CN110595363A - Three-dimensional virtual modeling method, system, device and storage medium - Google Patents
Three-dimensional virtual modeling method, system, device and storage medium Download PDFInfo
- Publication number
- CN110595363A CN110595363A CN201910774385.XA CN201910774385A CN110595363A CN 110595363 A CN110595363 A CN 110595363A CN 201910774385 A CN201910774385 A CN 201910774385A CN 110595363 A CN110595363 A CN 110595363A
- Authority
- CN
- China
- Prior art keywords
- vertical
- camera
- laser
- fixed point
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a three-dimensional virtual modeling method, a system, a device and a storage medium, wherein the method comprises the following steps: calculating the vertical distance from each fixed point on each vertical curve section on the surface of the object to be tested to the test equipment according to the preset vertical curve section interval; reconstructing a three-dimensional model of the object to be tested according to the preset vertical curve segment interval and the vertical distance from each fixed point on a plurality of vertical curve segments to the test equipment; the method for testing each fixed point of the vertical curve segment comprises the following steps: controlling a laser to emit laser to a fixed point on a vertical curve section of the surface of the object to be detected according to a preset camera shooting angle; acquiring the imaging width of the laser reflection light of the fixed point on the vertical curve segment on a camera; calculating the vertical distance from the fixed point on the vertical curve section to the test equipment according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve section and the focal length of the camera; the three-dimensional virtual modeling method is simple, rapid and efficient.
Description
Technical Field
The present invention relates to the field of three-dimensional reconstruction, and in particular, to a method, a system, an apparatus, and a storage medium for three-dimensional virtual modeling.
Background
Three-dimensional images are more stereoscopic, visual and vivid than two-dimensional images, and the three-dimensional images are more and more widely applied in life. For three-dimensional modeling of small objects, because the object size measurement is relatively easy, data required by three-dimensional modeling can be obtained by using contact measurement; however, for large objects, contact measurement is not practical, and if a large number of two-dimensional pictures are used and the computing functions of the computer equipment are combined into a three-dimensional image, the shooting and processing workload is large and the efficiency is low.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, a system, a device and a storage medium for three-dimensional virtual modeling, and the three-dimensional reconstruction method of the present invention is simple, fast and efficient.
In a first aspect, an embodiment of the present invention provides a three-dimensional virtual modeling method, including the following steps:
calculating the vertical distances from a plurality of fixed points on a plurality of vertical curve segments on the surface of the object to be tested to the test equipment according to the preset vertical curve segment intervals;
reconstructing a three-dimensional model of the object to be tested according to preset vertical curve segment intervals and vertical distances from a plurality of fixed points on a plurality of vertical curve segments to the test equipment;
the method for measuring the vertical distance from a fixed point on the vertical straight line section of the surface of an object to be measured to test equipment comprises the following substeps:
controlling a laser to emit laser to a fixed point on a vertical curve section of the surface of the object to be detected according to a preset camera shooting angle;
acquiring the imaging width of the laser reflection light of the fixed point on the curve segment on a camera;
and calculating the vertical distance from the fixed point on the straight curve section to the test equipment according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve section and the focal length of the camera.
Preferably, the vertical distance from the fixed point on the straight curve segment to the testing equipment is calculated according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve segment and the focal length of the camera, and the calculation formula is as follows:
M＝bf/x
wherein M represents the vertical distance from the fixed point on the vertical curve segment to the testing equipment, b represents the distance from the laser emission point to the middle point of the camera, f represents the focal length of the camera, and x represents the imaging width of the fixed point on the vertical curve segment.
Preferably, when the vertical distances from a plurality of fixed points on the same vertical curve section of the surface of the object to be tested to the testing equipment are measured, the relative positions of the laser and the camera are not changed.
Preferably, when the vertical distances from a plurality of fixed points on the same vertical curve section of the surface of the object to be tested to the test equipment are measured, the positions of the test equipment and the object to be tested are kept unchanged.
