CN107767414A - The scan method and system of mixed-precision - Google Patents
The scan method and system of mixed-precision Download PDFInfo
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- CN107767414A CN107767414A CN201711007171.7A CN201711007171A CN107767414A CN 107767414 A CN107767414 A CN 107767414A CN 201711007171 A CN201711007171 A CN 201711007171A CN 107767414 A CN107767414 A CN 107767414A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/04—Texture mapping
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- G—PHYSICS
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10141—Special mode during image acquisition
- G06T2207/10148—Varying focus
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Abstract
The invention provides the scan method of mixed-precision and system, it is related to three-dimensional information technical field, including carrying out region division to target object according to body characteristicses, obtain Distributed Scans region, level fractionation is carried out to Distributed Scans region according to partial structurtes feature, obtain step scanning region, camera is carried according to step scanning region, build mixed-precision scanning framework, target object is scanned in mixed-precision scanning framework, scanned photograph sequence is obtained, scanned photograph sequence is resolved, generates the point cloud matrix of three dimensions.The present invention can reduce cost, improve scan efficiency.
Description
Technical field
The present invention relates to three-dimensional information technical field, more particularly, to the scan method and system of mixed-precision.
Background technology
At present, the common 3-D scanning technology based on photogrammetry (photogrammetric) principle of in the market, is logical
The three-dimensional spatial information for the pixel crossed in special algorithm extraction photo sequence, similar video camera rever algorithm.Target object is entered
During row scanning, the complex degree of structure of object to be scanned is different, and the acquisition precision required for it also differs.City at present
Common scheme on field, as shown in figure 1, being to separately design different scanning with the index of low precision, medium accuracy, high equally accurate
Equipment, every kind of equipment are only capable of with single scanning accuracy work.Obtain the scanning accuracy of higher level, it is necessary to buy in addition
Higher level, more expensive scanning device, extra idleness of equipment problem is not only caused, adds equipment cost, also as by force
Whole target object is scanned using the scanning device of density (precision) superelevation, causes serious data redundancy, increase is largely swept
The time is retouched, wastes the substantial amounts of resolving time, causes the additional waste to manpower and time cost.
In addition, for the sweep object of reality, the indivedual complicated local details of generally existing, time-consuming short low-density is used
Scanning, is only capable of obtaining low precision effect, can not obtain complete scanning result.Scanned using intermediate density.Although can obtain compared with
Complete scanning result, but can not still reduce local details body.Using high density scans, although reduction degree can be obtained
High complete scan result, but because scanning density is very high, causing scanning, time-consuming, and efficiency is very low.
The content of the invention
In view of this, it is an object of the invention to provide the scan method of mixed-precision and system, to reduce cost, improve
Scan efficiency, it is not necessary to the more expensive scanning device of extra purchase, changed only by the accessory (part) of part and operation
Method collocation uses, you can allows the scanning scope of application of existing equipment and scanning accuracy to lift a class.
In a first aspect, the embodiments of the invention provide a kind of scan method of mixed-precision, wherein, methods described includes：
Region division is carried out to target object according to body characteristicses, obtains Distributed Scans region；
Level fractionation is carried out to the Distributed Scans region according to partial structurtes feature, obtains step scanning region；
Camera is carried according to the step scanning region, structure mixed-precision scanning framework；
The target object is scanned in mixed-precision scanning framework, obtains scanned photograph sequence；
The scanned photograph sequence is resolved, generates the point cloud matrix of three dimensions.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
State and camera is carried according to the step scanning region, structure mixed-precision scanning framework includes：
Multiple shooting distances are obtained according to the step scanning region；
The camera of different levels is carried according to the multiple shooting distance, so as to build the first scan box of different densities
Frame；
According to mixed-precision scanning framework described in the first of the different densities the scanning framework establishment.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein, institute
State and camera is carried according to the step scanning region, structure mixed-precision scanning framework also includes：
Multiple shooting focal lengths are obtained according to the step scanning region；
The camera of different focal is carried according to the multiple shooting focal length, so as to build the second scan box of different densities
Frame；
According to mixed-precision scanning framework described in the second of the different densities the scanning framework establishment.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide the third of first aspect
Possible embodiment, wherein, the multiple shooting distance including the first shooting distance, the second shooting distance and third shot take the photograph away from
From the scope tool of the proportionate relationship between first shooting distance, second shooting distance and the third shot photographic range
Body is：
Wherein, D1For first shooting distance, D2For second shooting distance, D3For the third shot photographic range.
