CN108648272A - Three-dimensional live acquires modeling method, readable storage medium storing program for executing and device - Google Patents
Three-dimensional live acquires modeling method, readable storage medium storing program for executing and device Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000003860 storage Methods 0.000 title claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 19
- 238000013507 mapping Methods 0.000 claims abstract description 12
- 230000004927 fusion Effects 0.000 claims abstract description 11
- 230000015654 memory Effects 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 14
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 230000005055 memory storage Effects 0.000 claims description 4
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- G06T2200/00—Indexing scheme for image data processing or generation, in general
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Abstract
Three-dimensional live acquisition modeling method, readable storage medium storing program for executing and device provided by the invention.Acquire the laser point cloud of target in real time by using the laser scanning component of three-dimensional live harvester, the true full-view image of target is acquired using pan-shot component simultaneously, point cloud data is stored and handled to three-dimensional live modeling with full-view image data synchronized upload.The whole threedimensional model of structure is calculated by carrying out homotopy mapping to laser point cloud, splicing integration processing is carried out to full-view image, by treated, threedimensional model carries out fusion treatment completion three-dimensional live modeling with full-view image, and three-dimensional live model pushes to the application that three-dimensional live application system carries out various three-dimensional lives by three-dimensional live modeling again；To which acquisition and modeling processing speed be substantially improved, it when coping with emergency case, can ensure that the timeliness of data, improve modeling efficiency, reduce modeling period.
Description
Technical field
Three dimensional data collection of the present invention models field.More particularly, to three-dimensional live acquisition modeling method, readable
Storage medium and device.
Background technology
Three-dimensional live is that a kind of looked around to existing scene progress multi-angle with digital camera shoots then progress later stage seam
A kind of three-dimensional display technique for merging load playing program to complete.Three-dimensional live can be by audience to figure in browsing
As being amplified, reducing, moving, the operations such as multi angle view.By deep programming, it can be achieved that the hot spot in scene link,
The functions such as virtual roaming, radar bearing navigation between more scenes.Three-dimensional live technology is widely used in numerous areas network virtual
Displaying.
Three-dimensional live modeling technique is emerging in international survey field in recent years, by carrying multiple sensors on platform,
Simultaneously from different angle acquisition images such as vertical, horizontal, inclinations, the information of ground object more complete and accurate is obtained.It is led
It includes the processing such as aerial triangulation, geometric correction, homotopy mapping, regional network simultaneous adjustment to want process, finally will be after adjustment
Data include that three coordinate informations and three direction angle informations assign every inclination image, and then synthesize high-precision three-dimensional mould
Type.
But there is also a degree of deficiencies for the prior art.Three-dimensional live modeling technique mostly uses fixed work station cluster
Mode carries out, and acquisition outdoor scene information is relatively limited, and is difficult to cope with the needs modeled to three-dimensional live under emergency case, and existing rank
The data volume that collects of section three-dimensional live modeling is huge, and work on hand station is difficult to complete the processing to the data, and by data
The timeliness that post-processing will then lose data is done in preservation.Although the precision that the prior art models whole three-dimensional live it is higher but
The relatively low fabrication cycle of efficiency is long, it is difficult to which satisfaction is not high to required precision but to the exigent usage scenario of timeliness.
Invention content
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide three-dimensional live acquisition modeling method,
Readable storage medium storing program for executing and device are difficult to cope with emergency case and guarantee data for solving acquisition outdoor scene information in the prior art
Timeliness, modeling efficiency is low, cycle time length problem.