In a second aspect, an embodiment of the present invention provides a three-dimensional virtual modeling system, including:
the vertical distance calculation module is used for calculating the vertical distances from a plurality of fixed points on a plurality of vertical curve segments on the surface of the object to be tested to the test equipment according to the preset vertical curve segment intervals;
the three-dimensional reconstruction module is used for reconstructing a three-dimensional model of the object to be tested according to preset vertical curve segment intervals and the vertical distances from a plurality of fixed points on a plurality of vertical curve segments to the test equipment;
wherein, measure the vertical distance of fixed point to test equipment on the object surface vertical straight line section that awaits measuring, include:
the laser emission unit is used for controlling the laser to emit laser to a fixed point on a vertical curve section on the surface of the object to be detected according to a preset camera shooting angle;
the image width testing unit is used for acquiring the imaging width of the laser reflection light of the fixed point on the curve segment on the camera;
and the vertical distance calculation unit is used for calculating the vertical distance from the fixed point on the straight curve segment to the test equipment according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve segment and the focal length of the camera.
In a third aspect, an embodiment of the present invention provides a three-dimensional virtual modeling apparatus, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the three-dimensional virtual modeling method.
In a fourth aspect, embodiments of the present invention provide a storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform the three-dimensional virtual modeling method.
In a fifth aspect, an embodiment of the present invention provides a three-dimensional virtual modeling system, including a computer device and a testing device connected to the computer device, where the testing device includes a camera and a laser; wherein the content of the first and second substances,
the camera is used for shooting a two-dimensional image of an object to be detected and recording image parameters;
the laser is used for emitting laser to the surface of the object to be measured;
the computer device includes:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the three-dimensional virtual modeling method.
Preferably, the relative distance of the camera and the laser remains constant.
Preferably, the laser is a point laser or a line laser.
The implementation of the invention comprises the following beneficial effects: according to the invention, the emission angle of the laser is set as the shooting angle of the camera, and the distance from the test fixed point on the object to be tested to the test equipment is converted into the distance from the laser emission point to the middle point of the camera, the focal length of the camera and the imaging width of the test fixed point according to the similarity principle to calculate, so that the calculation method is simple and efficient.
Drawings
FIG. 1 is a schematic flowchart illustrating steps of a three-dimensional virtual modeling method according to an embodiment of the present invention;
fig. 2 is a schematic vertical side view of an object to be measured when being measured according to an embodiment of the present invention;
fig. 3 is a schematic top view illustrating an object to be measured being measured according to an embodiment of the present invention;
FIG. 4 is a schematic light path diagram of a three-dimensional virtual modeling method according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a three-dimensional virtual modeling system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a three-dimensional virtual modeling apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of another three-dimensional virtual modeling system according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a three-dimensional virtual modeling method, including the following steps:
s11, calculating the vertical distances from a plurality of fixed points on a plurality of vertical curve segments on the surface of the object to be tested to the test equipment according to the preset vertical curve segment intervals;
s12, reconstructing a three-dimensional model of the object to be tested according to preset vertical curve segment intervals and vertical distances from a plurality of fixed points on a plurality of vertical curve segments to the testing equipment;
the method comprises the following steps of calculating the vertical distance from a fixed point on the vertical straight line section of the surface of an object to be tested to test equipment, and comprising the following substeps:
controlling a laser to emit laser to a fixed point on a vertical curve section of the surface of the object to be detected according to a preset camera shooting angle;
acquiring the imaging width of the laser reflection light of the fixed point on the curve segment on a camera;
and calculating the vertical distance from the fixed point on the straight curve section to the test equipment according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve section and the focal length of the camera.
Specifically, the method comprises the steps of firstly, calculating the vertical distance from each fixed point on a first vertical curve section on the surface of an object to be tested to test equipment; then, according to the preset interval of the vertical curve segments, calculating the vertical distance from each fixed point on the rest vertical curve segments on the surface of the object to be tested to the test equipment; reconstructing a three-dimensional model of the object to be tested according to the preset vertical curve segment interval and the vertical distance from each fixed point on a plurality of vertical curve segments to the test equipment; the method for calculating the vertical distance from each fixed point on the first vertical curve section of the surface of the object to be tested to the test equipment specifically comprises the following substeps: controlling a laser to emit laser to a first fixed point on a first vertical curve section on the surface of the object to be detected according to a preset camera shooting angle; acquiring the imaging width from the imaging point of the laser reflection light of the first fixed point on the first vertical curve segment on the camera to the edge of the camera; calculating a first vertical distance from a first fixed point on the first vertical curve segment to the test equipment according to the distance from the laser emission point to the middle point of the camera, the imaging width of the first fixed point on the first vertical curve segment and the camera focal length; and calculating the vertical distance from the residual fixed point on the first vertical curve segment to the equipment surface according to a preset interval.
