Method for processing three-dimensional scanning data, three-dimensional scanning method, apparatus, device, and storage medium

Abstract

A method for processing three-dimensional scanning data, comprising: acquiring a first coordinate set sequence obtained by measuring a first target sphere group when a target optical tracker is at a plurality of different target positions, wherein the position of the first target sphere group remains unchanged (S110); acquiring a second coordinate set sequence obtained by a laser tracker measuring a second target sphere group when the target optical tracker is at the plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position between the second target sphere group and the target optical tracker remains unchanged (S120); and on the basis of the first coordinate set sequence and the second coordinate set sequence, determining a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker (S130). Thus, the technical effect of improving the accuracy of repositioning-based expansion can be achieved. In addition, further provided are a three-dimensional scanning method, an apparatus, a device, and a storage medium.

Description

Three-dimensional scanning data processing method, three-dimensional scanning method, device, equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 25, 2024, with application number 202410109933.8 and invention name “Three-dimensional scanning data processing method, three-dimensional scanning method, device, equipment and storage medium”, the entire content of which is incorporated by reference into this application. Technical Field

[0002] The embodiments of the present disclosure relate to the field of computer technology, and in particular to a method for processing three-dimensional scanning data, a three-dimensional scanning method, an apparatus, a device, and a storage medium. Background Art

[0003] Optical trackers can accurately track and position scanners in three dimensions in real time, and are primarily used for large-scale 3D scanning in industries such as aerospace, automotive, shipbuilding, and energy. Optical trackers are limited by their principle and have a fixed field of view (i.e., the spatial cone range constraint). If tracking and positioning the scanner outside of this field of view is required during use, common landmarks must be set on or around the scanned object. The coordinates of these common landmarks can be used to unify the optical tracker's coordinate system before and after movement, enabling station expansion.

[0004] However, if the public markers are displaced relative to the scanned object, or if they are improperly placed (for example, within a small area of ​​the field of view), resulting in weak spatial constraints, this can reduce station-turning accuracy. Furthermore, when the scanned object is large, the optical tracker must move its position multiple times, necessitating multiple station-turning extensions. This leads to the accumulation of station-turning extension errors. Therefore, station-turning extensions based on public markers have low accuracy. Currently, there is no effective solution to this problem. Technical issues

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the embodiments of the present disclosure provide a method, apparatus, device and storage medium for processing three-dimensional scanning data. Technical Solutions

[0006] A first aspect of an embodiment of the present disclosure provides a method for processing three-dimensional scanning data, the method comprising:

[0007] Acquire a first coordinate set sequence obtained by measuring a first target sphere group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target sphere group remains unchanged;

[0008] Acquire a second coordinate set sequence obtained by measuring the second target sphere group with the laser tracker when the target optical tracker is at the plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target sphere group and the target optical tracker remains unchanged;

[0009] A target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker is determined based on the first coordinate set sequence and the second coordinate set sequence.

[0010] A second aspect of the present disclosure provides a three-dimensional scanning method, the method comprising:

[0011] A first coordinate set sequence is obtained by measuring a first target sphere group while the target optical tracker is at a plurality of different target positions, and a second coordinate set sequence is obtained by measuring a second target sphere group while the target optical tracker is at a plurality of different target positions using a laser tracker, wherein the position of the first target sphere group remains unchanged, and the relative position of the second target sphere group to the target optical tracker remains unchanged;

[0012] The laser tracker is used to measure the second target ball group when the target optical tracker is in the pre-transfer position to obtain a third coordinate set, and the scanner is used to scan the scanned object when the target optical tracker is in the pre-transfer position to obtain first scanning data.

[0013] The laser tracker is used to measure the second target ball group when the target optical tracker is in the post-transfer position to obtain a fourth coordinate set, and the scanner is used to scan the scanned object when the target optical tracker is in the post-transfer position to obtain second scanning data.

[0014] A third aspect of the embodiments of the present disclosure provides a device for processing three-dimensional scanning data, the device comprising:

[0015] a first acquisition module, configured to acquire a first coordinate set sequence obtained by measuring a first target sphere group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target sphere group remains unchanged;

[0016] a second acquisition module, configured to acquire a second coordinate set sequence obtained by measuring a second target sphere group with a laser tracker when the target optical tracker is at the plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target sphere group and the target optical tracker remains unchanged;

[0017] The first determining module is configured to determine a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0018] A third aspect of the present disclosure provides a three-dimensional scanning device, the device comprising:

[0019] a first measurement module, configured to, while keeping the laser tracker stationary, measure a first target sphere group by using the target optical tracker when the target optical tracker is at a plurality of different target positions to obtain a first coordinate set sequence, and to measure a second target sphere group by using the laser tracker when the target optical tracker is at a plurality of different target positions to obtain a second coordinate set sequence, wherein the position of the first target sphere group remains unchanged, and the relative position of the second target sphere group to the target optical tracker remains unchanged;

[0020] a first scanning module, configured to measure the second target sphere group by a laser tracker when the target optical tracker is in a pre-transfer position to obtain a third coordinate set, and to scan the scanned object by a scanner when the target optical tracker is in a pre-transfer position to obtain first scanning data;

[0021] The second scanning module is used to measure the second target ball group by a laser tracker when the target optical tracker is in the post-transfer position to obtain a fourth coordinate set, and to scan the scanned object by a scanner when the target optical tracker is in the post-transfer position to obtain second scanning data.

[0022] A fifth aspect of an embodiment of the present disclosure provides an electronic device, which includes: a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method of the first aspect above.

[0023] A sixth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of the first aspect described above can be implemented. Beneficial effects

[0024] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0025] In an embodiment of the present disclosure, a first coordinate set sequence is obtained by measuring a first target sphere group with a target optical tracker when the target optical tracker is at a plurality of different target positions, wherein the position of the first target sphere group remains unchanged; a second coordinate set sequence is obtained by measuring a second target sphere group with a laser tracker when the target optical tracker is at a plurality of different target positions, wherein the position of the laser tracker remains unchanged and the relative position of the second target sphere group and the target optical tracker remains unchanged; and a target transformation matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker is determined based on the first coordinate set sequence and the second coordinate set sequence. It can be seen that by adopting the above technical solution, a second coordinate set sequence with higher accuracy can be obtained by using the laser tracker, and then a target transformation matrix with higher accuracy can be determined between the coordinate system of the target optical tracker and the coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence with higher accuracy. In this way, when the target optical tracker tracks the movement of the scanner from one position to another, high-precision transfer expansion can be achieved based on the high-precision target matrix without the need for common markers, thereby improving transfer accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] 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.

[0028] FIG1 is a flow chart of a method for processing three-dimensional scanning data provided by an embodiment of the present disclosure;

[0029] FIG2 is a scene diagram for determining a target transformation matrix provided by an embodiment of the present disclosure;

[0030] FIG3 is a flowchart of another method for processing three-dimensional scanning data provided by an embodiment of the present disclosure;

[0031] FIG4 is a scene diagram of a three-dimensional scan provided by an embodiment of the present disclosure;

[0032] FIG5 is a flow chart of a three-dimensional scanning method provided by an embodiment of the present disclosure;

[0033] FIG6 is a schematic structural diagram of a device for processing three-dimensional scanning data provided by an embodiment of the present disclosure;

[0034] FIG7 is a schematic structural diagram of a three-dimensional scanning device provided by an embodiment of the present disclosure;

[0035] FIG8 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure. Modes for Carrying Out the Invention

[0036] 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.

[0037] 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.

[0038] FIG1 is a flow chart of a method for processing three-dimensional scan data provided by an embodiment of the present disclosure. The method can be performed by an electronic device. The electronic device can be exemplarily understood as a device such as an optical tracker, a laser tracker, a scanner, a mobile phone, a tablet computer, a laptop computer, a desktop computer, a smart TV, etc. As shown in FIG1 , the method provided by this embodiment includes the following steps:

[0039] S110 , obtaining a first coordinate set sequence obtained by measuring a first target sphere group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target sphere group remains unchanged.

[0040] S120. Acquire a second coordinate set sequence obtained by measuring the second target sphere group with the laser tracker when the target optical tracker is at a plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target sphere group and the target optical tracker remains unchanged.

[0041] Specifically, the first target ball group includes a plurality of first target balls, and the positions of the first target balls relative to the ground remain unchanged.

[0042] Optionally, the first target ball group can be set on the ground. Specifically, the first target ball is fixed on the ground by a target seat. In this way, the difficulty of setting up the first target ball group can be reduced.

[0043] Alternatively, the first target sphere set can be mounted on another optical tracker, which remains in a fixed position. Specifically, when performing 3D scanning on large objects, multiple optical trackers are often required to track and position the scanners. Therefore, the first target sphere can be mounted on an optical tracker other than the target optical tracker, which remains fixed relative to the ground. This allows the first target sphere set to remain in place after a 3D scan, allowing it to be used directly for the next 3D scan without reinstallation, saving labor costs.

[0044] Specifically, the second target ball group includes a plurality of second target balls, and the positions of the second target balls relative to the target optical tracker remain unchanged.

