CN107358641A - Prime number spiral scanning method and system - Google Patents
Prime number spiral scanning method and system Download PDFInfo
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- CN107358641A CN107358641A CN201710550198.4A CN201710550198A CN107358641A CN 107358641 A CN107358641 A CN 107358641A CN 201710550198 A CN201710550198 A CN 201710550198A CN 107358641 A CN107358641 A CN 107358641A
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/04—Texture mapping
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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Abstract
The invention provides prime number spiral scanning method and system, it is related to the technical field of three-dimensional information, including the body characteristicses according to object to be scanned, pass through spiral surrounding distribution mode structure the first scanning framework, according to the first scanning framework, layout is carried out to collection point with prime number ordered series of numbers method, obtain the second scanning framework, according to the second scanning framework, object to be scanned is acquired according to scan mode, scanned photograph sequence is obtained, scanned photograph sequence is resolved, generates the point cloud matrix of three dimensions.The present invention can effectively simplify required hardware device scale, cost-effective, improve scan efficiency.
Description
Technical field
The present invention relates to three-dimensional information technical field, more particularly, to prime number spiral scanning method and system.
Background technology
At present, the common 3-D scanning technology based on photogrammetry (photogrammetric) principle of in the market, is logical
The three-dimensional spatial information for the pixel crossed in special algorithm extraction photo sequence, similar video camera rever algorithm.In sweep object
When, the photo of shooting must cover each angle of object, and the general solution of in the market is the scanning side of overload type
Method, it has two features, first, scanning framework is using traditional stacked, second, collection point is set to be easy to what is calculated
30 degree, 20 degree etc..This kind of operating method generally requires to build ultra-large scanning device group, and can be produced in scanning process
The data of raw bulk redundancy, not only consume substantial amounts of hardware cost, increase unnecessary sweep time, waste more processing
The time of data.
The content of the invention
In view of this, it is required effectively to simplify it is an object of the invention to provide prime number spiral scanning method and system
Hardware device scale, it is cost-effective, improve scan efficiency.
In a first aspect, the embodiments of the invention provide a kind of prime number spiral scanning method, wherein, methods described includes：
According to the body characteristicses of object to be scanned, pass through spiral surrounding distribution mode structure the first scanning framework；
According to the described first scanning framework, layout is carried out to collection point with prime number ordered series of numbers method, obtains the second scanning framework；
According to the described second scanning framework, the object to be scanned is acquired according to scan mode, scanning is obtained and shines
Piece sequence；
The scanned photograph sequence is resolved, generates the point cloud matrix of three dimensions.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
Stating method also includes：
Grid model is built according to described cloud matrix.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide second of first aspect
Possible embodiment, wherein, described cloud matrix includes picture-element color information, and methods described also includes：
The picture-element color information and the grid model are subjected to matching mapping, export texture mapping threedimensional model.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide the third of first aspect
Possible embodiment, wherein, the space coordinates of the data message of the grid model and the object to be scanned matches.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 4th of first aspect kind, wherein, institute
State scan mode and include spiral motion track mode, rotating disk video camera and be synchronized with the movement mode and video camera array mode.
Second aspect, the embodiment of the present invention also provide a kind of prime number helical scanning system, wherein, the system includes：
Framework establishment unit, for the body characteristicses according to object to be scanned, pass through spiral surrounding distribution mode structure the
One scan framework；
Arranging unit, for according to the described first scanning framework, carrying out layout to collection point with prime number ordered series of numbers method, obtaining
Second scanning framework；
Collecting unit, for according to the described second scanning framework, being adopted according to scan mode to the object to be scanned
Collection, obtains scanned photograph sequence；
Solving unit, for being resolved to the scanned photograph sequence, generate the point cloud matrix of three dimensions.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, institute
Stating system also includes：
First model construction unit, for building grid model according to described cloud matrix.
With reference to the first possible embodiment of second aspect, the embodiments of the invention provide second of second aspect
Possible embodiment, wherein, described cloud matrix includes picture-element color information, and the system also includes：
Second model construction unit, it is defeated for the picture-element color information and the grid model to be carried out into matching mapping
Go out texture mapping threedimensional model.