Preferably, the vertical distance from the fixed point on the straight curve segment to the testing equipment is calculated according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve segment and the focal length of the camera, and the calculation formula is as follows:
M＝bf/x
wherein M represents the vertical distance from the fixed point on the vertical curve segment to the testing equipment, b represents the distance from the laser emission point to the middle point of the camera, f represents the focal length of the camera, and x represents the imaging width of the fixed point on the vertical curve segment.
Preferably, when the vertical distance from each fixed point on the same vertical curve section of the surface of the object to be tested to the testing equipment is measured, the relative positions of the laser and the camera are not changed.
Preferably, when the vertical distance from each fixed point on the same vertical curve section of the surface of the object to be tested to the testing equipment is measured, the positions of the laser and the camera from the object to be tested are kept unchanged.
Specifically, in the process of three-dimensional reconstruction of the object to be measured, the three-dimensional object is firstly decomposed in the vertical direction according to a certain distance, then the curve segment obtained by decomposition in the vertical direction is divided into a plurality of fixed points according to a certain distance, and finally the distance from each fixed point to the equipment surface is calculated, so that the three-dimensional reconstruction of the object to be measured is carried out according to the distances from all the fixed points to the testing equipment. It should be noted that, for convenience of calculation, in an actual measurement process, the vertical line segment and the fixed points on the vertical line segment may be measured and calculated in a certain order, for example, each fixed point on the vertical line segment is measured and calculated from top to bottom or from bottom to top, and the vertical line segment may be measured and calculated from left to right or from right to left.
As shown in fig. 2, the surface of the object 200 to be measured is rugged, and the horizontal distances from different points to the vertical surface of the test apparatus 100 are different, and in the three-dimensional reconstruction, a three-dimensional model of the object to be measured can be created based on the difference in the distances from the points to the vertical surface of the test apparatus 100. As shown in fig. 3, the test device includes a camera 110 and a laser 120, S1 is a test device surface, S2 is a parallel surface between a point O to be measured on the object to be measured and the device surface, angle a represents a laser emission angle, b represents a distance from the laser emission point to a midpoint of the camera, f represents a focal length of the camera, x represents an imaging width of the camera, and M represents a vertical distance from the point O to be measured to the device surface. When the test equipment S100 is in operation, the laser emission angle a is set as a camera shooting angle, and M/b is f/x according to the theorem of similar triangle determination, so M is bf/x, and M can be obtained from b, f, and x.
However, in the actual measurement process, a plurality of points to be measured are arranged on a vertical curve section to be measured of the object to be measured, and the plurality of points to be measured are not on the same horizontal plane with the test equipment, that is, a plane formed by the laser emission point, the points to be measured and the imaging point forms a certain included angle with the horizontal plane. As shown in fig. 4, the S point is a laser emission point, S1 is an apparatus surface, S2 is a vertical surface parallel to the apparatus surface where the point to be measured is located, S3 is a camera imaging surface, the laser emission point is emitted from the S point, and then irradiates to the point to be measured O1 and reflects, and then passes through the G point of the apparatus surface, and images are formed at the point O1 'on the camera imaging surface, O1' T represents the vertical distance from O1 'to the center of the camera, the length of O1' T is represented by y, NO1 'is parallel to a horizontal axis passing through a two-dimensional coordinate axis of the center of the camera and represents the imaging width x, GP ═ NO 1', GQ × PQ, GP represents the distance from the G point to a straight line NO1 ', the length of GP is represented by L', GQ represents the vertical distance from the G point to the camera imaging surface, the length of GQ is the camera focal length f, which:
tan θ ═ PQ/GQ ═ O1' T/GQ ═ y/f equation 1
Wherein y represents the vertical distance from the imaging point of the point to be tested on the camera to the center of the camera, and f represents the focal length of the camera.
