CN113432548A - Three-dimensional scanning and photogrammetry integrated control device and control method - Google Patents
Three-dimensional scanning and photogrammetry integrated control device and control method Download PDFInfo
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Abstract
The application relates to a three-dimensional scanning and photogrammetry integrated control device and a control method, which belong to the technical field of three-dimensional scanning, wherein in the control method, three-dimensional scanning is firstly carried out on a control device to generate an initial target data file and an initial two-dimensional code image control data file; then, three-dimensional scanning is carried out on the cultural relics and the control device, current sphere center coordinate data are generated, and the cultural relics and the control device are photographed after scanning is finished; calculating coordinate transformation parameters according to the current sphere center coordinate data and the initial target data of the target sphere; and transforming the initial coordinates of each image control two-dimensional code according to the coordinate transformation parameters and processing photogrammetric data for automatic image control so as to align the photogrammetric grid model with the three-dimensional scanning grid model. The integrated control device and the control method provided by the application realize the automatic alignment of the three-dimensional scanning data and the photogrammetric grid model, and improve the three-dimensional digital precision and the working efficiency of the cultural relics.
Description
Technical Field
The application relates to the technical field of three-dimensional scanning, in particular to a three-dimensional scanning and photogrammetry integrated control device and a control method.
Background
The three-dimensional digital processing of the cultural relics is an important means for developing cultural relic research and culture popularization work, and the texture model of the cultural relics can be obtained by three-dimensional digital processing of the cultural relics. The texture model consists of a grid model and a texture map, wherein the grid model expresses spatial information of the cultural relic and is used for presenting the form of the cultural relic; the texture map expresses the color information of the cultural relic and is used for presenting the visual characteristics of the cultural relic.
The texture model of the component cultural relic mostly adopts a method of combining three-dimensional scanning and photogrammetry. The three-dimensional scanning can obtain high-precision and high-density point clouds, and a three-dimensional scanning grid model of the cultural relic is constructed after the point clouds are processed; the photogrammetry method adopts the steps of taking a high-resolution picture and performing three-dimensional reconstruction to process, and the model after three-dimensional reconstruction comprises two components of a photogrammetry grid model and a photogrammetry texture map. And combining three-dimensional scanning and photogrammetry to obtain a high-precision and high-fidelity texture model. There are two methods of combining three-dimensional scanning with photogrammetry: one is to map the photogrammetric texture map to a three-dimensional scanning grid model, and the other is to introduce scanning point cloud to participate in three-dimensional reconstruction when the photogrammetric data is processed. In both of these processing methods, a spatial data alignment process is required. Namely, the three-dimensional scanning grid model and the photogrammetric grid model must be aligned, and the more accurate the alignment, the higher the mapping quality; the scan point cloud must be aligned with the photogrammetric mesh model to be generated, the more accurate the alignment, the higher the quality of the three-dimensional reconstruction.
When spatial data alignment is performed, 7 parameters relating to translation, rotation and scaling are mathematically: three coordinate translation amounts delta X, delta Y and delta Z and rotation angles theta of three coordinate axesx、θy、θzAnd a scale factor m.
Theoretically, coordinate translation amounts Δ X, Δ Y, Δ Z are equal to 0, and coordinate axesAngle of rotation of thetax、θy、θzAnd the scale factor m is equal to 0 and 1, which indicates that the two spatial data are completely aligned and overlapped, and can realize the optimal effect of texture mapping or participation of scanning point cloud in three-dimensional reconstruction.
At present, the alignment of spatial data of the two methods is manually realized by software in the following way:
(1) aligning the three-dimensional scanning grid model with the photogrammetric grid model: firstly, visually observing operation, and translating, rotating and scaling the models to enable the two models to be approximately aligned; secondly, visually observing and judging the characteristics of the two models, and selecting a plurality of characteristic point pairs with corresponding characteristics as alignment points (not less than 4 pairs and reasonable distribution); thirdly, resolving alignment parameters by software according to the designated characteristic points, and carrying out model transformation processing to align the two parameters;
(2) the scan point cloud is aligned with the photogrammetric mesh model to be generated: and when the photogrammetry-controlled photo punctures points, visually observing and judging the common characteristics of the scanning grid model and the photogrammetry photo, after finding out the common characteristic points, taking XYZ coordinates of points from the scanning grid model, assigning the XYZ coordinates to the image control points of the photogrammetry puncture points, and submitting photogrammetry data processing software for subsequent processing after the number of the puncture points meets the photogrammetry specification requirements, thereby completing three-dimensional reconstruction.