[0045] Optionally, the second target sphere group is positioned atop the target optical tracker. Specifically, the second target spheres are evenly distributed atop the target optical tracker using a target mount. This reduces the risk of the second target sphere group being obscured, effectively exposing the second target sphere group to the laser tracker, and facilitating the laser tracker's acquisition of the coordinates of each second target sphere in the second target sphere group. Furthermore, this ensures that the second target sphere group moves with the target optical tracker, ensuring that the second target spheres remain in a fixed position relative to the target optical tracker.

[0046] In an embodiment of the present disclosure, to obtain a target transformation matrix between the coordinate system of a target optical tracker and the coordinate system of a laser tracker, a first target sphere group and a second target sphere group are first set. Then, while the laser tracker maintains its position relative to the ground, the target optical tracker is repeatedly moved so that it sequentially passes through a plurality of different target positions (the number of target positions is greater than or equal to 3). At each target position, the target optical tracker can perform coordinate measurements on the first target sphere group to obtain a first coordinate set corresponding to the target position, where the first coordinate set includes the first coordinate of each first target sphere in the first target sphere group. Furthermore, the laser tracker can perform coordinate measurements on the second target sphere group to obtain a second coordinate set corresponding to the target position, where the second coordinate set includes the second coordinate of each second target sphere in the second target sphere group. The multiple first coordinate sets corresponding to the multiple different target positions constitute a first coordinate sequence, and the multiple second coordinate sets corresponding to the multiple different target positions constitute a second coordinate sequence. It should be noted that the electronic device can receive the first coordinate set sequence transmitted by the target optical tracker and the second coordinate set sequence transmitted by the laser tracker. Of course, the first coordinate set sequence and the second coordinate set sequence may also be stored in a storage device (eg, a USB flash drive). In this case, the electronic device may read the first coordinate set sequence and the second coordinate set sequence from the storage device.

[0047] For example, FIG2 is a scene diagram for determining a target transformation matrix provided by an embodiment of the present disclosure. As shown in FIG2 , first, the first target ball group BQ1 is fixed on the ground, and the second target ball group BQ2 is evenly fixed on the top of the target optical tracker GX. Then, while the laser tracker JG remains unchanged relative to the ground, the target optical tracker GX is moved twice in succession so that the target optical tracker GX passes through three different target positions S1, S2, and S3 in sequence. When the target optical tracker GX is at the target position S1, the target optical tracker GX can measure the first target ball group BQ1 to obtain a first coordinate set P11 corresponding to the target position S1, and the laser tracker JG can measure the second target ball group BQ2 to obtain a second coordinate set P21 corresponding to the target position S1. Similarly, when the target optical tracker GX moves from target position S1 to target position S2, the target optical tracker GX can measure the first target sphere group BQ1 to obtain a first coordinate set P12 corresponding to target position S2, and the laser tracker JG can measure the second target sphere group BQ2 to obtain a second coordinate set P22 corresponding to target position S2. Similarly, when the target optical tracker GX moves from target position S2 to target position S3, the target optical tracker GX can measure the first target sphere group BQ1 to obtain a first coordinate set P13 corresponding to target position S3, and the laser tracker JG can measure the second target sphere group BQ2 to obtain a second coordinate set P23 corresponding to target position S3. In this way, the electronic device can obtain a first coordinate set sequence including the first coordinate set P11, the first coordinate set P12, and the first coordinate set P13, and can obtain a second coordinate set sequence including the second coordinate set P21, the second coordinate set P22, and the second coordinate set P23.

[0048] S130 : Determine a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0049] The target transformation matrix is ​​used to unify the first scan data and the second scan data into the same coordinate system. The first scan data is obtained by scanning the scanned object when the target optical tracker is in the pre-transfer position, and the second scan data is obtained by scanning the scanned object when the target optical tracker is in the post-transfer position.

[0050] In some embodiments, S130 may include: S131, for two first coordinate sets corresponding to two adjacent target positions in the first coordinate set sequence, determining a first transformation matrix corresponding to the two adjacent target positions based on the two first coordinate sets; S132, for two second coordinate sets corresponding to two adjacent target positions in the second coordinate set sequence, determining a second transformation matrix corresponding to the two adjacent target positions based on the two second coordinate sets; S133, determining a target transformation matrix based on the first transformation matrix and the second transformation matrix.

[0051] Specifically, the first transformation matrix corresponding to the two target positions refers to the transformation matrix between the optical tracker coordinate system when the target optical tracker is at one target position and the optical tracker coordinate system when the target optical tracker is at another target position. It can also be said that it refers to the position transformation of the first target ball group in the optical tracker coordinate system.