Similarly, O1B ═ SG, O1H × BH, O1B represents the distance from the O1 point to the straight line SG, the length of O1B is represented by L, O1H represents the vertical distance from the O1 point to the device surface, SG represents the distance b from the laser emission point to the center of the camera, O1H represents the vertical distance M from the O1 point to the device surface, and according to the similar triangle determination theorem, the triangle O1SG is similar to the triangle GNO1 ', so that O1B/GP is SG/NO 1', that is, the following formula 2 can be obtained; triangle O1HB is similar to triangle GQP and results in the following equation 3.
L/L ═ b/x equation 2
Equation 3 for angle BO1H ═ PGQ ═ θ
From the pythagorean theorem, GP ═ GQ/cos θ and O1H ═ O1B × cos θ can be obtained, and the following equations 4 and 5 can be obtained:
l ═ f/cos θ equation 4
Formula 5 where M is L × cos θ
By combining the formulas 1 to 5, M ═ bf/x can be obtained, and thus it can be known that the distance M from a point on the vertical line segment to the device plane is related to the distance b from the laser emission point to the camera midpoint, the camera focal length f and the imaging width of the point on the vertical line segment on the camera.
The implementation of the invention comprises the following beneficial effects: according to the invention, the emission angle of the laser is set as the shooting angle of the camera, and the distance from the test fixed point on the object to be tested to the test equipment is converted into the distance from the laser emission point to the middle point of the camera, the focal length of the camera and the imaging width of the test fixed point according to the similarity principle to calculate, so that the calculation method is simple and efficient.
As shown in fig. 5, an embodiment of the present invention further provides a three-dimensional virtual modeling system, including:
the vertical distance calculation module is used for calculating the vertical distances from a plurality of fixed points on a plurality of vertical curve segments on the surface of the object to be tested to the test equipment according to the preset vertical curve segment intervals;
the three-dimensional reconstruction module is used for reconstructing a three-dimensional model of the object to be tested according to preset vertical curve segment intervals and the vertical distances from a plurality of fixed points on a plurality of vertical curve segments to the test equipment;
wherein, measure the vertical distance of fixed point to test equipment on the object surface vertical straight line section that awaits measuring, include:
the laser emission unit is used for controlling the laser to emit laser to a fixed point on a vertical curve section on the surface of the object to be detected according to a preset camera shooting angle;
the image width testing unit is used for acquiring the imaging width of the laser reflection light of the fixed point on the curve segment on the camera;
and the vertical distance calculation unit is used for calculating the vertical distance from the fixed point on the straight curve segment to the test equipment according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve segment and the focal length of the camera.
It can be seen that the contents in the foregoing method embodiments are all applicable to this system embodiment, the functions specifically implemented by this system embodiment are the same as those in the foregoing method embodiment, and the advantageous effects achieved by this system embodiment are also the same as those achieved by the foregoing method embodiment.
As shown in fig. 6, a three-dimensional virtual modeling apparatus includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the three-dimensional virtual modeling method steps.
It can be seen that the contents in the foregoing method embodiments are all applicable to this apparatus embodiment, the functions specifically implemented by this apparatus embodiment are the same as those in the foregoing method embodiment, and the advantageous effects achieved by this apparatus embodiment are also the same as those achieved by the foregoing method embodiment.
Furthermore, a storage medium is provided, in which processor-executable instructions are stored, and when the processor-executable instructions are executed by a processor, the processor-executable instructions are used to perform the steps of the three-dimensional virtual modeling method described in the above method embodiment. Likewise, the contents of the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiments, and the advantageous effects achieved by the present storage medium embodiment are also the same as those achieved by the above method embodiments.
As shown in fig. 7, an embodiment of the present invention further provides a three-dimensional virtual modeling system, which includes a computer device and a testing device connected to the computer device, where the testing device includes a camera and a laser; wherein the content of the first and second substances,
the camera is used for shooting a two-dimensional image of an object to be detected and recording image parameters;
the laser is used for emitting laser to the surface of the object to be measured;
the computer device includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the three-dimensional virtual modeling method steps of the above-described method embodiments.