In order to achieve the above objects and other related objects, the present invention provides a kind of three-dimensional live acquisition modeling method, described
Method includes：Real-time synchronization obtains the three-dimensional laser point cloud information and full-view image information of target object；Utilize homotopy mapping
Algorithm, which to the three-dimensional laser point cloud information calculate, generates threedimensional model；Using panorama automatic treatment software to the panorama
Image information carries out splicing structure full-view image；Multiple spatial position points are demarcated to the full-view image using point mark method；It will
Each spatial position point carries out matching primitives with the threedimensional model, obtains the phase of the threedimensional model and the full-view image
To relational model；Fusion treatment is carried out to the threedimensional model and the full-view image using the relativeness model, is obtained
The three-dimensional live-action data of target object and its ambient enviroment forms three-dimensional live model；By communication network by three-dimensional live mould
Type is sent to the three-dimensional live application system of distal end, for generating visual image.
In one embodiment of the invention, the three-dimensional laser point cloud information and full-view image information pass through multiple and different positions
Observation website acquisition is set, the three-dimensional laser point cloud information and full-view image that the observation website of the multiple different location is acquired are believed
The combination of breath covers the target object comprehensively.
In one embodiment of the invention, the preferred road both sides of observation website of the multiple different location.
In one embodiment of the invention, further include：To the relativeness mould of the threedimensional model and the full-view image
Type amendment, including：If not meeting expection, relativeness model expected from described do not meet individually is stored, and re-starts
Machine is trained, until meeting expection；If meeting expection, the fusion treatment is executed.
In one embodiment of the invention, the three-dimensional live application system further includes the multiple of corresponding different ambient enviroments
Scene subsystem.
In one embodiment of the invention, the multiple scene subsystem types include：Road, house, exhibition room and meeting-place
In one or more.
In order to achieve the above objects and other related objects, the present invention provides a kind of computer readable storage medium, the program
Realize that a kind of three-dimensional live acquires modeling method when being executed by processor.
In order to achieve the above objects and other related objects, the present invention provides a kind of three-dimensional live acquisition model building device, described
Three-dimensional live model building device, including：Communicator, memory and processor；The communicator, for PERCOM peripheral communication to obtain mesh
Mark the three-dimensional laser point cloud information and full-view image information of object；The memory is for storing computer program, the processing
Device is used to execute the computer program of the memory storage, so that the three-dimensional live model building device executes described one kind three
It ties up outdoor scene and acquires modeling method.
In order to achieve the above objects and other related objects, the present invention provides a kind of three-dimensional live acquisition model building device, including：
Laser scanning component, pan-shot component, memory, processor and communicator；The laser scanning component, for being responsible for
The collection and processing for stating the three-dimensional laser point cloud data information of target object and its ambient enviroment, are connect by Laser emission and reflection
Harvest takes spatial position and the range information of scanning target；The pan-shot component, for be responsible for the target object and its
The true scene of ambient enviroment carries out shooting, collecting and processing, is simultaneously shot target environment to obtain by multiple cameras
The photo for taking overlay chart suitable；The communicator, the three-dimensional laser point cloud information for obtaining target object with PERCOM peripheral communication
With full-view image information；Memory stores computer program；Processor communicates to connect the laser scanning component, pan-shot
Component and memory, the computer program for executing the memory storage, to realize following steps：The laser is controlled to sweep
It retouches component and pan-shot component synchronizes the three-dimensional laser point cloud information and full-view image information for obtaining target object；Using of the same name
Point matching algorithm, which to the three-dimensional laser point cloud information calculate, generates threedimensional model；Using panorama automatic treatment software to institute
It states full-view image information and carries out splicing structure full-view image；Multiple spatial positions are demarcated to the full-view image using point mark method
Point；Each spatial position point and the threedimensional model are subjected to matching primitives, obtain the threedimensional model and the panorama shadow
The relativeness model of picture；The threedimensional model is carried out using the Correlation model to merge place with the full-view image
Reason obtains the three-dimensional live-action data of target object and its ambient enviroment, forms three-dimensional live model；It will be three-dimensional by communication network
Outdoor scene model is sent to the three-dimensional live application system of distal end, for generating visual image.
In one embodiment of the invention, the laser scanning component is detachably connected with the pan-shot component.