With reference to the first possible embodiment of second aspect, the embodiments of the invention provide the third of second aspect
Possible embodiment, wherein, the space coordinates of the data message of the grid model and the object to be scanned matches.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the 4th of second aspect kind, wherein, institute
State scan mode and include spiral motion track mode, rotating disk video camera and be synchronized with the movement mode and video camera array mode.
The embodiment of the present invention brings following beneficial effect：Prime number spiral scanning method provided by the invention and system, bag
The body characteristicses according to object to be scanned are included, by spiral surrounding distribution mode structure the first scanning framework, according to the first scanning
Framework, layout is carried out to collection point with prime number ordered series of numbers method, obtains the second scanning framework, according to the second scanning framework, according to sweeping
Retouch mode to be acquired object to be scanned, obtain scanned photograph sequence, scanned photograph sequence is resolved, generate three-dimensional space
Between point cloud matrix.The present invention can effectively simplify required hardware device scale, cost-effective, improve scan efficiency.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the prime number spiral scanning method flow chart that the embodiment of the present invention one provides；
Fig. 2-3 is the scan array schematic diagram that the embodiment of the present invention one provides；
Fig. 4-6 is the scan mode schematic diagram that the embodiment of the present invention one provides；
Fig. 7 is the prime number helical scanning system schematic diagram that the embodiment of the present invention two provides.
Icon：
100- framework establishment units；200- arranging units；300- collecting units；400- solving units；The models of 500- first
Construction unit；600- the second model construction units.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
At present, the common 3-D scanning technology based on photogrammetry principles of in the market, is to pass through special algorithm
Extract the three-dimensional spatial information of the pixel in photo sequence.When sweep object, the photo of shooting must cover object
Each angle, the general solution of in the market are the scan method of overload type, and it has two features, first, scanning framework is adopted
With traditional stacked, second, 30 degree, 20 degree etc. that are set to be easy to calculate of collection point.This kind of operating method often needs
Ultra-large scanning device group is built, and the data of bulk redundancy can be produced in scanning process, not only consumption is a large amount of
Hardware cost, increase unnecessary sweep time, waste the time of more processing data.
Based on this, prime number spiral scanning method provided in an embodiment of the present invention and system, can effectively simplify required hard
Part equipment scale, it is cost-effective, improve scan efficiency.
For ease of understanding the present embodiment, the prime number spiral scanning method disclosed in the embodiment of the present invention is entered first
Row is discussed in detail.
Embodiment one：
Fig. 1 is the prime number spiral scanning method flow chart that the embodiment of the present invention one provides.
Reference picture 1, prime number spiral scanning method comprise the following steps：
Step S110, according to the body characteristicses of object to be scanned, the first scan box is built by spiral surrounding distribution mode
Frame；
Step S120, according to the first scanning framework, layout is carried out to collection point with prime number ordered series of numbers method, obtains the second scanning
Framework；
Specifically, according to body characteristicses such as the length of object to be scanned, thickness, built by spiral surrounding distribution mode
The the first scanning framework matched with scanning object body phase.With 2,3,5,7,11,13 etc. most simplified in the first scanning framework
Prime number ordered series of numbers method carries out layout to collection point, and each collection point is a camera seat in the plane, is provided with a video camera, thus obtains
Second scanning framework.According to the different body characteristicses of object to be scanned, spiral helicine second scanning framework, which has, to be changed, and is such as schemed
Shown in 2 and Fig. 3 (b), object to be scanned is respectively square and cuboid, each the second constructed scanning framework respectively with just
Cube and cuboid match.Prime number spiral scanning method is exactly prime number ordered series of numbers method combination spiral surrounding distribution mode.Pass through matter
Number spiral scanning method, using minimum camera apparatus, realizes to cover from depression angle and looks squarely angle to object to be scanned
Cover all around.Reference picture 3, it is distributed feelings shown in Fig. 3 (a) to employ traditional stacked scanning array collection point
Condition, the circle circle of collection point one round sweep object, general every layer of ability number of some, 360 degree can be divided exactly according to angle interval
Even number be configured, the quantity of collection point is 18 every layer in figure, but each every layer collection point is difficult to the distance of object
It is consistent, and such scan mode can produce the picture data of more redundancies.Shown in Fig. 3 (b) in the present embodiment
Using prime number spiral scanning method, reduce the collection point of scanning framework, while same scanning quality can be realized, reduce
Number of cameras, number of pictures, data volume are simplified, and improve the resolving efficiency of scanning.