However, in the two spatial data alignment methods, the accuracy of judgment of the feature point pairs, the accuracy of pointing by operating a mouse, the rationality of distribution of the selected feature point pairs and the like are completely dependent on visual observation and manual judgment, the observation and judgment of different operators are different, the alignment precision is difficult to ensure, the work is time-consuming and labor-consuming, and the quality and the efficiency of three-dimensional digitization of cultural relics are seriously affected.
Disclosure of Invention
In order to improve the quality and efficiency of three-dimensional digitization of cultural relics, the application provides a three-dimensional scanning and photogrammetry integrated control device and control method.
In a first aspect, the present application provides an integrated control device for three-dimensional scanning and photogrammetry, which adopts the following technical scheme:
a three-dimensional scanning and photogrammetry integrated control device comprises:
the image control system comprises a plurality of layers of frames which are sequentially arranged in the vertical direction, wherein each layer of frame is provided with the same number of target balls and image control two-dimensional codes, and one of the target balls on the bottom layer of frame or one of the target balls on the top layer of frame is set as a positioning target ball;
the target balls and the image control two-dimensional codes on the same layer of frame are arranged at intervals and are uniformly distributed along the circumferential direction of the frame; target balls on different layers of frames are uniformly distributed in a staggered mode, and image control two-dimensional codes on different layers of frames are uniformly distributed in a staggered mode.
By adopting the technical scheme, the two methods of three-dimensional scanning and photogrammetric three-dimensional reconstruction can be combined for use, the alignment precision of the three-dimensional scanning grid model or the point cloud and the photogrammetric grid model is improved, and the efficiency of three-dimensional digitization of cultural relics is improved.
Optionally, the diameter of the target ball is greater than or equal to 10mm, and the diameter of the positioning target ball is greater than or equal to 10% of the diameter of other target balls.
By adopting the technical scheme, the target ball can be conveniently identified in the scanning process.
Optionally, the target balls on the multilayer frame are numbered sequentially from bottom to top or from top to bottom in the counterclockwise direction, with the positioning target ball as a starting point;
the image control two-dimensional codes on the multilayer frame are numbered sequentially from bottom to top or from top to bottom along the counterclockwise direction by taking the positioning target ball as an initial reference.
In a second aspect, the present application provides a control method using the integrated control device, which adopts the following technical solutions:
a three-dimensional scanning and photogrammetry integrated control method comprises the following steps:
s1: carrying out three-dimensional scanning on the integrated control device to generate an initial target data file and an initial two-dimensional code image control data file;
s2: three-dimensional scanning is carried out on the cultural relics and the integrated control device, current sphere center coordinate data are generated, and the cultural relics and the integrated control device are photographed after scanning is finished;
s3: calculating coordinate transformation parameters according to the current sphere center coordinate data and the sphere center data of the target spheres with the same number in the initial target data file;
s4: reading the three-dimensional coordinates of each image control two-dimensional code in the initial two-dimensional code image control data file, and transforming by using coordinate transformation parameters to obtain new three-dimensional coordinates of each image control two-dimensional code and generate a current two-dimensional code image control data file;
s5: and importing the current two-dimensional code image control data file into a triangulation calculation process for photogrammetry data processing, and carrying out automatic image control to obtain a photogrammetry grid model aligned with the three-dimensional scanning grid model.
By adopting the technical scheme, the alignment precision of the three-dimensional scanning grid model or the point cloud and the photogrammetric grid model is improved, and the efficiency of three-dimensional digitization of cultural relics is improved.
