Three-dimensional scanning data marking method and apparatus, and electronic device

Abstract

The present application discloses a three-dimensional scanning data marking method and apparatus, and an electronic device. The method comprises: acquiring three-dimensional scanning data, wherein the three-dimensional scanning data at least comprises a scanned image containing a mark point; determining position information of the mark point on the basis of the scanned image containing the mark point; determining, on the basis of the position information of the mark point, data orientations corresponding to the three-dimensional scanning data, wherein the data orientations include a front-facing orientation and a back-facing orientation, the front-facing orientation is used for indicating that the three-dimensional scanning data is three-dimensional scanning data corresponding to the front side of an object under test, and the back-facing orientation is used for indicating the three-dimensional scanning data is three-dimensional scanning data corresponding to the back side of the object under test; and generating marks of different colors corresponding to the data orientations, wherein the marks of different colors are used for marking different data orientations of the three-dimensional scanning data.

Description

Three-dimensional scanning data marking method and device and electronic equipment

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202410627933.7, filed on May 20, 2024, and entitled "Three-dimensional scanning data marking method and device and electronic equipment", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of three-dimensional reconstruction, in particular to a three-dimensional scanning data marking method, device and electronic equipment. BACKGROUND

[0004] Three-dimensional laser scanning technology is a high-tech surveying and mapping technology that has emerged in recent years, and is one of the most precise and fastest means of preserving cultural relics archives. It can reproduce the historical appearance of cultural relics. It uses modern high-precision sensing technology, which can be used in a non-contact manner to scan complex on-site environments and spaces, and can directly obtain three-dimensional data of various entities or scenes, obtain a set of sampling points "point cloud" on the surface of the measured object, and has the characteristics of rapidity, simplicity and accuracy. Based on the point cloud model data and distance image data, the three-dimensional model of the target can be quickly reconstructed, and various experimental data such as surveying and mapping, measurement, analysis, simulation, simulation, display, monitoring, virtual reality, etc. in three-dimensional space can be obtained. The prior art is to scan the front and back surfaces of the object to be scanned in its entirety, and then perform front and back surface splicing in related software to obtain complete three-dimensional spatial point cloud data of the object. However, in the scanning process, due to the angle of view, only a part of the object may be seen, making it difficult to observe the overall scanning shape globally, resulting in an inability to accurately distinguish whether the currently obtained scanning data is front surface data of the object to be measured or back surface data of the object to be measured, and further leading to incomplete scanning data or repeated scanning.

[0005] In view of the above problems, no effective solution has been proposed so far. SUMMARY

[0006] The embodiments of the present application provide a three-dimensional scanning data marking method, device and electronic equipment to at least solve the technical problem of incomplete scanning data caused by the inability to accurately distinguish the orientation of the currently obtained scanning data in the related art.

[0007] According to an aspect of the embodiments of the present application, a three-dimensional scanning data marking method is provided. Three-dimensional scanning data is acquired, and the three-dimensional scanning data at least includes a scanning image containing a landmark point. Position information of the landmark point is determined according to the scanning image containing the landmark point. A data orientation corresponding to the three-dimensional scanning data is determined according to the position information of the landmark point. The data orientation includes a front orientation and a back orientation. The front orientation is used to indicate that the three-dimensional scanning data is front three-dimensional scanning data of an object to be measured. The back orientation is used to indicate that the three-dimensional scanning data is back three-dimensional scanning data of the object to be measured. Different color marks corresponding to the data orientation are generated. Different color marks are used to mark different data orientations of the three-dimensional scanning data.

[0008] Optionally, the position information of the landmark point is determined according to the scanning image containing the landmark point. The position information of the landmark point is determined by extracting a circular pixel region of the landmark point in the scanning image containing the landmark point, and performing a circle center fitting on the circular pixel region to obtain the position information of the landmark point. The position information of the landmark point at least includes coordinates, a normal, and a circle radius of the landmark point.