With reference to second of possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, wherein, the multiple shooting focal length includes the first focal length, the second focal length and the 3rd focal length, and described first
The scope of proportionate relationship between focal length, second focal length and the 3rd focal length is specially：
Wherein, L1For first focal length, L2For second focal length, L3For the 3rd focal length.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 5th of first aspect kind, wherein, institute
Stating method also includes：
Grid model is built according to described cloud matrix；
Picture-element color information in described cloud matrix and the grid model are subjected to matching mapping, export texture mapping
Threedimensional model.
Second aspect, the embodiment of the present invention also provide a kind of scanning system of mixed-precision, wherein, the system includes：
Area division unit, for carrying out region division to target object according to body characteristicses, obtain Distributed Scans area
Domain；
Level split cells, for carrying out level fractionation to the Distributed Scans region according to partial structurtes feature, obtain
To step scanning region；
Framework establishment unit, for being carried according to the step scanning region to camera, structure mixed-precision is swept
Retouch framework；
Scanning element, the target object is scanned in mixed-precision scanning framework, obtains scanned photograph
Sequence；
Solving unit, the scanned photograph sequence is resolved, generate the point cloud matrix of three dimensions.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, institute
Stating framework establishment unit includes：
Multiple shooting distances are obtained according to the step scanning region；
The camera of different levels is carried according to the multiple shooting distance, so as to build the first scan box of different densities
Frame；
According to mixed-precision scanning framework described in the first of the different densities the scanning framework establishment.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of second of second aspect, wherein, institute
Stating framework establishment unit also includes：
Multiple shooting focal lengths are obtained according to the step scanning region；
The camera of different focal is carried according to the multiple shooting focal length, so as to build the second scan box of different densities
Frame；
According to mixed-precision scanning framework described in the second of the different densities the scanning framework establishment.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, institute
Stating system also includes：
First model construction unit, for building grid model according to described cloud matrix；
Second model construction unit, for the picture-element color information in described cloud matrix and the grid model to be carried out
Matching mapping, exports texture mapping threedimensional model.
The embodiment of the present invention brings following beneficial effect：The scan method and system of mixed-precision provided by the invention,
Including carrying out region division to target object according to body characteristicses, Distributed Scans region is obtained, according to partial structurtes feature pair
Distributed Scans region carries out level fractionation, obtains step scanning region, camera is taken according to step scanning region
Carry, structure mixed-precision scanning framework, target object is scanned in mixed-precision scanning framework, obtains scanned photograph sequence
Row, resolve to scanned photograph sequence, generate the point cloud matrix of three dimensions.The present invention can reduce cost, improve scanning
Efficiency, it is not necessary to the more expensive scanning device of extra purchase, changed only by the accessory (part) of part and operating method
Collocation uses, you can allows the scanning scope of application of existing equipment and scanning accuracy to lift a class.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the scan mode schematic diagram that prior art provides；
Fig. 2 is the scan method flow chart for the mixed-precision that the embodiment of the present invention one provides；
Fig. 3 is that the mixed-precision that the embodiment of the present invention one provides scans block schematic illustration；
Fig. 4 is that the mixed-precision that the embodiment of the present invention one provides scans effect diagram；
Fig. 5 is that the structure mixed-precision that the embodiment of the present invention two provides scans framework method flow diagram；
Fig. 6 is the schematic diagram for the different shooting distances that the embodiment of the present invention two provides；
Fig. 7 is the schematic diagram for another different shooting distances that the embodiment of the present invention two provides；
Fig. 8 is the reality scene schematic diagram that the mixed-precision that the embodiment of the present invention two provides scans framework；
Fig. 9 is camera cluster schematic diagram in the stepped shooting distance mode that the embodiment of the present invention two provides；
Figure 10 is one camera schematic diagram in the stepped shooting distance mode that the embodiment of the present invention two provides；
Figure 11 is that the structure mixed-precision that the embodiment of the present invention three provides scans framework method flow diagram；
Figure 12 is the schematic diagram for the different shooting focal lengths that the embodiment of the present invention three provides；
Figure 13 is camera cluster schematic diagram in the level focal length mode that the embodiment of the present invention three provides；
Figure 14 is one camera schematic diagram in the level focal length mode that the embodiment of the present invention three provides；
Figure 15 is the schematic diagram for the mixed sweep mode that the embodiment of the present invention three provides；
Figure 16 is the scanning range schematic diagram for each precision that the embodiment of the present invention four provides；
Figure 17 is the scanning range schematic diagram for the mixed-precision that the embodiment of the present invention four provides；
Figure 18 is the scanning system schematic diagram for the mixed-precision that the embodiment of the present invention five provides.