[0052] For example, referring to the previous example, for the first coordinate set sequence including the first coordinate set P11, the first coordinate set P12, and the first coordinate set P13, the first transformation matrix A1 corresponding to the target position S1 and the target position S2 is determined based on the first coordinate set P11 and the first coordinate set P12, and the first transformation matrix A2 corresponding to the target position S2 and the target position S3 is determined based on the first coordinate set P12 and the first coordinate set P13.

[0053] Specifically, the second transformation matrix corresponding to the two target positions refers to a transformation matrix when the target optical tracker is moved from one target position to another target position in the laser tracker coordinate system.

[0054] For example, referring to the previous example, for the second coordinate set sequence including the second coordinate set P21, the second coordinate set P22, and the second coordinate set P23, the second transformation matrix B1 corresponding to the target position S1 and the target position S2 is determined based on the second coordinate set P21 and the second coordinate set P22, and the second transformation matrix B2 corresponding to the target position S2 and the target position S3 is determined based on the second coordinate set P22 and the second coordinate set P23.

[0055] Specifically, the target transformation matrix can be solved based on the hand-eye calibration relationship AX=XB, where A is the first transformation matrix, X is the target transformation matrix, and B is the second transformation matrix.

[0056] For example, referring to the above example, the target transformation matrix is ​​solved jointly based on A1X=XB1 and A2X=XB2.

[0057] Of course, in other embodiments, S130 may include: inputting the first coordinate set sequence and the second coordinate set sequence into a pre-trained first network model, and obtaining the target transformation matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker output by the first network model.

[0058] The disclosed embodiments can utilize a laser tracker to obtain a second coordinate set sequence with higher precision, and then determine a target transformation matrix with higher precision between the coordinate system of the target optical tracker and the coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence with higher precision. In this way, when the target optical tracker moves from one position to another in order to track the movement of the scanner, high-precision transfer expansion can be achieved based on the high-precision target matrix without the aid of common markers, which is conducive to improving transfer accuracy.

[0059] Figure 3 shows a flow chart of another method for processing 3D scanning data provided by an embodiment of the present disclosure. The present disclosure embodiment is optimized based on the above embodiment, and the present disclosure embodiment can be combined with various optional solutions in one or more of the above embodiments.

[0060] As shown in FIG3 , the method for processing three-dimensional scanning data may include the following steps.

[0061] S310: Acquire a first coordinate set sequence obtained by measuring a first target sphere group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target sphere group remains unchanged.

[0062] Specifically, S310 is similar to S110 and will not be described in detail here.

[0063] S320: Acquire a second coordinate set sequence obtained by measuring the second target sphere group with the laser tracker when the target optical tracker is at a plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target sphere group and the target optical tracker remains unchanged.

[0064] Specifically, S320 is similar to S120 and will not be described in detail here.

[0065] S330 : Determine a target transformation matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0066] Specifically, S330 is similar to S130 and will not be described in detail here.

[0067] S340: Acquire a third coordinate set obtained by measuring the second target ball group with the laser tracker when the target optical tracker is in the position before the transfer station.

[0068] S350: Acquire a fourth coordinate set obtained by measuring the second target ball group with the laser tracker when the target optical tracker is in the post-station position.

[0069] In the disclosed embodiment, after obtaining the target transformation matrix, the laser tracker's position relative to the ground is first maintained, that is, the laser tracker remains stationary, and the first target sphere set is removed. Then, while the laser tracker maintains its position relative to the ground, while the target optical tracker is in the pre-transfer position, the laser tracker can measure the coordinates of the second target sphere set to obtain a third coordinate set (the third coordinate set includes the third coordinates of each second target sphere in the second target sphere set). The target optical tracker can then track and position the scanner within the field of view of the scanner in the pre-transfer position, and the scanner can perform a three-dimensional scan of the scanned object. When the scanner moves out of the field of view, the target optical tracker can move from the pre-transfer position to the post-transfer position. When the target optical tracker is in the post-transfer position, the laser tracker can measure the coordinates of the second target sphere set to obtain a fourth coordinate set (the third coordinate set includes the fourth coordinates of each second target sphere in the second target sphere set). The target optical tracker can then track and position the scanner within the field of view of the scanner in the post-transfer position. It should be noted that the electronic device can receive the third and fourth coordinate sets transmitted by the laser tracker. Of course, the third coordinate set and the fourth coordinate set may also be stored in a storage device (such as a USB flash drive). In this case, the electronic device may read the third coordinate set and the fourth coordinate set from the storage device.

