frame data and the second depth value of each point in the non-key frame data in the viewing angle phase plane includes: In the viewing angle phase plane, a first depth value of each point in the key frame data in the overlapping area and a second depth value of each point in the non-key frame data in the overlapping area are determined.

8. The method according to claim 1, wherein: The processing of the initial three-dimensional data based on the depth value to obtain target three-dimensional data of the blocked area includes: According to the depth value of each point in the initial three-dimensional data, a reference point is obtained from the initial three-dimensional data, and other points in the initial three-dimensional data except the reference point are used as points to be processed, wherein the reference point belongs to a point in the blocked area; The target three-dimensional data is determined from the initial three-dimensional data based on the depth value of the to-be-processed point in the initial three-dimensional data and the depth value of the reference point.

9. The method according to claim 8, wherein: The determining the target three-dimensional data from the initial three-dimensional data based on the depth value of the to-be-processed point in the initial three-dimensional data and the depth value of the reference point comprises: Calculating the depth difference between the depth value of the point to be processed and the depth value of the reference point; Selecting a point whose depth difference is less than or equal to a preset depth threshold from the points to be processed as a target point; The target point and the reference point are determined as the target three-dimensional data.

10. The method according to any one of claims 1 to 9, wherein: The blocked area is a neck edge shoulder area, the initial three-dimensional data is initial neck edge shoulder data, and the target three-dimensional data is target neck edge shoulder data.

11. A three-dimensional data acquisition device, wherein: include: A first acquisition module is configured to acquire three-dimensional scanning data of the prepared tooth in a process of excluding an occlusion factor of an occluded area corresponding to the prepared tooth, wherein the occluded area is excluded by an auxiliary device on the three-dimensional scanner; A first determination module is configured to determine initial three-dimensional data of an obstructed area corresponding to the prepared tooth based on the three-dimensional scanning data; A second determination module is configured to determine a depth value of each point in the initial three-dimensional data; The second acquisition module is configured to process the initial three-dimensional data based on the depth value to obtain target three-dimensional data of the blocked area.

12. An electronic device, wherein: include: A processor, a memory, and instructions stored in the memory and executable by the processor; The processor reads the instruction from the memory, and implements the method described in any one of claims 1 to 10 when executing the instruction.

13. A computer-readable storage medium having a computer program stored thereon, wherein: The storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method according to any one of claims 1 to 10.

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