[0009] Optionally, the data orientation corresponding to the three-dimensional scanning data is determined according to the position information of the landmark point. In a case where the three-dimensional scanning data is acquired from a first direction, the data orientation of the three-dimensional scanning data is determined as the front orientation. The first direction is the same as the normal. In a case where the three-dimensional scanning data is acquired from a second direction, the data orientation of the three-dimensional scanning data is determined as the back orientation. The second direction is opposite to the normal.

[0010] Optionally, the different color marks corresponding to the data orientation are generated. A vertex shader is used to draw a plurality of vertices according to the coordinates, the normal, and the circle radius of the landmark point. The plurality of vertices are used to represent the position information of the landmark point in a two-dimensional scene. A geometry shader is used to draw a geometric figure of the mark based on the plurality of vertices. A fragment shader is used to color the geometric figure to obtain the different color marks.

[0011] Optionally, the different color marks are obtained by coloring the geometric figure using the fragment shader. The vertex shader is used to determine four vertices of an outer rectangle of the landmark point on a plane perpendicular to the normal, with the coordinates of the landmark point as the center. Two groups of vertices are selected from the four vertices to generate two triangles. A coloring range of the mark is determined according to a comparison result of a distance from an interpolation point of the triangle to the center and the circle radius. The fragment shader is used to color in the coloring range.

[0012] Optionally, the determining the coloring range of the square mark according to the comparison result of the distance from the interpolation point of the triangle to the center and the radius of the circle comprises: coloring the interpolation point when the comparison result indicates that the distance from the interpolation point of the triangle to the center is less than or equal to the radius of the circle; and not coloring the interpolation point when the comparison result indicates that the distance from the interpolation point of the triangle to the center is greater than the radius of the circle.

[0013] Optionally, the method further comprises: displaying the mark on a three-dimensional scanning data display interface, and setting a display attribute of the mark as: displaying the mark in a non-transparent color when the data orientation is a front orientation; and setting the display attribute of the mark as: displaying the mark in a transparent color when the data orientation is a back orientation.

[0014] According to another aspect of the embodiments of the present application, a three-dimensional scanning data marking device is further provided, comprising: an acquisition module configured to acquire three-dimensional scanning data, the three-dimensional scanning data comprising at least: a scanning image containing a landmark point; a first determination module configured to determine position information of the landmark point according to the scanning image containing the landmark point; a second determination module configured to determine a data orientation corresponding to the three-dimensional scanning data according to the position information of the landmark point, the data orientation comprising a front orientation and a back orientation, the front orientation being used to indicate that the three-dimensional scanning data is front three-dimensional scanning data of an object to be measured, and the back orientation being used to indicate that the three-dimensional scanning data is back three-dimensional scanning data of the object to be measured; and a marking module configured to generate different color marks corresponding to the data orientation, wherein different color marks are used to mark different data orientations of the three-dimensional scanning data.

[0015] According to still another aspect of the embodiments of the present application, an electronic device is further provided, comprising: a memory configured to store program instructions; and a processor connected with the memory and configured to execute the program instructions to realize the following functions: acquiring three-dimensional scanning data, the three-dimensional scanning data comprising at least: a scanning image containing a landmark point; determining position information of the landmark point according to the scanning image containing the landmark point; determining a data orientation corresponding to the three-dimensional scanning data according to the position information of the landmark point, the data orientation comprising a front orientation and a back orientation, the front orientation being used to indicate that the three-dimensional scanning data is front three-dimensional scanning data of an object to be measured, and the back orientation being used to indicate that the three-dimensional scanning data is back three-dimensional scanning data of the object to be measured; and generating different color marks corresponding to the data orientation, wherein different color marks are used to mark different data orientations of the three-dimensional scanning data.

[0016] According to a further aspect of the embodiments of the present application, a nonvolatile storage medium is also provided, which comprises a stored computer program, wherein a device in which the nonvolatile storage medium is located implements the three-dimensional scanning data marking method by running the computer program.