In particular, at least one image acquisition device may be specifically included for the camera; at least one laser emitting device may be specifically included for the laser; the computer device may be different types of electronic devices, including but not limited to a desktop computer, a laptop computer, and other terminals.
Preferably, the relative distance of the camera and the laser remains constant.
Preferably, the laser is a point laser or a line laser. The line laser can emit linear laser light, so that the efficiency of the data acquisition process is higher.
It can be seen that the contents in the foregoing method embodiments are all applicable to this system embodiment, the functions specifically implemented by this system embodiment are the same as those in the foregoing method embodiment, and the advantageous effects achieved by this system embodiment are also the same as those achieved by the foregoing method embodiment.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A three-dimensional virtual modeling method is characterized by comprising the following steps:
calculating the vertical distances from a plurality of fixed points on a plurality of vertical curve segments on the surface of the object to be tested to the test equipment according to the preset vertical curve segment intervals;
reconstructing a three-dimensional model of the object to be tested according to preset vertical curve segment intervals and vertical distances from a plurality of fixed points on a plurality of vertical curve segments to the test equipment;
the method comprises the following steps of calculating the vertical distance from a fixed point on the vertical straight line section of the surface of an object to be tested to test equipment, and comprising the following substeps:
controlling a laser to emit laser to a fixed point on a vertical curve section of the surface of the object to be detected according to a preset camera shooting angle;
acquiring the imaging width of the laser reflection light of the fixed point on the curve segment on a camera;
and calculating the vertical distance from the fixed point on the straight curve section to the test equipment according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve section and the focal length of the camera.
2. The three-dimensional virtual modeling method according to claim 1, wherein the vertical distance from the fixed point on the straight curve segment to the testing equipment is calculated according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve segment and the focal length of the camera, and the calculation formula is as follows:
M＝bf/x
wherein M represents the vertical distance from the fixed point on the vertical curve segment to the testing equipment, b represents the distance from the laser emission point to the middle point of the camera, f represents the focal length of the camera, and x represents the imaging width of the fixed point on the vertical curve segment.
3. The three-dimensional virtual modeling method according to claim 2, wherein the relative positions of the laser and the camera are unchanged when measuring the vertical distances from a plurality of fixed points on the same vertical curve segment of the surface of the object to be tested to the test equipment.
4. The three-dimensional virtual modeling method according to claim 2, wherein the position of the test device and the object to be tested is kept constant when measuring the vertical distance from a plurality of fixed points on the same vertical curve segment of the surface of the object to be tested to the test device.
5. A three-dimensional virtual modeling system, comprising:
the vertical distance calculation module is used for calculating the vertical distances from a plurality of fixed points on a plurality of vertical curve segments on the surface of the object to be tested to the test equipment according to the preset vertical curve segment intervals;
the three-dimensional reconstruction module is used for reconstructing a three-dimensional model of the object to be tested according to preset vertical curve segment intervals and the vertical distances from a plurality of fixed points on a plurality of vertical curve segments to the test equipment;
wherein, measure the vertical distance of fixed point to test equipment on the object surface vertical straight line section that awaits measuring, include:
the laser emission unit is used for controlling the laser to emit laser to a fixed point on a vertical curve section on the surface of the object to be detected according to a preset camera shooting angle;
the image width testing unit is used for acquiring the imaging width of the laser reflection light of the fixed point on the curve segment on the camera;
and the vertical distance calculation unit is used for calculating the vertical distance from the fixed point on the straight curve segment to the test equipment according to the distance from the laser emission point to the middle point of the camera, the imaging width of the fixed point on the vertical curve segment and the focal length of the camera.
6. A three-dimensional virtual modeling apparatus, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the three-dimensional virtual modeling method of any of claims 1-4.
7. A storage medium having stored therein processor-executable instructions, which when executed by a processor, are for performing the three-dimensional virtual modeling method of any of claims 1-4.
8. A three-dimensional virtual modeling system is characterized by comprising computer equipment and test equipment connected with the computer equipment, wherein the test equipment comprises a camera and a laser; wherein the content of the first and second substances,
the camera is used for shooting a two-dimensional image of an object to be detected and recording image parameters;
the laser is used for emitting laser to the surface of the object to be measured;
the computer device includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the three-dimensional virtual modeling method of any of claims 1-4.