Step S130, according to the second scanning framework, object to be scanned is acquired according to scan mode, scanning is obtained and shines
Piece sequence；
It is synchronized with the movement mode and video camera battle array specifically, scan mode includes spiral motion track mode, rotating disk video camera
Row mode.Spiral motion track mode is as shown in figure 4, object to be scanned is fixed, and video camera is along the spiral track in reality
Road moves, and moves while to object to be scanned collection view data, obtains scanned photograph sequence.
Rotating disk video camera is synchronized with the movement mode as shown in figure 5, video camera is synchronized with the movement with object to be scanned, i.e. scanning object
Body, which is positioned on rotating disk, carries out autobiography, and video camera moves to the state of looking squarely from vertical view state, moves while to scanning object
Body gathers view data, obtains scanned photograph sequence.
Video camera array mode is as shown in fig. 6, object to be scanned is fixed, according to the collection point distribution feelings of scanning framework
Condition, intensive video camera is built, the corresponding video camera actually placed in each collection point.
Step S140, scanned photograph sequence is resolved, generate the point cloud matrix of three dimensions.
Specifically, scanned photograph sequence is imported into computer, the software based on photogrammetry algorithms is used
Or program resolves to scanned photograph sequence, the point cloud matrix of three dimensions is generated, puts each point cloud in cloud matrix
Inherit the picture-element color information of corresponding photo.
According to the exemplary embodiment of the present invention, prime number spiral scanning method also includes：
Step S150, grid model is built according to a cloud matrix.
Specifically, the space coordinates of the data message of grid model and object to be scanned matches, it is one-to-one.
According to the exemplary embodiment of the present invention, prime number spiral scanning method also includes：
Step S160, picture-element color information and grid model are subjected to matching mapping, export texture mapping threedimensional model.
Specifically, this step, which is textures, bakes and banks up with earth the stage, it is exactly the picture-element color information corresponding cloud, is mapped to grid
On model, texture mapping is generated, exports texture mapping threedimensional model.
Embodiment two：
Fig. 7 is the prime number helical scanning system schematic diagram that the embodiment of the present invention two provides.
Reference picture 7, prime number helical scanning system include：
Framework establishment unit 100, for the body characteristicses according to object to be scanned, built by spiral surrounding distribution mode
First scanning framework；
Arranging unit 200, for according to the first scanning framework, carrying out layout to collection point with prime number ordered series of numbers method, obtaining
Second scanning framework；
Specifically, framework establishment unit 100 matched by spiral surrounding distribution mode structure with scanning object body phase the
One scan framework, arranging unit 200 are being scanned in framework with the prime number ordered series of numbers methods such as 2,3,5,7,11,13 most simplified to collection
Point carries out layout, and each collection point is a camera seat in the plane, is provided with a video camera, thus obtains the second scanning framework.
Collecting unit 300, for according to the second scanning framework, being acquired, obtaining to object to be scanned according to scan mode
To scanned photograph sequence；
It is synchronized with the movement mode and video camera battle array specifically, scan mode includes spiral motion track mode, rotating disk video camera
Row mode.
Solving unit 400, for being resolved to scanned photograph sequence, generate the point cloud matrix of three dimensions.
Specifically, scanned photograph sequence is imported into computer, photogrammetry is based on by solving unit 400
Algorithm is resolved to scanned photograph sequence, generates the point cloud matrix of three dimensions, and each point cloud put in cloud matrix is inherited
The picture-element color information of corresponding photo.
According to the exemplary embodiment of the present invention, prime number helical scanning system also includes：
First model construction unit 500, for building grid model according to a cloud matrix.
Specifically, the space coordinates of the data message of grid model and object to be scanned matches, it is one-to-one.
According to the exemplary embodiment of the present invention, point cloud matrix includes picture-element color information, and prime number helical scanning system is also
Including：
Second model construction unit 600, for picture-element color information and grid model to be carried out into matching mapping, export texture
Textures threedimensional model.
The prime number helical scanning system that the embodiment of the present invention is provided, its realization principle and caused technique effect and foregoing
Prime number spiral scanning method embodiment is identical, and to briefly describe, prime number helical scanning system embodiment part does not refer to part, can
With reference to corresponding contents in foregoing prime number spiral scanning method embodiment.