Icon：
100- area division units；200- level split cells；300- framework establishment units；400- scanning elements；500-
Solving unit.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
At present, the common scheme being scanned to target object, separately designed with the index of basic, normal, high equally accurate
Different scanning devices, every kind of equipment are only capable of with single scanning accuracy work.The scanning accuracy of higher level is obtained, is just needed
Higher level, more expensive scanning device are bought in addition.Or by force with the whole target object of high density scans, therefore can cause
Serious large area wastes.In addition, for the sweep object of reality, the indivedual complicated local details of generally existing, using time-consuming
Short low-density scanning, is only capable of obtaining low precision effect, can not obtain complete scanning result.Scanned using intermediate density.Though
More complete scanning result can be so obtained, but can not still reduce local details body.Using high density scans, although can
The high complete scan result of reduction degree is obtained, but because scanning density is very high, causing scanning, time-consuming, and efficiency is very low.
Based on this, the scan method and system of mixed-precision provided in an embodiment of the present invention, cost can be reduced, raising is swept
Retouch efficiency, it is not necessary to the more expensive scanning device of extra purchase, changed only by the accessory (part) of part and operation side
Method collocation uses, you can allows the scanning scope of application of existing equipment and scanning accuracy to lift a class.
For ease of understanding the present embodiment, the scan method first to the mixed-precision disclosed in the embodiment of the present invention
Describe in detail.
Embodiment one：
Fig. 2 is the scan method flow chart for the mixed-precision that the embodiment of the present invention one provides.
Reference picture 2, the scan method of mixed-precision comprise the following steps：
Step S110, region division is carried out to target object according to body characteristicses, obtains Distributed Scans region；
Step S120, level fractionation is carried out to Distributed Scans region according to partial structurtes feature, obtains step scanning
Region；
Specifically, for actual target object to be scanned, the indivedual complicated parts of generally existing are thin on body characteristicses
Section, according to local feature and complexity, region division is carried out to target object, the Distributed Scans region for dividing to obtain includes
Overall structure and multiple partial structurtes；Level fractionation is carried out to Distributed Scans region according to partial structurtes feature, obtains ladder
Formula scanning area, that is, the first layer in step scanning region can do overall structure scanning to target object with low-density,
The second layer can make overall complementary scan of intermediate density to target object, and gradual staged is progressive, successively lifts scanning accuracy.
Step S130, camera is carried according to step scanning region, structure mixed-precision scanning framework；
Specifically, the valid pixel of a camera is stablized constant, the physical characteristic of the optical imagery of camera is determined
There are following two application modes：First, stepped shooting distance mode, i.e., same optical camera is corresponding to different shooting distances
Shooting (pixel) density be different, shooting distance is nearer, and density is higher；Second, level focal length mode, i.e., same optics phase
Machine is under the optical lens using different focal, and corresponding shooting (pixel) density is different, and focal length is longer, and density is higher.
Shooting (pixel) density is higher, and precision is higher obtained by scanning.Photography modeling based on photogrammetry (photogrammetric)
Technology, can be using only being used in mixed way according to actual conditions in any manner or by both the above mode, and structure mixes
Precision scans framework.