Optionally, the shooting method in step S2 is: on the basis of completing three-dimensional scanning on the cultural relics and the integrated control device, keeping the relative positions of the cultural relics and the integrated control device unchanged, and taking pictures of not less than 3 navigation zones for the cultural relics and the integrated control device at one time; and after the primary photographing is finished, the integrated control device is removed, and the cultural relic is photographed for the second time until the photogrammetric picture photographing is finished.
Optionally, the method for generating the current sphere center coordinate data includes: evaluating the control condition of the target ball on the cultural relics in the space of the integrated control device, selecting at least four target balls which are reasonably distributed, reading the three-dimensional scanning data and fitting the target balls, and calculating the center coordinates of the corresponding target balls.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the integrated control device combines two methods of three-dimensional scanning and photogrammetric three-dimensional reconstruction, can realize the high-precision alignment of a three-dimensional scanning grid model and a photogrammetric grid model, or the high-precision alignment of a scanning point cloud and a photogrammetric grid model, and further can realize the digitization of cultural relics with high reduction degree; moreover, the data alignment work is automatically completed in the data acquisition and processing processes, so that the interference and workload of human factors are reduced, and the working efficiency is improved;
2. the integrated control device is used independently in photogrammetric three-dimensional reconstruction, automatic image control without artificial puncture points can be realized by utilizing the image control two-dimensional code, the control precision of the three-dimensional reconstruction is improved, the workload of the artificial puncture points is saved, and the influence of the precision deviation of the artificial puncture points on the control precision of the three-dimensional reconstruction is reduced;
3. the integrated control device is used independently in three-dimensional scanning, the target ball of the integrated control device can be used for realizing scanning control and splicing connection in the three-dimensional scanning process, and the integrated control device can be attached to a frame under the condition that a mark point needs to be attached in the scanning process, so that the problem that the mark is required to be attached to complete scanning and the attaching is not allowed on a regulated cultural relic is solved.
Drawings
FIG. 1 is a schematic three-dimensional structure of an integrated control device according to the present application;
fig. 2 is a block diagram of the integrated control method of the present application.
Description of reference numerals: 1. a frame; 2. a support bar; 3. a target ball; 31. positioning a target ball; 4. image-controlled two-dimensional codes; 5. a square plate.
Detailed Description
The present application is described in further detail below with reference to figures 1-2.
Referring to fig. 1, the embodiment of the application discloses a three-dimensional scanning and photogrammetry integrated control device, including the multilayer frame 1 that sets gradually in the vertical direction, be provided with a plurality of bracing piece 2 between the adjacent two-layer frame 1, a plurality of bracing piece 2 along the circumference evenly distributed of frame 1 and with adjacent two-layer frame 1 fixed connection. It is easily understood that the number of layers of the frame 1 depends on the size of the measured cultural relic, and the number of layers of the frame 1 can be determined by a person skilled in the art according to the needs, and can be any desired number of layers, such as 4 layers, 6 layers, etc.
The same number of target balls 3 and image-controlled two-dimensional codes 4 are arranged on each layer of frame 1, and the target balls 3 and the image-controlled two-dimensional codes 4 are uniformly distributed at intervals along the circumferential direction on the same layer of frame 1. The number of the target balls 3 on the adjacent layer is the same as that of the image control two-dimensional codes 4, the target balls 3 on the adjacent layer of the frame 1 are in staggered uniform distribution, and the image control two-dimensional codes 4 on the adjacent layer are in staggered uniform distribution. For example, referring to fig. 1, in a bottom-up order, the target sphere 3 on the second-layer frame 1 is located right in the middle of the two target spheres 3 on the bottom-layer frame 1; similarly, the image-controlled two-dimensional code 4 on the second-layer frame 1 is located in the middle of the two image-controlled two-dimensional codes 4 on the bottom-layer frame 1.