The embodiment of the present invention brings following beneficial effect：Prime number spiral scanning method provided by the invention and system, bag
The body characteristicses according to object to be scanned are included, by spiral surrounding distribution mode structure the first scanning framework, according to the first scanning
Framework, layout is carried out to collection point with prime number ordered series of numbers method, obtains the second scanning framework, according to the second scanning framework, according to sweeping
Retouch mode to be acquired object to be scanned, obtain scanned photograph sequence, scanned photograph sequence is resolved, generate three-dimensional space
Between point cloud matrix.The present invention can effectively simplify required hardware device scale, cost-effective, improve scan efficiency.
In the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " company
Connect " it should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or it is integrally connected；It can be machine
Tool connects or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be two members
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
The computer program product for the progress prime number spiral scanning method that the embodiment of the present invention is provided, including store place
The computer-readable recording medium of the executable non-volatile program code of device is managed, the instruction that described program code includes can be used for
The method described in previous methods embodiment is performed, specific implementation can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, can be with
Realize by another way.Device embodiment described above is only schematical, for example, the division of the unit,
Only a kind of division of logic function, can there is other dividing mode when actually realizing, in another example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or beg for
The mutual coupling of opinion or direct-coupling or communication connection can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in the executable non-volatile computer read/write memory medium of a processor.Based on such understanding, the present invention
The part that is substantially contributed in other words to prior art of technical scheme or the part of the technical scheme can be with software
The form of product is embodied, and the computer software product is stored in a storage medium, including some instructions are causing
One computer equipment (can be personal computer, server, or network equipment etc.) performs each embodiment institute of the present invention
State all or part of step of method.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
The medium of store program codes.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of prime number spiral scanning method, it is characterised in that methods described includes：
According to the body characteristicses of object to be scanned, pass through spiral surrounding distribution mode structure the first scanning framework；
According to the described first scanning framework, layout is carried out to collection point with prime number ordered series of numbers method, obtains the second scanning framework；
According to the described second scanning framework, the object to be scanned is acquired according to scan mode, obtains scanned photograph sequence
Row；
The scanned photograph sequence is resolved, generates the point cloud matrix of three dimensions.
2. prime number spiral scanning method according to claim 1, it is characterised in that methods described also includes：
Grid model is built according to described cloud matrix.
3. prime number spiral scanning method according to claim 2, it is characterised in that described cloud matrix includes pixel color
Information, methods described also include：
The picture-element color information and the grid model are subjected to matching mapping, export texture mapping threedimensional model.
4. prime number spiral scanning method according to claim 2, it is characterised in that the data message of the grid model with
The space coordinates of the object to be scanned matches.
5. prime number spiral scanning method according to claim 1, it is characterised in that the scan mode includes helical trajectory
Motion mode, rotating disk video camera are synchronized with the movement mode and video camera array mode.
6. a kind of prime number helical scanning system, it is characterised in that the system includes：
Framework establishment unit, for the body characteristicses according to object to be scanned, swept by spiral surrounding distribution mode structure first
Retouch framework；
Arranging unit, for according to the described first scanning framework, carrying out layout to collection point with prime number ordered series of numbers method, obtaining second
Scan framework；
Collecting unit, for according to the described second scanning framework, being acquired, obtaining to the object to be scanned according to scan mode
To scanned photograph sequence；
Solving unit, for being resolved to the scanned photograph sequence, generate the point cloud matrix of three dimensions.
7. prime number helical scanning system according to claim 6, it is characterised in that the system also includes：
First model construction unit, for building grid model according to described cloud matrix.
8. prime number helical scanning system according to claim 7, it is characterised in that described cloud matrix includes pixel color
Information, the system also include：
Second model construction unit, for the picture-element color information and the grid model to be carried out into matching mapping, export line
Manage textures threedimensional model.
9. prime number helical scanning system according to claim 7, it is characterised in that the data message of the grid model with
The space coordinates of the object to be scanned matches.
10. prime number helical scanning system according to claim 6, it is characterised in that the scan mode includes spiral track
Mark motion mode, rotating disk video camera are synchronized with the movement mode and video camera array mode.
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| CN109596104A (en) * | 2018-12-06 | 2019-04-09 | 林嘉恒 | Image reconstructing method based on the scanning of half covering type hierarchical fusion |
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