Illustrated exemplified by the first manner, according to the step scanning region obtained after subregion, layering to camera
Carried, often carry a camera is a collection point, and scanning framework with the mixed-precision represented by collection point can be as
Shown in Fig. 3, according to target object from outside to inside, structure from simple to complex, be provided with first layer first target is done with low-density
Overall structure scans, and the second layer does overall complementary scan to target with intermediate density, and third layer does details with high density to target
The complementary scan ... of structure；Scan effect as shown in figure 4, gradually staged it is progressive, successively lift scanning accuracy, until obtain
The scanning result of high quality.
Step S140, target object is scanned in mixed-precision scanning framework, obtains scanned photograph sequence；
Specifically, being scanned by opening camera in mixed-precision scanning framework to target object, collect not
With the scanned photograph sequence of region different levels, whole scanned photograph sequences will form high to target object reduction degree complete
Whole result.
Step S150, scanned photograph sequence is resolved, generate the point cloud matrix of three dimensions.
Specifically, scanned photograph sequence is imported into computer, the software based on photogrammetry algorithms is used
Or program resolves to scanned photograph sequence, the point cloud matrix of three dimensions is generated, puts each point cloud in cloud matrix
Inherit the picture-element color information of corresponding photo.In the stage of resolving, stepped each layer data can in scanned photograph sequence
Automatic ratio match is carried out, concrete operations mode is：With the point off density cloud square obtained by each layer data of scanned photograph sequence
Battle array is a set, by alignment algorithm, the space proportion of all set of Feature Points Matching, finally merges each layer of point off density
Cloud matrix, form the point cloud set of matrices of distributed mixed-precision.
In addition, after the step S150 of the above method, the scan method of mixed-precision can also comprise the following steps：
According to a cloud matrix structure grid model；And the picture-element color information in a cloud matrix is entered with grid model
Row matching mapping, exports texture mapping threedimensional model.
Specifically, the space coordinates of the data message of grid model and object to be scanned matches, it is one-to-one.
The picture-element color information of corresponding cloud, is mapped on grid model, generates texture mapping, exports texture mapping threedimensional model.
Embodiment two：
Fig. 5 is that the structure mixed-precision that the embodiment of the present invention two provides scans framework method flow diagram.
According to the first stepped shooting distance mode, reference picture 5, the step S130 in the scan method of mixed-precision,
Camera is carried according to step scanning region, structure mixed-precision scanning framework comprises the following steps：
Step S210, multiple shooting distances are obtained according to step scanning region；
Step S220, the camera of different levels is carried according to multiple shooting distances, so as to build the scan box of different densities
Frame；
Step S230, framework is scanned according to the scanning framework establishment mixed-precision of different densities.
Specifically, multiple shooting distances comprise at least two groups, it is generally to use three groups more, i.e.,：First shooting distance,
Second shooting distance and third shot photographic range.
Distinguish according to step scanning region, and according to the first shooting distance, the second shooting distance and third shot photographic range
Carry first layer camera, second layer camera and third layer camera, corresponding structure low-density scanning framework, Midst density scanning framework
With high density scans framework, low-density scanning framework, Midst density scanning framework and high density scans framework collectively constitute mixing essence
Degree scanning framework.First layer camera, second layer camera and third layer camera are designed with alternating expression, can be avoided in the course of work each other
Itself causes to block to other scanning slices.Wherein, the ratio between the first shooting distance, the second shooting distance and third shot photographic range
The scope of example relation is specifically as shown in formula (1)：
Wherein, D1For the first shooting distance, D2For the second shooting distance, D3For third shot photographic range.Every layer of shooting distance
Error is no more than 20%.The formula is represented individually using the be scanned to target object under stepped shooting distance mode
A kind of mixed-precision.
Reference picture 6, to employ the mixing essence that one times of shooting distance, two times of shooting distances and four times of shooting distances are built
Degree scanning framework.In the application of actual conditions, it is not limited in the above-mentioned D being related to1、D2And D3As long as camera is still effective
In focusing range, D accordingly described ratio can be extended further out according to the target object of reality4、D5Deng more
Highdensity shooting distance, still, the more highdensity shooting distance extended are needed within effective focusing range.Figure
7 illustrate and extend D4Schematic diagram in the case of shooting distance.