In this application, the number and size of the target balls 3 are based on the accuracy requirement of three-dimensional scanning, and the target balls 3 play a role in scanning control and splicing connection during three-dimensional scanning. The greater the number of target balls 3, the higher the scanning accuracy. In the present application, the diameter of the target ball 3 is set to be 10mm or more, thereby facilitating identification during scanning. Meanwhile, one target ball 3 on the top layer frame 1 or one target ball 3 on the bottom layer frame 1 is set as a positioning target ball 31, referring to fig. 1, the positioning target ball 31 is located on the bottom layer frame 1, and the diameter of the positioning target ball 31 is set to be more than 10% larger than that of the other target balls 3, so that the positioning target ball 31 can be conveniently identified. The positioning target ball 31 is used as a starting reference for each target ball 3 number of the present apparatus. For the convenience of subsequent data alignment, the target balls 3 are sequentially subjected to arabic number numbering in the sequence from the bottom to the top counterclockwise by taking the positioning target ball 31 as a starting reference, and the numbering is not repeated. The color of the positioning target ball 31 may be set different from the color of the other target balls 3 for easy discrimination.
In the present application, the number and size of the image-controlled two-dimensional codes 4 are based on the requirement of photogrammetry on control points, and the content of each image-controlled two-dimensional code 4 is a series of non-repeating codes. The image control two-dimensional code 4 plays a role of an image control point in the photogrammetric three-dimensional reconstruction process. Referring to fig. 1, photo control two-dimensional code 4 sets up on square board 5, and square board 5 fixed mounting is on frame 1, and square board 5 center is seted up and is used for inlaying the recess of pasting photo control two-dimensional code 4, and the recess is outside towards frame 1. The size of the square plate 5 is set to be larger than or equal to 12 multiplied by 12mm, and the size of the groove is set to be larger than or equal to 10 multiplied by 10mm, so that the square plate can be identified after being shot. Accordingly, the image-controlled two-dimensional code 4 is numbered, and the numbering rule is consistent with the numbering mode of the target ball 3. Here, the image-controlled two-dimensional codes 4 on each layer frame 1 are sequentially subjected to arabic number numbering in the order from the bottom to the top counterclockwise with reference to the positioning target ball 31, and the numbering is not repeated.
It is easy to understand that when the positioning target ball 31 is located on the top layer frame 1, the target ball 3 and the image-controlled two-dimensional code 4 can be numbered in a manner of being counterclockwise from top to bottom.
In the present application, each layer frame 1 may be circular or regular polygonal. The frame 1, the support rod 2, the target ball 3 and the square plate 5 can be made of metal materials or nonmetal materials such as PVC (polyvinyl chloride), and the manufacturing method can be that the 3D printing is integrally formed, and the target ball can also be assembled after being processed in a split mode.
Referring to fig. 2, based on the integrated control device, the present application discloses a three-dimensional scanning and photogrammetry integrated control method, which includes:
s1: and carrying out three-dimensional scanning on the integrated control device to generate an initial target data file and an initial two-dimensional code image control data file.
On the basis of the sequential numbering of the target balls 3 and the image control two-dimensional codes 4, the integrated control device is subjected to three-dimensional scanning in an arbitrarily assumed spatial reference system, points of point clouds on the surfaces of the target balls 3 are read and a spherical surface is fitted, and then the three-dimensional coordinates of the centers of the target balls 3 are obtained through the fitted spherical surface. And storing the sphere center labels and the corresponding sphere center three-dimensional coordinates of the target spheres 3 into a file in a text format to form an initial target data file.
And then reading the three-dimensional scanning data, and solving the three-dimensional coordinates of the centers of the image-controlled two-dimensional codes 4. And storing the serial numbers of the image control two-dimensional codes 4 and the corresponding three-dimensional coordinates of the centers of the two-dimensional codes into a file in a text format to form an initial two-dimensional code image control data file.
S2: and carrying out three-dimensional scanning on the cultural relics and the integrated control device to generate current sphere center coordinate data, and photographing the cultural relics and the integrated control device after scanning.
Before scanning the cultural relics and the integrated device, the integrated control device is covered outside the cultural relics, and then the cultural relics and the integrated device are scanned to obtain three-dimensional scanning data. Then, keeping the relative positions of the cultural relics and the integrated control device unchanged, and taking pictures of the cultural relics and the integrated control device for one time to obtain pictures meeting the photogrammetric image control requirements, wherein one-time taking pictures should comprise at least 3 complete aerial belts. And after the primary shooting is finished, removing the integrated control device, and carrying out secondary photogrammetry shooting on the cultural relics until all shooting is finished.
