CN104315974A - Three dimension scan data processing method - Google Patents

Abstract

The invention provides a three dimension scan data processing method. The three dimension scan data processing method particularly includes steps: S1, placing a target object on a workbench, and rotating the workbench; S2, starting a scanner to regularly scan the target object, and obtaining N scan images which can completely cover the target object after combined, wherein each two adjacent scan images have coincident points, and N is larger than or equal to 3; S3, selecting one scan image as an initial image, and selecting a point in the initial image as an original point; S4, calculating coordinates of all points in the initial image, relative to the original point, and building an initial image point set; S5, selecting the scan image with a point coincident with a point on the initial image as a second scan image, calculating coordinates of all points of the second scan image according to the coordinate of the point of the second scan image, coincident with the point on the initial image, and building a second image point set; S6, building a third scan image point set; S7, obtaining scan point sets which can completely cover the target object on the analogy of the above steps; S8, building a target model according to the scan point sets. The three dimension scan data processing method uses a relative coordinate method to perform scan data calculation, facilitates calculation simplification, and improves efficiency.

Description

A kind of 3 d scan data disposal route

Technical field

The present invention relates to 3-D scanning technical field, particularly relate to a kind of 3 d scan data disposal route.

Background technology

3 D visual measurement is the three-dimensional non-contact measurement technology of view-based access control model concept, and it recovers 3D shape based on figure, image, has high-speed and high-efficiency, increasingly automated and low cost and other advantages.Requiring automatically, online, fast in modern industry three-dimensional measurement technology, 3 D visual measurement is of paramount importance developing direction.This technology and can not allow the surface contacted to measure to human body, product model, therefore be with a wide range of applications in fields such as reverse-engineering, rapid prototyping, virtual reality, machine vision, be specifically related to numerous industries such as automobile, manufacturing industry, Aero-Space, medical science, shaping, archaeology, robot.

A kind of common application of 3 D visual measuring technique is exactly spatial digitizer.Existing spatial digitizer is by mate by monumented point after taking pictures to object or characteristic matching carries out model reproduction, and owing to not having unified object of reference, matching process calculated amount greatly and easily make mistakes.

Summary of the invention

Based on the technical matters that background technology exists, the present invention proposes a kind of 3 d scan data disposal route, adopt relative coordinate method to carry out scan-data calculating, be conducive to simplifying calculating, raise the efficiency.

A kind of 3 d scan data disposal route that the present invention proposes, rotary table, carries out depth scan to object and obtains multiple scintigram, combine multiple scintigram, and obtain object module, concrete steps are as follows:

S1, object to be settled on the table, and rotary table;

S2, open scanner timing depth scan object, obtaining after combination can N part scintigram of coverage goal thing comprehensively, and adjacent two parts of scintigrams have coincide point, N >=3;

S3, choose a scintigram as initial graph, and from initial graph, choose a point as initial point;

In S4, calculating initial graph, each point is relative to the coordinate of initial point, sets up initial graph point set;

S5, choose and have the scintigram of coincide point as rescan figure with initial graph, calculate each point coordinate of rescan figure according to initial graph coincide point coordinate, set up rescan figure point set;

S6, choose and have the scintigram of coincide point as three scintigrams with rescan figure, calculate three each point coordinate of scintigram according to rescan figure coincide point coordinate, set up three scintigram point sets;

S7, the like, obtain the scanning point set of comprehensive coverage goal thing;

S8, according to scanning point set set up object module.

Preferably, in step S1, worktable at the uniform velocity rotates along same direction.

The present invention makes full use of the uniqueness of relative coordinate, calculates each point coordinate of several scintigrams in the mode of coordinate transmission, thus obtains each point coordinate of target surface, and generates object module, completes the scanner uni Model Reconstruction work to object.

In the present invention, using the starting point calculated as each point coordinate of rear a scintigram with the coincide point of front a scintigram, method is reasonable, high precision, high-level efficiency.

3 d scan data disposal route provided by the invention, without the need to arranging unique point, method advantages of simple, applied widely.

Accompanying drawing explanation

Fig. 1 is the process flow diagram of a kind of 3 d scan data disposal route that the present invention proposes.

Embodiment

With reference to Fig. 1, a kind of 3 d scan data disposal route that the present invention proposes, by rotary table, carries out depth scan to object and obtains multiple scintigram, combine multiple scintigram, obtains object module.

A kind of 3 d scan data disposal route concrete steps that the present invention proposes are as follows:

S1, object to be settled on the table, and rotary table.