In actual environment, a kind of of structure mixed-precision scanning framework is achieved in that the video camera cluster for taking plural number
Scan matrix is formed, as shown in Fig. 8 (a), the video camera cluster is typically the video camera collection that staged distribution is presented in shooting distance
The scan matrix or be used in mixed way the scan matrix that the camera lens of a variety of burnt sections is formed that group is formed, the implementation method are to sweep
Retouch matrix method；Another kind is achieved in that to be built using single camera, as shown in Fig. 8 (b), using single video camera, is passed through
Frequently switch camera site or switch the camera lens of different focal, to obtain the scanning frame data of distributed mixed-precision.Adopt
It is effective to static scanning object with being built using single camera, and for non-static sweep object, or the pole in scanning process
The sweep object easily deformed upon, then the scanning framework of effective distributed mixed-precision can only be obtained by scan matrix method
Data.
Wherein, for the stepped shooting distance mode described by the present embodiment, by taking three layers of shooting distance as an example, actually take the photograph
Camera set-up mode is as shown in Figure 9 and Figure 10：Fig. 9 illustrates the camera/camcorder cluster composition scan matrix using plural number, figure
10 illustrate using the single camera mode that successively follow shot gathers.
Embodiment three：
Figure 11 is that the structure mixed-precision that the embodiment of the present invention three provides scans framework method flow diagram.
According to second of level focal length mode, reference picture 11, the step S130 in the scan method of mixed-precision, according to rank
Ladder type scanning area is carried to camera, and structure mixed-precision scanning framework can also comprise the following steps：
Step S310, multiple shooting focal lengths are obtained according to step scanning region；
Step S320, the camera of different focal is carried according to multiple shooting focal lengths, is swept so as to build the second of different densities
Retouch framework；
Step S330, according to the second of different densities the scanning framework establishment mixed-precision scanning framework.
Specifically, multiple shooting focal lengths comprise at least two groups, it is generally to use three groups more, i.e.,：First focal length, second
Focal length and the 3rd focal length.
Short focus phase is carried respectively according to step scanning region, and according to the first focal length, the second focal length and the 3rd focal length
Machine, mid-focal length camera and long-focus camera staged storied placement, corresponding structure low-density scanning framework, Midst density scan box
Frame and high density scans framework, low-density scanning framework, Midst density scanning framework and high density scans framework collectively constitute mixing
Precision scans framework.Low-density scanning framework does overall structure scanning to target, and Midst density scanning framework does overall benefit to target
Scanning is filled, the gradual staged of complementary scan ... that high density scans framework does detailed structure to target is progressive, and successively lifting is swept
Retouch precision.Short focus, mid-focal length and long-focus described above are comparatively, and to be not specific to some focal length.
The scope of proportionate relationship between first focal length, the second focal length and the 3rd focal length is specifically as shown in formula (2)：
Wherein, L1For the first focal length, L2For the second focal length, L3For the 3rd focal length.Per coke charge away from error be no more than 20%.
The formula represents second of mixed-precision being scanned under the individually application mode using level focal length formula to target object.
Reference picture 12, the mixed-precision built to employ 90mm focal lengths, 60mm focal lengths and 30mm focal lengths scan framework.
Because wide-angle lens of the focal length within 20mm can produce Catastrophic Optical distortion, scanning accuracy is had a strong impact on, can allow scanning result
There is Errors Catastrophic, therefore used focal length is not less than 20mm.The designed camera mirror in the content of the present embodiment description
Head focal length is on the basis of 135 silent frame camera lenses.
In the application of actual conditions, it is not limited in the above-mentioned L being related to1、L2And L3, can according to the target object of reality
Accordingly described ratio extends further out L4、L5Deng the camera lens of more highdensity focal length.
In addition, for the level focal length mode described by the present embodiment, by three coke charges away from exemplified by, actual camera setting side
Formula is as shown in Figure 13 and Figure 14：Figure 13 illustrates the camera/camcorder cluster composition scan matrix using plural number, and Figure 14 is illustrated
Use the single camera mode that successively follow shot gathers.