On the basis of data obtained by three-dimensional scanning, the control condition of the target ball 3 on the whole cultural relic in the space of the integrated device is evaluated, at least 4 target balls 3 which are reasonably distributed are selected, the three-dimensional scanning data of the corresponding target balls 3 are read and fitted, and the three-dimensional coordinates of the centers of the corresponding 4 target balls 3 are obtained to form the current center coordinate data. Here, the criteria for determining the target balls 3 with reasonable distribution are that the space enveloped by the corresponding target balls 3 can completely enclose the cultural relic inside and that the 4 target balls are uniformly distributed in the space.
S3: and calculating coordinate transformation parameters according to the current sphere center coordinate data and the sphere center data of the target sphere 3 with the same number in the initial target data file.
On the basis of obtaining the current center data in step S2, the initial center coordinate data of the target balls 3 with the same number as the reasonably distributed target balls 3 are read from the initial target data file, and the coordinate transformation parameters between the two are calculated. The coordinate transformation parameters comprise three coordinate translation amounts delta X, delta Y and delta Z and rotation angles theta of three coordinate axesx、θy、θzAnd a scale factor m.
The calculation of the coordinate transformation parameters is realized based on a three-dimensional affine transformation method, and the general form of the three-dimensional affine transformation is as follows:
the transformation equation is:
according to the equation solving theorem, the solving condition that the number of equations is more than or equal to the number of unknowns is required to be met, and the transformation equation can be solved.
In the transformation equation, X0、Y0、Z0Is the initial spherical center coordinate of the target sphere 3, X, Y, Z is the current spherical center coordinate of the target sphere 3, Δ X, Δ Y, Δ Z, θx、θy、θzM is 7 unknowns, each point can be listed with 3 equations, so that 3 different points can be listed with 9 equations, the equation solving conditions are met, and affine transformation parameters can be solved.
Practice shows that it is more advantageous to solve the affine transformation parameters by the least square method, but a known point must be added, that is, 4 points are required. Therefore, according to the foregoing, the coordinate transformation parameters are calculated using 4 distributed rational points.
S4: and reading the three-dimensional coordinates of each image control two-dimensional code 4 in the initial two-dimensional code image control data file, and transforming by using the coordinate transformation parameters to obtain new three-dimensional coordinates of each image control two-dimensional code 4 and generate the current two-dimensional code image control data file.
On the basis of obtaining the coordinate transformation parameters in step S3, the coordinate transformation parameters are used to perform translation, rotation, and scaling processing on the coordinates of each image-controlled two-dimensional code 4 in the initial two-dimensional code image-controlled data file to obtain new three-dimensional coordinates of each image-controlled two-dimensional code 4, and the number of each image-controlled two-dimensional code 4 and the new three-dimensional coordinates are stored in the file in a text format to form the current two-dimensional code image-controlled data file.
S5: and importing the current two-dimensional code image control data file into a triangulation calculation process for photogrammetry data processing, and carrying out automatic image control to obtain a photogrammetry grid model aligned with the three-dimensional scanning grid model.
And the three-dimensional reconstruction is carried out on the basis of the shot picture, and due to the existence of the image control two-dimensional code 4, the image control can be carried out on the image control two-dimensional code 4 through automatic identification, so that the high-precision control of the photogrammetric three-dimensional reconstruction is realized, and the photogrammetric grid model after the three-dimensional reconstruction is aligned with the three-dimensional scanning grid model or the scanning point cloud is aligned with the photogrammetric grid model.
And on the basis of aligning the photogrammetric grid model and the three-dimensional scanning grid model, mapping the photogrammetric texture map generated by three-dimensional reconstruction to the three-dimensional scanning grid model to form a high-precision high-reduction texture model of the cultural relics, and finishing the three-dimensional digital operation of the cultural relics. If the scanning point cloud is aligned with the photogrammetry grid model, the three-dimensional reconstruction directly generates a high-precision high-reduction texture model of the cultural relics.