As described above, a kind of three-dimensional live acquisition modeling method, readable storage medium storing program for executing and the device of the present invention, by using
The laser scanning component of three-dimensional live harvester acquires the laser point cloud of target in real time, while being acquired using pan-shot component
The true full-view image of target stores point cloud data and full-view image data synchronized upload to three-dimensional live modeling
With processing.The whole threedimensional model of structure is calculated by carrying out homotopy mapping to laser point cloud, spliced whole is carried out to full-view image
Conjunction is handled, and by treated, threedimensional model carries out fusion treatment completion three-dimensional live modeling, three-dimensional live model with full-view image
The application that three-dimensional live application system carries out various three-dimensional lives is pushed to by three-dimensional live modeling again.Using the present invention
Method, readable storage medium storing program for executing and device, have the advantages that：
Acquisition and modeling processing speed can be substantially improved can ensure that the timeliness of data when coping with emergency case
Property, modeling efficiency is improved, modeling period is reduced.
Description of the drawings
Fig. 1 is shown as the flow diagram of three-dimensional live acquisition modeling method of the present invention in an embodiment.
Fig. 2 is shown as the flow diagram of relativeness model modification method of the present invention in an embodiment.
Fig. 3 is shown as three-dimensional live acquisition model building device module diagram of the present invention in an embodiment.
Fig. 4 is shown as three-dimensional live acquisition model building device module diagram of the present invention in another embodiment.
Component label instructions
S101~S107 method and steps
S201~S204 method and steps
300 three-dimensional acquisition model building devices
301 memories
302 processors
303 communicators
400 three-dimensional modeling harvesters
401 memories
402 processors
403 communicators
404 laser scanning components
405 pan-shot components
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this specification below by way of specific specific example
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that the diagram provided in following embodiment only illustrates the basic structure of the present invention in a schematic way
Think, component count, shape and size when only display is with related component in the present invention rather than according to actual implementation in schema then
Draw, when actual implementation kenel, quantity and the ratio of each component can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
As shown in Figure 1, the flow diagram of the three-dimensional live acquisition modeling method in the displaying embodiment of the present invention, the present invention
A kind of three-dimensional live acquisition modeling method is provided, the method includes：
Step S101：Real-time synchronization obtains the three-dimensional laser point cloud information and full-view image information of target object.
In one embodiment of the invention, the three-dimensional laser point cloud information and full-view image information pass through multiple and different positions
Observation website acquisition is set, the three-dimensional laser point cloud information and full-view image that the observation website of the multiple different location is acquired are believed
The combination of breath covers the target object comprehensively.
In one embodiment of the invention, the preferred road both sides of observation website of the multiple different location.
The three-dimensional laser point cloud information uses, and there is laser scanning functional device to be acquired, and principle is sent out by laser
Penetrate spatial position and the range information that scanned target is obtained with reflection receivable, the three-dimensional laser point cloud information inclusion body surface
The high-precision three-dimensional coordinate in face can directly obtain object coordinates and characteristic information by cloud, have density big, precision height,
The features such as data volume is big.
The full-view image information uses, and there is shooting function device to be acquired, such as camera and camera, former
Reason simultaneously shoots target environment by multiple cameras to obtain the suitable image of overlay chart, the full-view image information
Texture and colouring information with image.
The observation website of the multiple different location, wherein the preferred laser scanning component of observation website of each position with
Pan-shot component synchronous acquisition, it is possible to reduce step S104, and step S105 matching and operation time for merging；It is the multiple
The quantity of the observation website of different location, preferably no less than 3.It is minimum that 360 degrees omnidirection observation usually is carried out to target object
3 observation websites are needed, but are kept in motion for the target object or target object of irregular structure, then can exist and see
Blind area or missed point are surveyed, so, setting is no less than the observation website of 3 quantity, can maximumlly cover the target comprehensively
Object.