[0070] For example, Figure 4 is a scene diagram of a three-dimensional scanning provided by an embodiment of the present disclosure. As shown in Figures 2 and 4, first, the laser tracker JG is kept stationary and the first target ball group BQ1 is removed. Then, while the laser tracker JG remains in a constant position relative to the ground, when the target optical tracker GX is at the pre-transfer position Z1, the laser tracker JG can measure the coordinates of the second target sphere group BQ2 to obtain a third coordinate set P3. The target optical tracker GX can track and locate the scanner SMY within the field of view at the pre-transfer position. The scanner SMY can perform a three-dimensional scan of the scanned object BS. When the scanner SMY moves from position Y1 to position Y2 and out of the field of view, the target optical tracker GX can move from the pre-transfer position Z1 to the post-transfer position Z2. When the target optical tracker GX is at the post-transfer position Z2, the laser tracker JG can measure the coordinates of the second target sphere group BQ2 to obtain a fourth coordinate set P4. The target optical tracker GX can track and locate the scanner SMY within the field of view at the post-transfer position Z2. The scanner SMY can perform a three-dimensional scan of the scanned object BS. In this way, the electronic device can obtain the third coordinate set P3 and the fourth coordinate set P4.

[0071] S360: Determine a third transformation matrix corresponding to the position before and after the transfer based on the third coordinate set, the fourth coordinate set, and the target transformation matrix.

[0072] Specifically, the third transformation matrix is ​​understood as follows: the transformation matrix between the optical tracker coordinate system when the target optical tracker is in the pre-transfer position and the optical tracker coordinate system when the target optical tracker is in the post-transfer position.

[0073] In some embodiments, S360 may include: S361, determining the fourth transformation matrix corresponding to the position before and after the transfer station based on the third coordinate set and the fourth coordinate set; S362, performing an inverse matrix transformation on the target transformation matrix to obtain a target inverse matrix; S363, determining the third transformation matrix based on the fourth transformation matrix, the target transformation matrix, and the target inverse matrix.

[0074] Specifically, the fourth transformation matrix is ​​understood as follows: in the laser tracker coordinate system, it is the transformation matrix when the target optical tracker is moved from the position before the transfer station to the position after the transfer station.

[0075] Exemplarily, referring to the above example, based on the third coordinate set P3 and the fourth coordinate set P4, the fourth transformation matrix T1 corresponding to the pre-transfer position Z1 and the post-transfer position Z2 is determined.

[0076] Specifically, based on T2=X -1 ×T1×X can solve the third transformation matrix. Among them, T1 is the fourth transformation matrix, X is the target transformation matrix, X -1 is the target inverse matrix, and T2 is the third transformation matrix.

[0077] It can be understood that, based on the third transformation matrix, the positions tracked by the scanner before and after the target optical tracker switches stations can be unified into the same optical tracker coordinate system, thereby achieving switch station expansion.

[0078] In some embodiments, optionally, the method further includes: S370, acquiring first scanning data obtained by the scanner when the target optical tracker is in a pre-transfer position on the scanned object; S380, acquiring second scanning data obtained by the scanner when the target optical tracker is in a post-transfer position on the scanned object; S390, unifying the first scanning data and the second scanning data into the same coordinate system based on a third transformation matrix.

[0079] Specifically, the first scanning data is an image frame obtained by the scanner capturing an image of the scanned object when the target optical tracker is at the pre-transfer position.

[0080] Specifically, the second scanning data is an image frame obtained by the scanner capturing an image of the scanned object when the target optical tracker is in the post-transfer position.

[0081] It can be understood that, as described above, based on the third transformation matrix, the position (i.e., posture) tracked by the scanner before and after the target optical tracker turns the station can be unified into the same optical tracker coordinate system. In this way, the first scan data and the second scan data can be spliced ​​based on the posture of the scanner in the same optical tracker coordinate system, thereby unifying the first scan data and the second scan data into the same coordinate system.

[0082] According to the disclosed embodiments, a high-precision laser tracker can be used in conjunction with a target optical tracker to determine the third transformation matrix corresponding to the target optical tracker before and after the station transfer, thereby achieving station transfer expansion. This allows the target optical tracker to transfer stations without the need for markers and with high accuracy. Furthermore, due to the laser tracker's large measurement range (typically up to a radius of 160 meters), it can meet the needs of the target optical tracker for multiple consecutive station transfers, thereby expanding the tracking workspace over a wide range. Furthermore, based on the third transformation matrix, the first scan data and the second scan data can be unified into the same coordinate system, thereby achieving large-scale expansion of the scanning space over a wide range.