9. The three-dimensional virtual modeling system of claim 8, wherein the relative distance of said camera and said laser remains constant.
10. The three-dimensional virtual modeling system of claim 8, wherein said laser is a point laser or a line laser.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910774385.XA CN110595363A (en) | 2019-08-21 | 2019-08-21 | Three-dimensional virtual modeling method, system, device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910774385.XA CN110595363A (en) | 2019-08-21 | 2019-08-21 | Three-dimensional virtual modeling method, system, device and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110595363A true CN110595363A (en) | 2019-12-20 |
Family
ID=68854958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910774385.XA Pending CN110595363A (en) | 2019-08-21 | 2019-08-21 | Three-dimensional virtual modeling method, system, device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110595363A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111709127A (en) * | 2020-05-29 | 2020-09-25 | 芜湖哈特机器人产业技术研究院有限公司 | Virtual detection tool suitable for pipe fitting and pipe fitting detection method |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1225000A (en) * | 1967-11-24 | 1971-03-10 | Centre Nat Rech Metall | A method for determining distances |
| CN85106473A (en) * | 1985-08-29 | 1987-03-18 | 松下电器产业株式会社 | Bevel for welding sectional area pick-up unit |
| CN1354355A (en) * | 2001-12-10 | 2002-06-19 | 西安交通大学 | Laser linear scanning three-dimensional measurement double liquid knife virtual grid mapping calibrating method and equipment |
| CN1442746A (en) * | 2002-03-05 | 2003-09-17 | 奥林巴斯光学工业株式会社 | Distance measuring apparatus, adjusting device and adjusting method used for said distance measuring apparatus |
| CN1523324A (en) * | 2003-02-17 | 2004-08-25 | 奥林巴斯株式会社 | Distance measuring device |
| CN101115145A (en) * | 2006-07-25 | 2008-01-30 | 佳能株式会社 | Image-pickup apparatus and focus control method for the same |
| CN101509764A (en) * | 2009-02-27 | 2009-08-19 | 东南大学 | Method for rapidly acquiring object three-dimensional form |
| CN103604389A (en) * | 2013-11-14 | 2014-02-26 | 上海交通大学 | Apparatus and method for measuring spline dimension of besides-star wheel |
| CN103900489A (en) * | 2014-03-11 | 2014-07-02 | 苏州江奥光电科技有限公司 | Linear laser scanning three-dimensional contour measuring method and device |
| CN106780725A (en) * | 2016-12-23 | 2017-05-31 | 西安交通大学 | A kind of binocular three-dimensional reconstructing method and system |
| CN107607960A (en) * | 2017-10-19 | 2018-01-19 | 深圳市欢创科技有限公司 | A kind of anallatic method and device |
| CN108507533A (en) * | 2018-04-24 | 2018-09-07 | 招商局重庆交通科研设计院有限公司 | The continuous robot measurement of tunnel cross-section |
-
2019
- 2019-08-21 CN CN201910774385.XA patent/CN110595363A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1225000A (en) * | 1967-11-24 | 1971-03-10 | Centre Nat Rech Metall | A method for determining distances |
| CN85106473A (en) * | 1985-08-29 | 1987-03-18 | 松下电器产业株式会社 | Bevel for welding sectional area pick-up unit |
| CN1354355A (en) * | 2001-12-10 | 2002-06-19 | 西安交通大学 | Laser linear scanning three-dimensional measurement double liquid knife virtual grid mapping calibrating method and equipment |
| CN1442746A (en) * | 2002-03-05 | 2003-09-17 | 奥林巴斯光学工业株式会社 | Distance measuring apparatus, adjusting device and adjusting method used for said distance measuring apparatus |
| CN101216302A (en) * | 2003-02-17 | 2008-07-09 | 奥林巴斯株式会社 | Ranging device |
| CN1523324A (en) * | 2003-02-17 | 2004-08-25 | 奥林巴斯株式会社 | Distance measuring device |
| CN101115145A (en) * | 2006-07-25 | 2008-01-30 | 佳能株式会社 | Image-pickup apparatus and focus control method for the same |
| CN101509764A (en) * | 2009-02-27 | 2009-08-19 | 东南大学 | Method for rapidly acquiring object three-dimensional form |