The preferred road both sides of observation website of the multiple different location, based on a kind of three-dimensional live acquisition modeling of the present invention
In method, can real-time synchronization acquire information on target object, cope with the outdoor scene environment of emergency situations, it is preferable that can be in road
Both sides setting observation website is to acquire the dynamic environment of vehicle and pedestrian on road.
Step S102：The three-dimensional laser point cloud information calculate using homotopy mapping algorithm and generates three-dimensional mould
Type.
The homotopy mapping algorithm is a kind of method for cloud data registration, and it is nearest that the most commonly used is iteration at present
Point algorithm (Iterative Closest Point, ICP), it was proposed in 1992 by Besl and Mckay, which is
Three-dimension object alignment algorithm based on pure geometrical model, is mainly used for the registration problems of three-dimension object, it can be understood as：It is given
Two three-dimensional data point sets from different coordinates, find out the spatial alternation of two point sets, so that they can carry out space
Match.Power due to it and high accuracy become the mainstream algorithm in curved surface registration soon.
Multiple and different position detection website three-dimensional laser point cloud information are registrated by the homotopy mapping algorithm,
Generate threedimensional model.
Step S103：Splicing structure full-view image is carried out to the full-view image information using panorama automatic treatment software.
The panorama automatic treatment software refers to making the picture making shooting at just more than people by professional software
The image processing software at normal visual angle.Commonly using panorama automatic treatment software includes：With picture splice based on panoramic mosaic software；
Multiple panorama sketch, which are fabricated to, to be switched mutually, and have digital map navigation instruction, and the panorama three-dimensional range making for roaming panorama is soft
Part；To make 360 degree of displaying softwares based on 360 rotary displays of object.
Step S104：Multiple spatial position points are demarcated to the full-view image using point mark method.
Step S105：Each spatial position point and the threedimensional model are subjected to matching primitives, obtain the three-dimensional mould
The relativeness model of type and the full-view image.
Three-dimensional laser point cloud is the high-precision three-dimensional coordinate of body surface, can directly be obtained by cloud object coordinates and
The features such as characteristic information has density big, and precision is high, data volume is big, but there is no texture and colouring information, show not intuitive, point
These features of cloud cause to be difficult to carry out interpretation, classification, measurement to atural object merely using three-dimensional laser point cloud, restrict a cloud
Using.
Full-view image data have the texture and colouring information of image, can be mended as the texture of three-dimensional laser point cloud data
It fills.Cloud is registrated with full-view image data, both fusions information can find corresponding image by three-dimensional laser point cloud
Pixel carries out a cloud coloring, otherwise using full-view image as carrier is showed, corresponding three-dimensional can be found by shadow pixel coordinate and swashed
Luminous point cloud makes two kinds of data products possess unified coordinate system, mutual space correlation, formed the threedimensional model with it is described complete
The relativeness model of scape image.
Step S106：The threedimensional model is carried out using the relativeness model to merge place with the full-view image
Reason obtains the three-dimensional live-action data of target object and its ambient enviroment, forms three-dimensional live model；
In one embodiment of the invention, further include：To the relativeness mould of the threedimensional model and the full-view image
Type modification method.As shown in Fig. 2, the flow diagram of the relativeness model modification method in the displaying embodiment of the present invention.
Include that anticipation and decision step S201 is carried out to the relativeness model of the threedimensional model and the full-view image；
If not meeting expection, the independent storing step S202 of expected relativeness model is not met to described；And again
Machine training is carried out, until meeting expected step S203；
If meeting expection, the fusion treatment step S204 is executed.
The relativeness model of the threedimensional model and the full-view image is judged whether to meet expection, is passed through based on expert
Test the judgement with artificial visual.
Step S107：Three-dimensional live model is sent to the three-dimensional live application system of distal end by communication network, for
Generate visual image.
In one embodiment of the invention, the three-dimensional live application system further includes the multiple of corresponding different ambient enviroments
Scene subsystem.