[0083] FIG5 is a flow chart of a three-dimensional scanning method provided in an embodiment of the present disclosure. The three-dimensional scanning method can be performed by an electronic device. The electronic device can be exemplarily understood as a device such as a three-dimensional scanning system. Exemplarily, the three-dimensional scanning system can include a laser tracker, a target optical tracker, and a scanner. As shown in FIG5 , the method provided in this embodiment includes the following steps:

[0084] S510: Measure a first target sphere group by using a target optical tracker when the target optical tracker is at a plurality of different target positions to obtain a first coordinate set sequence, and measure a second target sphere group by using a laser tracker when the target optical tracker is at the plurality of different target positions to obtain a second coordinate set sequence, wherein the position of the first target sphere group remains unchanged, and the relative position of the second target sphere group to the target optical tracker remains unchanged.

[0085] Specifically, for the understanding of S510, please refer to the above explanation of S110 and S120, which will not be repeated here.

[0086] S520: When the target optical tracker is in the position before the transfer station, the second target ball group is measured by the laser tracker to obtain a third coordinate set, and when the target optical tracker is in the position before the transfer station, the scanned object is scanned by the scanner to obtain first scanning data.

[0087] Specifically, for the understanding of S520, please refer to the previous explanation of S340 and S370, which will not be repeated here.

[0088] S530: When the target optical tracker is in the post-transfer position, the laser tracker is used to measure the second target ball group to obtain a fourth coordinate set, and when the target optical tracker is in the post-transfer position, the scanner is used to scan the scanned object to obtain second scanning data.

[0089] Specifically, for the understanding of S520, please refer to the previous explanation of S350 and S380, which will not be repeated here.

[0090] The disclosed embodiments can use a high-precision laser tracker in conjunction with a target optical tracker to achieve station expansion, so that the target optical tracker can transfer stations without the help of marker points and with high accuracy. In addition, since the laser tracker has a large measurement range, it can meet the needs of continuous multiple station expansion of the target optical tracker, thereby realizing large-scale three-dimensional scanning.

[0091] FIG6 is a schematic diagram of the structure of a 3D scan data processing device provided by an embodiment of the present disclosure. The 3D scan data processing device can be understood as the above-mentioned electronic device or a portion of the functional modules in the above-mentioned electronic device. As shown in FIG6 , the 3D scan data processing device 600 includes:

[0092] A first acquisition module 610 is configured to acquire a first coordinate set sequence obtained by measuring a first target sphere group when the target optical tracker is at a plurality of different target positions, wherein the position of the first target sphere group remains unchanged;

[0093] A second acquisition module 620 is configured to acquire a second coordinate set sequence obtained by measuring a second target sphere group with a laser tracker when the target optical tracker is at the plurality of different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target sphere group and the target optical tracker remains unchanged;

[0094] The first determining module 630 is configured to determine a target transformation matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0095] In another embodiment of the present disclosure, the first determining module 630 is specifically configured to determine, for two first coordinate sets corresponding to two adjacent target positions in the first coordinate set sequence, a first transformation matrix corresponding to the two adjacent target positions based on the two first coordinate sets;

[0096] For two second coordinate sets corresponding to two adjacent target positions in the second coordinate set sequence, determining a second transformation matrix corresponding to the two adjacent target positions based on the two second coordinate sets;

[0097] The target transformation matrix is ​​determined based on the first transformation matrix and the second transformation matrix.

[0098] In another embodiment of the present disclosure, the device further comprises:

[0099] a third acquisition module, configured to acquire a third coordinate set obtained by measuring the second target sphere group by the laser tracker when the target optical tracker is in a pre-transfer position;

[0100] A fourth acquisition module, configured to acquire a fourth coordinate set obtained by the laser tracker measuring the second target ball group when the target optical tracker is in a post-transfer position;

[0101] The second determination module is used to determine the third transformation matrix corresponding to the position before the transfer and the position after the transfer based on the third coordinate set, the fourth coordinate set and the target transformation matrix.

[0102] In another embodiment of the present disclosure, the second determining module is specifically configured to determine a fourth transformation matrix corresponding to the position before the transfer station and the position after the transfer station based on the third coordinate set and the fourth coordinate set;

[0103] Performing an inverse matrix transformation on the target transformation matrix to obtain a target inverse matrix;

[0104] The third transformation matrix is ​​determined based on the fourth transformation matrix, the target transformation matrix, and the target inverse matrix.

[0105] In another embodiment of the present disclosure, the device further comprises:

[0106] a fifth acquisition module, configured to acquire first scanning data obtained by the scanner from scanning the scanned object when the target optical tracker is in a pre-transfer position;

[0107] a sixth acquisition module, configured to acquire second scanning data obtained by the scanner from scanning the scanned object when the target optical tracker is in the post-transfer position;

[0108] A unification module is used to unify the first scan data and the second scan data into the same coordinate system based on the third transformation matrix.