In this step, worktable at the uniform velocity rotates along same direction, for the stable of scanning work can to providing safeguard.

Rotary table is the basis of carrying out comprehensive scanning, and the stability that object is installed is directly connected to the steady of object in rotary course, avoids scanning deviation.

S2, open scanner timing depth scan object, obtaining after combination can N part scintigram of coverage goal thing comprehensively, and adjacent two parts of scintigrams have coincide point, N >=3.

From optical projection, take pictures from both direction to same object, simultaneously the scope of taking pictures impossible meet cover object comprehensively and have the condition of coincide point, so, N >=3.

In this step, by arranging scanner, make every a scintigram include two end points of object central shaft, thus simplify the split step of scintigram.

S3, choose a scintigram as initial graph, and from initial graph, choose a point as initial point.

In S4, calculating initial graph, each point is relative to the coordinate of initial point, sets up initial graph point set.

S5, choose and have the scintigram of coincide point as rescan figure with initial graph, calculate each point coordinate of rescan figure according to initial graph coincide point coordinate, set up rescan figure point set.

S6, choose and have the scintigram of coincide point as three scintigrams with rescan figure, calculate three each point coordinate of scintigram according to rescan figure coincide point coordinate, set up three scintigram point sets.

S7, the like, obtain the scanning point set of comprehensive coverage goal thing.

Take full advantage of the uniqueness of relative coordinate in step S3 to S7, calculate the scanning point set of comprehensive coverage goal thing, degree of accuracy is high, and calculated amount is few, is conducive to improving data-handling efficiency.

S8, according to scanning point set set up object module.

Below in conjunction with specific embodiment, the present invention is further explained.

In the present embodiment, N=3, then concrete steps are as follows.

S1A, object to be settled on the table, and rotary table.

S2A, open scanner, object often rotates 120 degree and carries out a depth scan order to object, obtains 3 parts of scintigrams, 3 parts of scintigrams include object highs and lows and can coverage goal thing comprehensively after combining; Adjacent two parts of scintigrams have coincide point, and namely first part of scintigram and second part of scintigram have coincide point, and second part of scintigram and the 3rd part of scintigram have coincide point, and the 3rd part of scintigram and first part of scintigram have coincide point.

S3A, choose first part of scintigram as initial graph, and from initial graph, choose a point as initial point.

In S4A, calculating first part of scintigram, each point is relative to the coordinate of initial point, sets up initial graph point set.

S5A, choose second part of scintigram and the 3rd part of scintigram as rescan figure, calculate second part of scintigram and the 3rd part of each point coordinate of scintigram according to the coincide point coordinate of second part of scintigram and the 3rd part of scintigram and first part of scintigram respectively, set up rescan figure point set.

S6A, due in the present embodiment, all there is coincide point, so there is no three scintigrams in the present embodiment as first part of scintigram of initial graph and remaining scintigram.

S7A, set initial graph point set and rescan figure point set, obtain the scanning point set of comprehensive coverage goal thing.

This not in, appear at the coincide point that initial graph point set and rescan figure point concentrate simultaneously and only calculate once when setting up scanning point set.

S8A, according to scanning point set set up object module.

The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.

Claims (2)

1. a 3 d scan data disposal route, is characterized in that, rotary table, carries out depth scan and obtains multiple scintigram, combine multiple scintigram object, and obtain object module, concrete steps are as follows:

S1, object to be settled on the table, and rotary table;

S2, open scanner timing depth scan object, obtaining after combination can N part scintigram of coverage goal thing comprehensively, and adjacent two parts of scintigrams have coincide point, N >=3;

S3, choose a scintigram as initial graph, and from initial graph, choose a point as initial point;

In S4, calculating initial graph, each point is relative to the coordinate of initial point, sets up initial graph point set;

S5, choose and have the scintigram of coincide point as rescan figure with initial graph, calculate each point coordinate of rescan figure according to initial graph coincide point coordinate, set up rescan figure point set;

S6, choose and have the scintigram of coincide point as three scintigrams with rescan figure, calculate three each point coordinate of scintigram according to rescan figure coincide point coordinate, set up three scintigram point sets;

S7, the like, obtain the scanning point set of comprehensive coverage goal thing;

S8, according to scanning point set set up object module.

2. 3 d scan data disposal route as claimed in claim 1, it is characterized in that, in step S1, worktable at the uniform velocity rotates along same direction.