In one embodiment of the invention, the multiple scene subsystem types include：Road, house, exhibition room and meeting-place
In one or more.
In order to achieve the above objects and other related objects, the present invention provides a kind of computer readable storage medium, the program
Realize that a kind of three-dimensional live acquires modeling method when being executed by processor.
The computer readable storage medium, one of ordinary skill in the art will appreciate that：Realize that above-mentioned each method is implemented
The all or part of step of example can be completed by the relevant hardware of computer program.Computer program above-mentioned can store
In a computer readable storage medium.When being executed, execution includes the steps that above-mentioned each method embodiment to the program；And it is aforementioned
Storage medium include：The various media that can store program code such as ROM, RAM, magnetic disc or CD.
As shown in figure 3, the three-dimensional live in the displaying embodiment of the present invention acquires model building device module diagram, the present invention carries
Model building device 300 is acquired for a kind of three-dimensional live, including：Communicator 303, memory 301 and processor 302；The communicator
303, three-dimensional laser point cloud information and full-view image information for obtaining target object with PERCOM peripheral communication；The memory
301 for storing computer program, and the processor 302 is used to execute the computer program of the memory storage, so that institute
It states three-dimensional live model building device 300 and executes a kind of three-dimensional live acquisition modeling method.
The three-dimensional laser point cloud information of the target object can be provided with full-view image information by far-end server, described remote
End server can represent various forms of servers, such as web server, application server, proxy server, network service
Device or server zone；
The three-dimensional laser point cloud information of the target object can also be provided with full-view image information by computing device, the meter
Calculate equipment may include one or more processing equipment, and can be or including laptop computer, handheld computer,
Tablet computer, network equipment, three-dimensional scanner, camera, navigation equipment either these data processing equipments or other number
According to the combination of any two or more data processing equipments in processing equipment.
The communicator is for realizing database access device and other equipment (such as client, read-write library and read-only library)
Between communication, the communication can be any suitable combination of one or more wired and or wireless networks.For example, logical
Letter may include internet, Intranet, wide area network (WAN), LAN (LAN), wireless network, Digital Subscriber Line (DSL) network,
Frame-relay network, asynchronous transfer mode (ATM) network, Virtual Private Network (VPN) and/or any other suitable communication network
Any one or more of.The memory may include random access memory (RandomAccessMemory, abbreviation
RAM), it is also possible to further include nonvolatile memory (non-volatilememory), a for example, at least magnetic disk storage.Institute
It can be at general processor, including central processing unit (CentralProcessingUnit, abbreviation CPU), network to state processor
Manage device (NetworkProcessor, abbreviation NP) etc.；It can also be digital signal processor
(DigitalSignalProcessing, abbreviation DSP), application-specific integrated circuit
(ApplicationSpecificIntegratedCircuit, abbreviation ASIC), field programmable gate array (Field-
ProgrammableGateArray, abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic device
Part, discrete hardware components.
As shown in figure 4, the three-dimensional live in displaying another embodiment of the present invention acquires model building device module diagram, this hair
A kind of bright three-dimensional live of offer acquires model building device 400, including：Laser scanning component 404, pan-shot component 405, memory
401, processor 402 and communicator 403；The laser scanning component 404, for being responsible for the target object and its surrounding ring
The collection and processing of the three-dimensional laser point cloud data information in border obtain the space of scanning target by Laser emission and reflection receivable
Position and range information；The pan-shot component 405, the true scene for being responsible for the target object and its ambient enviroment
Shooting, collecting and processing are carried out, target environment is shot simultaneously by multiple cameras to obtain the suitable photograph of overlay chart
Piece；The communicator 403, for being believed with full-view image with the three-dimensional laser point cloud information for obtaining target object with PERCOM peripheral communication
Breath；Memory 401 stores computer program；Processor 402 communicates to connect the laser scanning component 404, pan-shot portion
Part 405 and memory 401, the computer program for executing the storage of the memory 401, to realize following steps：Control institute
State laser scanning component and pan-shot component, the synchronous three-dimensional laser point cloud information for obtaining target object and full-view image information
S101；The three-dimensional laser point cloud information calculate using homotopy mapping algorithm and generates threedimensional model S102；Using complete
Scape automatic treatment software carries out splicing structure full-view image S103 to the full-view image information；Using point mark method to described complete
Scape image demarcates multiple spatial position point S104；Each spatial position point and the threedimensional model are subjected to matching primitives, obtained
To the relativeness model S105 of the threedimensional model and the full-view image；Using the Correlation model to the three-dimensional
Model carries out fusion treatment with the full-view image, obtains the three-dimensional live-action data of target object and its ambient enviroment, forms three
Tie up outdoor scene model S106；Three-dimensional live model is sent to the three-dimensional live application system of distal end by communication network, for life
At visual image S107.