The three-dimensional scanning and photogrammetry integrated control device and the control method disclosed by the application jointly use the three-dimensional scanning and photogrammetry in the three-dimensional reconstruction of the cultural relics, automatically finish the alignment of a three-dimensional scanning grid model and a photogrammetry grid model in the data acquisition and processing processes through the correlation transformation of the current three-dimensional scanning data, the existing initial data and the photogrammetry data, or automatically align point cloud and the photogrammetry grid model to be generated, avoid the influence of manual data alignment on the three-dimensional digitization precision of the cultural relics, and improve the three-dimensional digitization efficiency of the cultural relics.
The above is a preferred embodiment of the present application, and the scope of protection of the present application is not limited by the above, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (7)
1. A three-dimensional scanning and photogrammetry integrated control device is characterized by comprising:
the device comprises a plurality of layers of frames (1) which are sequentially arranged in the vertical direction, wherein each layer of frame (1) is provided with the same number of target balls (3) and image control two-dimensional codes (4), and one target ball (3) on the bottom layer of frame (1) or one target ball (3) on the top layer of frame (1) is set as a positioning target ball (31);
the target balls (3) and the image control two-dimensional codes (4) on the same layer of frame (1) are arranged at intervals and are uniformly distributed along the circumferential direction of the frame (1); target balls (3) on different layers of frames (1) are uniformly distributed in a staggered manner, and image control two-dimensional codes (4) on different layers of frames (1) are uniformly distributed in a staggered manner.
2. The control device according to claim 1, wherein the diameter of the target ball (3) is 10mm or more, and the diameter of the positioning target ball (31) is 10% or more larger than the diameters of the other target balls (3).
3. The control device according to claim 1, wherein the encoded information included in each image-controlled two-dimensional code (4) disposed on the multi-layer frame (1) is different.
4. The control device according to claim 1, characterized in that the target balls (3) on the multi-layer frame (1) are numbered sequentially from bottom to top or from top to bottom in a counterclockwise direction starting from the positioning of the target ball (31);
the image control two-dimensional codes (4) on the multilayer frame (1) are numbered sequentially from bottom to top or from top to bottom along the counterclockwise direction by taking the positioning target ball (31) as a starting reference.
5. A control method to which the control device according to any one of claims 1 to 4 is applied, characterized by comprising:
s1: carrying out three-dimensional scanning on the integrated control device to generate an initial target data file and an initial two-dimensional code image control data file;
s2: three-dimensional scanning is carried out on the cultural relics and the integrated control device, current sphere center coordinate data are generated, and the cultural relics and the integrated control device are photographed after scanning is finished;
s3: calculating coordinate transformation parameters according to the current sphere center coordinate data and the sphere center data of the target sphere (3) with the same number in the initial target data file;
s4: reading the three-dimensional coordinates of each image control two-dimensional code (4) in the initial two-dimensional code image control data file, and transforming by using coordinate transformation parameters to obtain new three-dimensional coordinates of each image control two-dimensional code (4) and generate a current two-dimensional code image control data file;
s5: and importing the current two-dimensional code image control data file into a triangulation calculation process for photogrammetry data processing, and carrying out automatic image control to obtain a photogrammetry grid model aligned with the three-dimensional scanning grid model.
6. The control method according to claim 5, wherein the photographing method in step S2 is: on the basis of completing three-dimensional scanning on the cultural relics and the integrated control device, keeping the relative positions of the cultural relics and the integrated control device unchanged, and taking pictures of not less than 3 navigation zones for the cultural relics and the integrated control device at one time; and after the primary photographing is finished, the integrated control device is removed, and the cultural relic is photographed for the second time until the photogrammetric picture photographing is finished.
7. The control method according to claim 5, wherein the current sphere center coordinate data is generated by: evaluating the control condition of the target ball (3) on the cultural relics in the space of the integrated control device, selecting at least 4 reasonably distributed target balls (3), reading the three-dimensional scanning data, fitting the target balls (3), and calculating the center coordinates of the corresponding target balls (3).
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| 王昌翰 等: "三维激光扫描技术在文物三维重建中的应用研究", 《城市勘测》 * |
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| CN113432548B (en) | 2022-04-19 |
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