[0017] According to a further aspect of the embodiments of the present application, a computer program product is also provided, which comprises computer instructions, and the computer instructions are executed by a processor to implement the three-dimensional scanning data marking method.

[0018] In the embodiments of the present application, by obtaining three-dimensional scanning data, the three-dimensional scanning data at least comprises: a scanning image containing a landmark point; determining position information of the landmark point according to the scanning image containing the landmark point; determining a data orientation corresponding to the three-dimensional scanning data according to the position information of the landmark point, the data orientation comprising a front orientation and a back orientation, the front orientation being used to indicate that the three-dimensional scanning data is front three-dimensional scanning data of an object to be measured, and the back orientation being used to indicate that the three-dimensional scanning data is back three-dimensional scanning data of the object to be measured; generating different color marks corresponding to the data orientation, wherein different color marks are used to mark different data orientations of the three-dimensional scanning data; by generating different color marks corresponding to the data orientation, the purpose of accurately marking the data orientation of the three-dimensional scanning data is achieved, thereby realizing the technical effect of improving the integrity of the obtained three-dimensional scanning data, and further solving the technical problem of incomplete scanning data caused by the inability to accurately distinguish the orientation of the currently obtained scanning data in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are included to provide a further understanding of the present application, form a part of the present application and illustrate the illustrative embodiments of the present application and the description thereof, and do not constitute improper limitations on the present application. In the drawings:

[0020] FIG. 1 is a hardware structure block diagram of a computer terminal for implementing a three-dimensional scanning data marking method according to an embodiment of the present application;

[0021] FIG. 2 is a flowchart of a three-dimensional scanning data marking method according to an embodiment of the present application;

[0022] FIG. 3 is a flowchart of a marking coloring area determination method according to an embodiment of the present application;

[0023] FIG. 4 is a structure diagram of a three-dimensional scanning data marking device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application, so that those skilled in the art can better understand the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should be within the scope of the present application.

[0025] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] The information collected by the embodiments of the present application is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of related data comply with relevant laws, regulations and standards in the relevant region, necessary security measures are taken, public order and good customs are not violated, and appropriate operation portals are provided for users to choose authorization or refuse automated decision results; if the user chooses to refuse, the expert decision process is entered.

[0027] In the related art, the data orientation of the current acquired three-dimensional scanning data is determined by using manual observation. However, manual observation has limitations and deficiencies due to limited viewing angles and less features of acquired data.

[0028] To solve the problems in the three-dimensional reconstruction process in the related art, the embodiments of the present application provide a three-dimensional scanning data marking method, which can also run in the computer terminal shown in FIG. 1. The computer terminal is described below.

[0029] The three-dimensional scanning data marking method provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. FIG. 1 shows a hardware structure block diagram of a computer terminal for implementing the three-dimensional scanning data marking method. As shown in FIG. 1, the computer terminal 10 can include one or more processors (the processor can include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication function connected through a wired and / or wireless network. In addition, it can also include a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports of the I / O interface), a network interface, a BUS bus. Those skilled in the art can understand that the structure shown in FIG. 1 is only schematic, and does not limit the structure of the above-mentioned electronic device. For example, the computer terminal 10 can include more or fewer components than those shown in FIG. 1, or have a different configuration from that shown in FIG. 1.

[0030] It should be noted that the one or more processors and / or other data processing circuits described above can be referred to as "data processing circuits" herein. The data processing circuit can be embodied in whole or in part as software, hardware, firmware or any other combination. In addition, the data processing circuit can be a single independent processing module, or all or part of any one of the other elements combined into the computer terminal 10. As referred to in the embodiments of the present application, the data processing circuit serves as a processor to control (for example, the selection of the variable resistance terminal path connected to the interface).