The laser scanning component 404 is to be connect applied to by Laser emission and reflection with laser scanning functional component
Harvest takes spatial position and the range information of scanned target.The pan-shot component 405 is with shooting function component, example
Such as camera and camera, it is suitble to obtaining overlay chart applied to being shot simultaneously to target environment by multiple cameras
Image.
The memory 401, processor 402 and communicator 403 are built with a kind of three-dimensional live acquisition of aforementioned present invention offer
It is consistent described in mold device 200.
A kind of three-dimensional live acquisition model building device 400 can be structure as a whole, and composed structure includes：Laser scanning component
404, pan-shot component 405, memory 401, processor 402 and communicator 403；A kind of three-dimensional live acquisition modeling
Device 400 can also be by laser scanning component 404, pan-shot component 405, memory 401, processor 402 and communicator
403 are composed.
In one embodiment of the invention, the laser scanning component is detachably connected with the pan-shot component.
The laser scanning component is detachably connected with the pan-shot component, including：Hinged, buckle and adhesion one
Or multiple combinations mode.
In conclusion a kind of three-dimensional live acquisition modeling method, readable storage medium storing program for executing and the device of the present invention, by using
The laser scanning component of three-dimensional live harvester acquires the laser point cloud of target in real time, while being acquired using pan-shot component
The true full-view image of target stores point cloud data and full-view image data synchronized upload to three-dimensional live modeling
With processing.The whole threedimensional model of structure is calculated by carrying out homotopy mapping to laser point cloud, spliced whole is carried out to full-view image
Conjunction is handled, and by treated, threedimensional model carries out fusion treatment completion three-dimensional live modeling, three-dimensional live model with full-view image
The application that three-dimensional live application system carries out various three-dimensional lives is pushed to by three-dimensional live modeling again.
For acquiring 500 square metres of target environment, currently a popular mapping mode completes entire three from collecting
The period of live-action data modeling is tieed up generally at 3-5 days, place that can be more efficient using of the invention acquisition, modeling method and system
It manages the period to complete in 1-2 days, whole timeliness greatly improves the acquisition that can promote more practical applications such as criminal-scene
It more efficient can carry out to avoid the delay for causing case to handle.
Acquisition and modeling processing speed can be substantially improved in the present invention can ensure that data when coping with emergency case
Timeliness, improve modeling efficiency, reduce modeling period, effectively overcome various shortcoming in the prior art and have high industrial
Utility value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (10)
1. a kind of three-dimensional live acquires modeling method, which is characterized in that the method includes：
Real-time synchronization obtains the three-dimensional laser point cloud information and full-view image information of target object；
The three-dimensional laser point cloud information calculate using homotopy mapping algorithm and generates threedimensional model；
Splicing structure full-view image is carried out to the full-view image information using panorama automatic treatment software；
Multiple spatial position points are demarcated to the full-view image using point mark method；
Each spatial position point and the threedimensional model are subjected to matching primitives, obtain the threedimensional model and the panorama shadow
The relativeness model of picture；
Fusion treatment is carried out to the threedimensional model and the full-view image using the relativeness model, obtains target object
And its three-dimensional live-action data of ambient enviroment, form three-dimensional live model；
Three-dimensional live model is sent to the three-dimensional live application system of distal end by communication network, for generating visualization figure
Picture.