| CN103604389A (en) * | 2013-11-14 | 2014-02-26 | 上海交通大学 | Apparatus and method for measuring spline dimension of besides-star wheel |
| CN103900489A (en) * | 2014-03-11 | 2014-07-02 | 苏州江奥光电科技有限公司 | Linear laser scanning three-dimensional contour measuring method and device |
| CN106780725A (en) * | 2016-12-23 | 2017-05-31 | 西安交通大学 | A kind of binocular three-dimensional reconstructing method and system |
| CN107607960A (en) * | 2017-10-19 | 2018-01-19 | 深圳市欢创科技有限公司 | A kind of anallatic method and device |
| CN108507533A (en) * | 2018-04-24 | 2018-09-07 | 招商局重庆交通科研设计院有限公司 | The continuous robot measurement of tunnel cross-section |
Non-Patent Citations (3)
| Title |
|---|
| CUMHUR SAHIN: "Planar segmentationofindoorterrestriallaserscanningpointclouds via distancefunctionfromapointtoaplane", 《OPTICSANDLASERSINENGINEERING》 * |
| 李小路，曾晶晶，王皓，徐立军: "三维扫描激光雷达***设计及实时成像技术", 《红外与激光工程》 * |
| 马俊伟，唐辉明，胡新丽，雍睿，夏浩，宋友建: "三维激光扫描技术在滑坡物理模型试验中的应用", 《岩土力学》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111709127A (en) * | 2020-05-29 | 2020-09-25 | 芜湖哈特机器人产业技术研究院有限公司 | Virtual detection tool suitable for pipe fitting and pipe fitting detection method |
| CN111709127B (en) * | 2020-05-29 | 2023-05-30 | 芜湖哈特机器人产业技术研究院有限公司 | Virtual gauge suitable for pipe fitting and pipe fitting detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111127422B (en) | Image labeling method, device, system and host | |
| US10724848B2 (en) | Method and apparatus for processing three-dimensional vision measurement data | |
| TWI566204B (en) | Three dimensional object recognition | |
| CN111750804B (en) | Object measuring method and device | |
| Boehm | Accuracy investigation for structured-light based consumer 3D sensors | |
| CN111882657A (en) | Three-dimensional reconstruction scale recovery method, device and system and computer equipment | |
| CN113689508B (en) | Point cloud labeling method and device, storage medium and electronic equipment | |
| CN110595363A (en) | Three-dimensional virtual modeling method, system, device and storage medium | |
| CN108171756A (en) | Self-adapting calibration method, apparatus and terminal | |
| CN113281779A (en) | 3D object rapid detection method, device, equipment and medium | |
| CN109212546B (en) | Method and device for calculating depth direction measurement error of binocular camera | |
| CN111336959B (en) | Truck cargo volume processing method and device, equipment and computer readable medium | |
| JP2015206654A (en) | Information processing apparatus, information processing method, and program | |
| CN111915666A (en) | Volume measurement method and device based on mobile terminal | |
| CN109000560B (en) | Method, device and equipment for detecting package size based on three-dimensional camera | |
| JP7024405B2 (en) | Information processing equipment, programs and information processing methods | |
| CN114004874B (en) | Acquisition method and device of occupied grid map | |
| JP6822086B2 (en) | Simulation equipment, simulation method and simulation program | |
| Lieberwirth et al. | Applying low budget equipment and open source software for high resolution documentation of archaeological stratigraphy and features | |
| CN114739363A (en) | Camera-based power transmission line distance measuring method and device and computer equipment | |
| US20220128347A1 (en) | System and method to measure object dimension using stereo vision | |
| CN112488112B (en) | Target object identification method and device, electronic equipment and storage medium | |
| CN113129255B (en) | Method, computing device, system and storage medium for detecting package | |
| CN114494404A (en) | Object volume measurement method, system, device and medium | |
| Roussel et al. | 3D surface reconstruction of plant seeds by volume carving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191220 |
|
| RJ01 | Rejection of invention patent application after publication |