[0031] The memory 104 can be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the three-dimensional scanning data marking method in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implements the three-dimensional scanning data marking method described above. The memory 104 can include a high-speed random access memory, and can also include a non-volatile memory such as one or more magnetic storage devices, flash memories, or other non-volatile solid state memories. In some examples, the memory 104 can further include a memory remotely arranged with respect to the processor, which can be connected to the computer terminal 10 through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0032] The transmission module 106 is configured to receive or send data via a network. The network can include, for example, a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission module 106 includes a network interface controller (NIC) that can connect to other network devices through a base station to communicate with the Internet. In one example, the transmission module 106 can be a radio frequency (RF) module configured to communicate with the Internet via a wireless connection.

[0033] The display can be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with the user interface of the computer terminal 10.

[0034] It is noted that in some alternative embodiments, the computer terminal shown in FIG. 1 can include hardware elements (including circuitry), software elements (including computer code stored on a computer readable medium), or a combination of both hardware and software elements. It should be noted that FIG. 1 is merely one example and is intended to illustrate the types of components that can be present in the computer terminal.

[0035] In the above operating environment, the embodiment of the present application provides a three-dimensional scanning data marking method. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in a different order.

[0036] FIG. 2 is a flowchart of a three-dimensional scanning data marking method according to an embodiment of the present application. As shown in FIG. 2, the method includes the following steps:

[0037] In step S202, three-dimensional scanning data is obtained, and the three-dimensional scanning data at least includes a scanning image containing a marker point.

[0038] In step S202, the three-dimensional scanning data includes, but is not limited to, point cloud data of the object to be measured, a depth image, a scanning image of the object to be measured, etc. The above data is obtained by different types of three-dimensional scanning devices (such as a laser scanner, a structured light camera, a camera, etc.), and through processing and analysis of these data, three-dimensional reconstruction and modeling of the object can be achieved.

[0039] It should be noted that the marker point in the embodiment of the present application is circular and consists of two parts, including: a circle with a diameter of 3mm or 6mm, one side coated with a reflective material; the outer part of the circle is a ring with a width of 2mm, and the surface is coated with a light-absorbing black material.

[0040] In an actual application scenario, light is irradiated onto the marker point, the external ring absorbs light through circular reflection, and a circular pixel region is extracted.

[0041] In step S204, the position information of the marker point is determined according to the scanning image containing the marker point.

[0042] In step S204, the position information of the marker point is the position information in the three-dimensional scene, for example, three-dimensional position coordinates, etc.

[0043] In step S206, the data orientation corresponding to the three-dimensional scanning data is determined according to the position information of the marker point. The data orientation includes a front orientation and a back orientation. The front orientation is used to indicate that the three-dimensional scanning data is the three-dimensional scanning data of the front of the object to be measured. The back orientation is used to indicate that the three-dimensional scanning data is the three-dimensional scanning data of the back of the object to be measured.

[0044] It can be understood that, in the case of the front orientation, it indicates that the three-dimensional scanning data obtained at the current moment is the three-dimensional scanning data of the front of the object to be measured. In the case of the back orientation, it indicates that the three-dimensional scanning data obtained at the current moment is the three-dimensional scanning data of the back of the object to be measured.

[0045] In step S208, different color markers corresponding to the data orientation are generated, wherein the different color markers are used to mark different data orientations of the three-dimensional scanning data.

[0046] Through steps S202 to S208 in the three-dimensional scanning data marking method, different color markers corresponding to the data orientation are generated, which accurately marks the data orientation of the three-dimensional scanning data, thereby achieving the technical effect of improving the integrity of the obtained three-dimensional scanning data, and solving the technical problem of incomplete scanning data caused by the inability to accurately distinguish the orientation of the currently obtained scanning data in the related art. The following will be described in detail.

[0047] In step S204 of the three-dimensional scanning data marking method, the method for determining the position information of the marker point according to the scanning image containing the marker point includes: extracting a circular pixel region at the position of the marker point in the scanning image containing the marker point, and performing center fitting on the circular pixel region to obtain the position information of the marker point. The position information of the marker point at least includes: coordinates, normal and radius of the marker point.

[0048] It can be understood that the radius of the circle is the radius of the circular pixel region.