2. three-dimensional live according to claim 1 acquires modeling method, which is characterized in that the three-dimensional laser point cloud information
It is acquired by multiple and different position detection websites with full-view image information, what the observation website of the multiple different location was acquired
The combination of three-dimensional laser point cloud information and full-view image information covers the target object comprehensively.
3. three-dimensional live according to claim 2 acquires modeling method, which is characterized in that the sight of the multiple different location
The preferred road both sides of survey station point.
4. three-dimensional live according to claim 1 acquires modeling method, which is characterized in that further include：To the three-dimensional mould
The relativeness Modifying model of type and the full-view image, including：
If not meeting expection, relativeness model expected from described do not meet individually is stored, and re-starts machine training,
Until meeting expection；
If meeting expection, the fusion treatment is executed.
5. acquiring modeling method according to the three-dimensional live that claim 1 is stated, which is characterized in that the three-dimensional live application system is also
Multiple scene subsystems including the different ambient enviroments of correspondence.
6. acquiring modeling method according to the three-dimensional live that claim 4 is stated, which is characterized in that the multiple scene subsystem types
Including：One or more in road, house, exhibition room and meeting-place.
7. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
A kind of three-dimensional live acquisition modeling method according to any one of claims 1 to 6 is realized when row.
8. a kind of three-dimensional live acquires model building device, which is characterized in that the three-dimensional live model building device, including：Communicator is deposited
Reservoir and processor；
The communicator, three-dimensional laser point cloud information and full-view image information for obtaining target object with PERCOM peripheral communication；
The memory is used to execute the computer journey of the memory storage for storing computer program, the processor
Sequence, so that the three-dimensional live model building device executes a kind of three-dimensional live acquisition such as according to any one of claims 1 to 6 and builds
Mould method.
9. a kind of three-dimensional live acquires model building device, which is characterized in that including：Laser scanning component, pan-shot component, storage
Device, processor and communicator；
The laser scanning component, the three-dimensional laser point cloud data information for being responsible for the target object and its ambient enviroment
It collects and handles, pass through Laser emission and reflection receivable obtains spatial position and the range information of scanning target；
The pan-shot component, for be responsible for the target object and its ambient enviroment true scene carry out shooting, collecting and
Processing simultaneously shoots target environment by multiple cameras to obtain the suitable photo of overlay chart；
Communicator, three-dimensional laser point cloud information and full-view image information for obtaining target object with PERCOM peripheral communication；
Memory stores computer program；
Processor communicates to connect the laser scanning component, pan-shot component and memory, is deposited for executing the memory
The computer program of storage, to realize following steps：
Control the laser scanning component and pan-shot component synchronize obtain the three-dimensional laser point cloud information of target object with it is complete
Scape image information；
The three-dimensional laser point cloud information calculate using homotopy mapping algorithm and generates threedimensional model；
Splicing structure full-view image is carried out to the full-view image information using panorama automatic treatment software；
Multiple spatial position points are demarcated to the full-view image using point mark method；
Each spatial position point and the threedimensional model are subjected to matching primitives, obtain the threedimensional model and the panorama shadow
The relativeness model of picture；
Fusion treatment is carried out to the threedimensional model and the full-view image using the Correlation model, obtains target object
And its three-dimensional live-action data of ambient enviroment, form three-dimensional live model；
Three-dimensional live model is sent to the three-dimensional live application system of distal end by communication network, for generating visualization figure
Picture.
10. three-dimensional live according to claim 9 acquires model building device, which is characterized in that the laser scanning component with
The pan-shot component is detachably connected.
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