[0109] In yet another embodiment of the present disclosure, the first target ball group is placed on the ground, or on another optical tracker whose position remains unchanged.

[0110] In yet another embodiment of the present disclosure, the second target ball group is disposed on top of the target optical tracker.

[0111] The device provided in this embodiment can execute the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0112] An embodiment of the present disclosure further provides an electronic device, comprising: a memory storing a computer program; and a processor for executing the computer program. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented.

[0113] FIG7 is a schematic diagram of the structure of a 3D scanning device provided by an embodiment of the present disclosure. The 3D scanning data processing device can be understood as the above-mentioned electronic device or a functional module in the above-mentioned electronic device. As shown in FIG7 , the 3D scanning data processing device 700 includes:

[0114] A first measurement module 710 is configured to, while keeping the laser tracker stationary, measure a first target sphere group using the target optical tracker at multiple target positions to obtain a first coordinate set sequence, and to measure a second target sphere group using the laser tracker at multiple target positions to obtain a second coordinate set sequence, wherein the position of the first target sphere group remains unchanged, and the relative position of the second target sphere group to the target optical tracker remains unchanged;

[0115] A first scanning module 720 is configured to measure the second target sphere group using a laser tracker to obtain a third coordinate set when the target optical tracker is in a pre-transfer position, and to scan the scanned object using a scanner to obtain first scan data when the target optical tracker is in a pre-transfer position.

[0116] The second scanning module 730 is used to measure the second target ball group by a laser tracker when the target optical tracker is in the post-transfer position to obtain a fourth coordinate set, and to scan the scanned object by a scanner when the target optical tracker is in the post-transfer position to obtain second scanning data.

[0117] For example, FIG8 is a schematic diagram of the structure of an electronic device in an embodiment of the present disclosure. Specifically referring to FIG8 below, it shows a schematic diagram of the structure of an electronic device 800 suitable for implementing the embodiment of the present disclosure. The electronic device 800 in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., as well as fixed terminals such as digital TVs, desktop computers, etc. The electronic device shown in FIG8 is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.

[0118] As shown in FIG8 , electronic device 800 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 802 or programs loaded from a storage device 808 into a random access memory (RAM) 803. RAM 803 also stores various programs and data required for the operation of electronic device 800. Processing device 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to bus 804.

[0119] Typically, the following devices may be connected to the I / O interface 805: an input device 806 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 807 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; a storage device 808 including, for example, a magnetic tape, hard disk, etc.; and a communication device 809. The communication device 809 may allow the electronic device 800 to communicate with other devices wirelessly or by wire to exchange data. Although FIG8 illustrates the electronic device 800 with various devices, it should be understood that not all of the illustrated devices are required to be implemented or present. More or fewer devices may alternatively be implemented or present.

[0120] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 809, or installed from the storage device 808, or installed from the ROM 802. When the computer program is executed by the processing device 801, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0121] It should be noted that the computer-readable medium described above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. Computer-readable storage media may include, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wire, optical cable, RF (radio frequency), or any suitable combination thereof.

[0122] In some embodiments, the client and server can communicate using any currently known or later developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or later developed network.

[0123] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0124] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device is caused to: obtain a first coordinate set sequence obtained by measuring a first target sphere group with a target optical tracker when the target optical tracker is at a plurality of different target positions, wherein the position of the first target sphere group remains unchanged; obtain a second coordinate set sequence obtained by measuring a second target sphere group with a laser tracker when the target optical tracker is at the plurality of different target positions, wherein the position of the laser tracker remains unchanged and the relative position of the second target sphere group and the target optical tracker remains unchanged; and determine a target transformation matrix between a coordinate system of the target optical tracker and a coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

[0125] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0126] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0127] The units involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a unit does not necessarily limit the unit itself.

[0128] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0129] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fibers, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0130] The embodiments of the present disclosure further provide a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0131] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0132] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for processing three-dimensional scanning data, characterized in that Including: Obtaining a first coordinate set sequence obtained by measuring a first target ball group when a target optical tracker is at multiple different target positions, wherein the position of the first target ball group remains unchanged; Obtaining a second coordinate set sequence obtained by measuring a second target ball group by a laser tracker when the target optical tracker is at the multiple different target positions, wherein the position of the laser tracker remains unchanged, and the relative position between the second target ball group and the target optical tracker remains unchanged; Based on the first coordinate set sequence and the second coordinate set sequence, determining a target transformation matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker.