[0049] In the embodiments of the present application, after the position information of the landmark point is acquired, the data orientation corresponding to the three-dimensional scanning data can be determined according to the position information of the landmark point. An optional determination manner is as follows: in the case that the three-dimensional scanning data is acquired from a first direction, it is determined that the data orientation of the three-dimensional scanning data is a front-facing orientation, and the first direction is the same as the normal direction; in the case that the three-dimensional scanning data is acquired from a second direction, it is determined that the data orientation of the three-dimensional scanning data is a back-facing orientation, and the second direction is opposite to the normal direction.

[0050] After the data orientation of the three-dimensional scanning data is determined, in order to accurately display the data orientation on the display end, different color marks corresponding to the data orientation need to be generated. Specifically, a vertex shader is used to draw a plurality of vertices according to the coordinates, normal and circle radius of the landmark point, and the plurality of vertices are used to represent the position information of the landmark point in a two-dimensional scene; a geometry shader is used to draw a geometric figure of the mark based on the plurality of vertices; and a fragment shader is used to color the geometric figure to obtain the different color marks.

[0051] Specifically, the process of coloring the geometric figure by using the fragment shader to obtain the different color marks is as follows: the vertex shader is used to determine four vertices of an outer rectangle of the landmark point on a plane perpendicular to the normal direction with the coordinates of the landmark point as the center; two groups of vertices are selected from the four vertices to generate two triangles; the coloring range of the mark is determined according to a comparison result of the distance from the interpolation point of the triangle to the center and the circle radius; and the fragment shader is used to color in the coloring range.

[0052] It should be noted that the two triangles can be spliced into a square, and the inscribed circle of the square is the edge limit of the landmark point.

[0053] The specific coloring process is shown in FIG. 3, in which the vertex shader is used to determine a plurality of vertices, including the center of the landmark point and the four vertices of the outer rectangle of the landmark point, and then the four vertices are used to determine two triangles, and finally the coloring range is determined.

[0054] In some embodiments of the present application, in the case that the comparison result indicates that the distance from the interpolation point of the triangle to the center is less than or equal to the circle radius, the interpolation point is colored; and in the case that the comparison result indicates that the distance from the interpolation point of the triangle to the center is greater than the circle radius, the interpolation point is not colored.

[0055] In an actual application scenario, the mark is displayed on a three-dimensional scanning data display interface, and in a case where the data orientation is a front orientation, a display attribute of the mark is set as: the mark is displayed in a non-transparent color; and in a case where the data orientation is a back orientation, the display attribute of the mark is set as: the mark is displayed in a transparent color.

[0056] FIG. 4 is a structural diagram of a three-dimensional scanning data marking device according to an embodiment of the present application, as shown in FIG. 4, the device includes:

[0057] The acquisition module 40 is configured to acquire three-dimensional scanning data, and the three-dimensional scanning data at least includes a scanning image containing a mark point.

[0058] The first determination module 42 is configured to determine position information of the mark point according to the scanning image containing the mark point.

[0059] The second determination module 44 is configured to determine a data orientation corresponding to the three-dimensional scanning data according to the position information of the mark point, the data orientation includes a front orientation and a back orientation, the front orientation is used to indicate that the three-dimensional scanning data is three-dimensional scanning data of a front surface of an object to be measured, and the back orientation is used to indicate that the three-dimensional scanning data is three-dimensional scanning data of a back surface of the object to be measured.

[0060] The marking module 46 is configured to generate different color marks corresponding to the data orientation, wherein different color marks are used to mark different data orientations of the three-dimensional scanning data.

[0061] Through the acquisition module 40, the first determination module 42, the second determination module 44 and the marking module 46 in the three-dimensional scanning data marking device, the purpose of accurately marking the data orientation of the three-dimensional scanning data is achieved, thereby realizing the technical effect of improving the integrity of the acquired three-dimensional scanning data, and further solving the technical problem of incomplete scanning data caused by the inability to accurately distinguish the orientation of the currently acquired scanning data in the related art.

[0062] In the first determination module 42 in the three-dimensional scanning data marking device, the first determination sub-module is configured to determine the position information of the mark point according to the scanning image containing the mark point, including: extracting a circular pixel region of the mark point position in the scanning image containing the mark point, and performing center fitting on the circular pixel region to obtain the position information of the mark point, the position information of the mark point at least includes: coordinates, a normal and a radius of the mark point.

[0063] In the first determining submodule in the three-dimensional scanning data marking device, further comprising: a determining unit and a generating unit, wherein the determining unit is configured to determine a data orientation corresponding to the three-dimensional scanning data according to the position information of the mark point, including: in a case that the three-dimensional scanning data is acquired from a first direction, determining that the data orientation of the three-dimensional scanning data is a front orientation, the first direction being the same as the normal direction; in a case that the three-dimensional scanning data is acquired from a second direction, determining that the data orientation of the three-dimensional scanning data is a back orientation, the second direction being opposite to the normal direction.

[0064] The generating unit is configured to generate a different color mark corresponding to the data orientation, including: using a vertex shader to draw a plurality of vertices according to the coordinates, the normal and the circle radius of the mark point, the plurality of vertices being configured to represent the position information of the mark point in a two-dimensional scene; using a geometry shader to draw a geometric figure of the mark based on the plurality of vertices; and using a fragment shader to color the geometric figure to obtain the different color mark.

[0065] The generating unit is further configured to use the fragment shader to color the geometric figure to obtain the different color mark, including: using the vertex shader to determine four vertices of an outer rectangle of the mark point on a plane perpendicular to the normal direction with the coordinates of the mark point as the center; selecting two groups of vertices from the four vertices to generate two triangles; determining a coloring range of the mark according to a comparison result of a distance from an interpolation point of the triangle to the center and the circle radius; and using the fragment shader to color in the coloring range.

[0066] The first determining submodule further comprises a coloring unit configured to determine a coloring range of the mark according to a comparison result of a distance from an interpolation point of the triangle to the center and the circle radius, including: in a case that the comparison result indicates that the distance from the interpolation point of the triangle to the center is less than or equal to the circle radius, coloring the interpolation point; and in a case that the comparison result indicates that the distance from the interpolation point of the triangle to the center is greater than the circle radius, not coloring the interpolation point.

[0067] The first determining submodule further comprises a display unit configured to display the mark on a three-dimensional scanning data display interface, including: in a case that the data orientation is the front orientation, setting a display attribute of the mark to display the mark in a non-transparent color; and in a case that the data orientation is the back orientation, setting the display attribute of the mark to display the mark in a transparent color.

[0068] It should be noted that the three-dimensional scanning data marking device shown in FIG. 4 is used to execute the three-dimensional scanning data marking method shown in FIG. 2, and therefore the related explanations in the above three-dimensional scanning data marking method also apply to the three-dimensional scanning data marking device, which will not be repeated here.

[0069] The embodiment of the present application further provides an electronic device, comprising: a memory configured to store program instructions; and a processor connected with the processor and configured to execute the program instructions to realize the following functions: obtaining three-dimensional scanning data, the three-dimensional scanning data at least comprising a scanning image containing a landmark point; determining position information of the landmark point according to the scanning image containing the landmark point; determining a data orientation corresponding to the three-dimensional scanning data according to the position information of the landmark point, the data orientation comprising a front orientation and a back orientation, the front orientation being used to indicate that the three-dimensional scanning data is three-dimensional scanning data of a front surface of an object to be measured, and the back orientation being used to indicate that the three-dimensional scanning data is three-dimensional scanning data of a back surface of the object to be measured; and generating different color marks corresponding to the data orientation, wherein different color marks are used to mark different data orientations of the three-dimensional scanning data.

[0070] It should be noted that the electronic device is used to execute the three-dimensional scanning data marking method shown in FIG. 2, and therefore the related explanations in the above three-dimensional scanning data marking method also apply to the electronic device, which will not be repeated here.