2. The method according to claim 1, wherein The determining the target transformation matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence includes: For two first coordinate sets corresponding to two adjacent target positions in the first coordinate set sequence, determining a first transformation matrix corresponding to the two adjacent target positions based on the two first coordinate sets; For two second coordinate sets corresponding to two adjacent target positions in the second coordinate set sequence, determining a second transformation matrix corresponding to the two adjacent target positions based on the two second coordinate sets; 3. The method according to claim 1, wherein Based on the first transformation matrix and the second transformation matrix, determining the target transformation matrix. Further including: Obtaining a third coordinate set obtained by the laser tracker measuring the second target ball group when the target optical tracker is at a pre-transfer position; Obtaining a fourth coordinate set obtained by the laser tracker measuring the second target ball group when the target optical tracker is at a post-transfer position; 4. The method according to claim 3, wherein Based on the third coordinate set, the fourth coordinate set, and the target transformation matrix, determining a third transformation matrix corresponding to the pre-transfer position and the post-transfer position. The determining the third transformation matrix corresponding to the pre-transfer position and the post-transfer position based on the third coordinate set, the fourth coordinate set, and the target transformation matrix includes: Based on the third coordinate set and the fourth coordinate set, determining a fourth transformation matrix corresponding to the pre-transfer position and the post-transfer position; Performing an inverse matrix transformation on the target transformation matrix to obtain a target inverse matrix; 5. The method according to claim 3, wherein Based on the fourth transformation matrix, the target transformation matrix, and the target inverse matrix, determining the third transformation matrix. Further including: Obtaining first scan data obtained by a scanner scanning a scanned object when the target optical tracker is at a pre-transfer position; Obtaining second scan data obtained by the scanner scanning the scanned object when the target optical tracker is at a post-transfer position; 6. The method according to any one of claims 1-5, characterized in that, Based on the third transformation matrix, unifying the first scan data and the second scan data into the same coordinate system. The first target ball group is arranged on the ground or on other optical trackers with unchanged positions; and / or; 7. A three-dimensional scanning method, characterized in that, The second target ball group is arranged on the top of the target optical tracker. During the three-dimensional scanning process, the position of the laser tracker remains unchanged, wherein the method includes: The first coordinate set sequence is obtained by measuring the first target ball group when the target optical tracker is at multiple different target positions, and the second coordinate set sequence is obtained by measuring the second target ball group with a laser tracker when the target optical tracker is at the multiple different target positions, wherein the position of the first target ball group remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged; The third coordinate set is obtained by measuring the second target ball group with the laser tracker when the target optical tracker is at the pre-transfer position, and the first scan data is obtained by scanning the object to be scanned with a scanner when the target optical tracker is at the pre-transfer position; The fourth coordinate set is obtained by measuring the second target ball group with the laser tracker when the target optical tracker is at the post-transfer position, and the second scan data is obtained by scanning the object to be scanned with the scanner when the target optical tracker is at the post-transfer position.

8. A processing device for three-dimensional scan data, characterized in that, Comprising: A first acquisition module, configured to acquire the first coordinate set sequence obtained by measuring the first target ball group when the target optical tracker is at multiple different target positions, wherein the position of the first target ball group remains unchanged; A second acquisition module, configured to acquire the second coordinate set sequence obtained by measuring the second target ball group with a laser tracker when the target optical tracker is at the multiple different target positions, wherein the position of the laser tracker remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged; A first determination module, configured to determine a target transformation matrix between the coordinate system of the target optical tracker and the coordinate system of the laser tracker based on the first coordinate set sequence and the second coordinate set sequence.

9. A three-dimensional scanning device, characterized in that, Comprising: A first measurement module, configured to, with the laser tracker fixed, obtain the first coordinate set sequence by measuring the first target ball group when the target optical tracker is at multiple different target positions, and obtain the second coordinate set sequence by measuring the second target ball group with the laser tracker when the target optical tracker is at the multiple different target positions, wherein the position of the first target ball group remains unchanged, and the relative position of the second target ball group and the target optical tracker remains unchanged; A first scan module, configured to obtain the third coordinate set by measuring the second target ball group with the laser tracker when the target optical tracker is at the pre-transfer position, and obtain the first scan data by scanning the object to be scanned with a scanner when the target optical tracker is at the pre-transfer position; A second scan module, configured to obtain the fourth coordinate set by measuring the second target ball group with the laser tracker when the target optical tracker is at the post-transfer position, and obtain the second scan data by scanning the object to be scanned with the scanner when the target optical tracker is at the post-transfer position.

10. An electronic device, characterized in that, Comprising: A processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1-6, or the method according to claim 7.

11. A computer-readable storage medium, characterized in that, A computer program is stored in the storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1-6, or the method according to claim 7 is implemented.

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