[0071] The embodiment of the present application further provides a non-volatile storage medium, comprising a stored computer program, wherein a device in which the non-volatile storage medium is located executes the following three-dimensional scanning data marking method by running the computer program: obtaining three-dimensional scanning data, the three-dimensional scanning data at least comprising a scanning image containing a landmark point; determining position information of the landmark point according to the scanning image containing the landmark point; determining a data orientation corresponding to the three-dimensional scanning data according to the position information of the landmark point, the data orientation comprising a front orientation and a back orientation, the front orientation being used to indicate that the three-dimensional scanning data is three-dimensional scanning data of a front surface of an object to be measured, and the back orientation being used to indicate that the three-dimensional scanning data is three-dimensional scanning data of a back surface of the object to be measured; and generating different color marks corresponding to the data orientation, wherein different color marks are used to mark different data orientations of the three-dimensional scanning data.

[0072] It should be noted that the non-volatile storage medium is used to execute the three-dimensional scanning data marking method shown in FIG. 2, and therefore the related explanations in the above three-dimensional scanning data marking method also apply to the non-volatile storage medium, which will not be repeated here.

[0073] The embodiment of the present application further provides a computer program product, comprising a nonvolatile computer readable storage medium, and the nonvolatile computer readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the three-dimensional scanning data marking method in the various embodiments of the present application.

[0074] The embodiment of the present application further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the three-dimensional scanning data marking method in the various embodiments of the present application.

[0075] The embodiment of the present application further provides a computer program, which, when executed by a processor, implements the steps of the three-dimensional scanning data marking method in the various embodiments of the present application.

[0076] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0077] In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0078] In the several embodiments provided by the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the unit described as the division is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection between the units can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0079] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0080] In addition, each functional unit in the various embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0081] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the present application or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0082] The above only describes the preferred embodiments of the present application. It should be noted that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application. Industrial applicability

[0083] The technical solutions provided by the embodiments of the present application can be applied to the field of three-dimensional reconstruction. In the embodiments of the present application, three-dimensional scanning data is obtained, the three-dimensional scanning data at least including: a scanning image containing a landmark point; position information of the landmark point is determined according to the scanning image containing the landmark point; a data orientation corresponding to the three-dimensional scanning data is determined according to the position information of the landmark point, the data orientation including a front orientation and a back orientation, the front orientation being used to indicate that the three-dimensional scanning data is three-dimensional scanning data of a front surface of an object to be measured, and the back orientation being used to indicate that the three-dimensional scanning data is three-dimensional scanning data of a back surface of the object to be measured; different color marks corresponding to the data orientation are generated, wherein different color marks are used to mark different data orientations of the three-dimensional scanning data; by generating different color marks corresponding to the data orientation, the purpose of accurately marking the data orientation of the three-dimensional scanning data is achieved, thereby realizing the technical effect of improving the integrity of the obtained three-dimensional scanning data, and further solving the technical problem of incomplete scanning data caused by the inability to accurately distinguish the orientation of the currently obtained scanning data in the related art.

Claims

1. A method for marking three-dimensional scanning data, comprising: obtaining three-dimensional scanning data, the three-dimensional scanning data comprising at least a scanning image containing a landmark point; determining position information of the landmark point according to the scanning image containing the landmark point; determining a data orientation corresponding to the three-dimensional scanning data according to the position information of the landmark point, the data orientation comprising a front orientation and a back orientation, the front orientation indicating that the three-dimensional scanning data is front three-dimensional scanning data of an object to be measured, and the back orientation indicating that the three-dimensional scanning data is back three-dimensional scanning data of the object to be measured; generating a different color mark corresponding to the data orientation, wherein different color marks are used to mark different data orientations of the three-dimensional scanning data.

2. The method of claim 1, wherein, The method further comprises: extracting a circular pixel region at the landmark point position in the scanning image containing the landmark point, and performing circle center fitting on the circular pixel region to obtain the position information of the landmark point, the position information of the landmark point comprising at least coordinates, a normal and a radius of the landmark point.

3. The method of claim 2, wherein, The method further comprises: in a case where the three-dimensional scanning data is obtained by scanning from a first direction, determining that the data orientation of the three-dimensional scanning data is the front orientation, the first direction being the same as the normal; in a case where the three-dimensional scanning data is obtained by scanning from a second direction, determining that the data orientation of the three-dimensional scanning data is the back orientation, the second direction being opposite to the normal.

4. The method of claim 2, wherein, The method further comprises: using a vertex shader to draw a plurality of vertices according to the coordinates, the normal and the radius of the landmark point, the plurality of vertices being used to represent the position information of the landmark point in a two-dimensional scene; using a geometry shader to draw a geometric figure of the mark based on the plurality of vertices; using a fragment shader to color the geometric figure to obtain the different color mark.

5. The method of claim 4, wherein, The method further comprises: using the vertex shader to determine four vertices of a circumscribed rectangle of the landmark point on a plane perpendicular to the normal, with the coordinates of the landmark point as the center; selecting two groups of vertices from the four vertices to generate two triangles; determining a coloring range of the mark according to a comparison result of a distance from an interpolation point of the triangle to the center and the radius; using the fragment shader to color in the coloring range.

6. The method of claim 5, wherein, The method further comprises: in a case where the comparison result indicates that the distance from the interpolation point of the triangle to the center is less than or equal to the radius, coloring the interpolation point; in a case where the comparison result indicates that the distance from the interpolation point of the triangle to the center is greater than the radius, not coloring the interpolation point.

7. The method of claim 6, wherein, The method further comprises: In the case that the data orientation is a front-facing orientation, the display attribute of the mark is set to: displaying the mark in a non-transparent color; In the case that the data orientation is a back-facing orientation, the display attribute of the mark is set to: displaying the mark in a transparent color. 8.A three-dimensional scanning data marking device, comprising: an acquisition module configured to acquire three-dimensional scanning data, the three-dimensional scanning data comprising at least a scanning image containing a landmark point; a first determination module configured to determine position information of the landmark point according to the scanning image containing the landmark point; a second determination module configured to determine a data orientation corresponding to the three-dimensional scanning data according to the position information of the landmark point, the data orientation comprising a front-facing orientation and a back-facing orientation, the front-facing orientation being used to indicate that the three-dimensional scanning data is front-facing three-dimensional scanning data of an object to be measured, and the back-facing orientation being used to indicate that the three-dimensional scanning data is back-facing three-dimensional scanning data of the object to be measured; a marking module configured to generate a mark of different colors corresponding to the data orientation, wherein the mark of different colors is used to mark different data orientations of the three-dimensional scanning data. 9.An electronic device, comprising: a memory configured to store program instructions; a processor connected to the memory and configured to execute the program instructions to perform the following functions: acquiring three-dimensional scanning data, the three-dimensional scanning data comprising at least a scanning image containing a landmark point; determining position information of the landmark point according to the scanning image containing the landmark point; determining a data orientation corresponding to the three-dimensional scanning data according to the position information of the landmark point, the data orientation comprising a front-facing orientation and a back-facing orientation, the front-facing orientation being used to indicate that the three-dimensional scanning data is front-facing three-dimensional scanning data of an object to be measured, and the back-facing orientation being used to indicate that the three-dimensional scanning data is back-facing three-dimensional scanning data of the object to be measured; and generating a mark of different colors corresponding to the data orientation, wherein the mark of different colors is used to mark different data orientations of the three-dimensional scanning data.

10. A non-transitory storage medium comprising a stored computer program, wherein, The device in which the non-volatile storage medium is located performs the three-dimensional scanning data marking method of any one of claims 1 to 7 by running the computer program.

11. A computer program product comprising computer instructions, wherein, The computer instructions are executed by the processor to implement the three-dimensional scanning data marking method of any one of claims 1 to 7.

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