As shown in figure 15, embodiment two and embodiment three can also be combined, i.e., is scanned to target object
During, stepped shooting distance mode and level focal length mode are utilized by mixing, formula (1) and formula (2) are carried out
With reference to obtaining the third mixed-precision., can be according to the concrete form feature of target object, to ladder in practical application scene
Shape shooting distance mode and level focal length mode are flexibly selected, and build suitable mixed-precision scanning framework.
Example IV：
Figure 16 is the scanning range schematic diagram for each precision that the embodiment of the present invention four provides.
As shown in figure 16, it respectively show first layer scanning framework and (correspond to L1Or D1) unit scanning range,
Two layers of scanning framework (correspond to L2Or D2) unit scanning range and third layer scanning framework (correspond to L3Or D3) one
The scanning range of unit.As shown in figure 17, when using mixed-precision scanning framework, left between the progressive layer of linking staged
The scanning range of one unit, the intermediate density layer that a unit width is reserved between high-density layer and low-density layer are used for transition
Linking.
Embodiment five：
Figure 18 is the scanning system schematic diagram for the mixed-precision that the embodiment of the present invention five provides.
Based on the scan method of above-mentioned mixed-precision, reference picture 18, the embodiments of the invention provide the scanning of mixed-precision
System, including：
Area division unit 100, for carrying out region division to target object according to body characteristicses, obtain Distributed Scans
Region；
Level split cells 200, for carrying out level fractionation to Distributed Scans region according to partial structurtes feature, obtain
Step scanning region；
Framework establishment unit 300, for being carried according to step scanning region to camera, structure mixed-precision scanning
Framework；
Scanning element 400, target object is scanned in mixed-precision scanning framework, obtains scanned photograph sequence；
Solving unit 500, scanned photograph sequence is resolved, generate the point cloud matrix of three dimensions.
According to the exemplary embodiment of the present invention, framework establishment unit 300 includes：
Multiple shooting distances are obtained according to step scanning region；
The camera of different levels is carried according to multiple shooting distances, so as to build the first of different densities the scanning framework；
According to the first of different densities the scanning framework establishment mixed-precision scanning framework.
According to the exemplary embodiment of the present invention, framework establishment unit 300 also includes：
Multiple shooting focal lengths are obtained according to step scanning region；
The camera of different focal is carried according to multiple shooting focal lengths, so as to build the second of different densities the scanning framework；
According to the second of different densities the scanning framework establishment mixed-precision scanning framework.
According to the exemplary embodiment of the present invention, the scanning system of mixed-precision also includes：
First model construction unit, for building grid model according to a cloud matrix；
Second model construction unit, reflected for the picture-element color information in a cloud matrix to be carried out into matching with grid model
Penetrate, export texture mapping threedimensional model.
The embodiment of the present invention brings following beneficial effect：The scan method and system of mixed-precision provided by the invention,
Including carrying out region division to target object according to body characteristicses, Distributed Scans region is obtained, according to partial structurtes feature pair
Distributed Scans region carries out level fractionation, obtains step scanning region, camera is taken according to step scanning region
Carry, structure mixed-precision scanning framework, target object is scanned in mixed-precision scanning framework, obtains scanned photograph sequence
Row, resolve to scanned photograph sequence, generate the point cloud matrix of three dimensions.The present invention can reduce cost, improve scanning
Efficiency, it is not necessary to the more expensive scanning device of extra purchase, changed only by the accessory (part) of part and operating method
Collocation use, you can allow existing equipment the scanning scope of application and scanning accuracy lifted a class, scanning hardware equipment into
In the case that this is constant, more than 2-4 times of scanning accuracy lifting is realized.
The scanning system for the mixed-precision that the embodiment of the present invention is provided, its realization principle and caused technique effect are with before
It is identical to state embodiment of the method, to briefly describe, the scanning system embodiment part of mixed-precision does not refer to part, refers to foregoing
Corresponding contents in embodiment of the method.
The embodiment of the present invention also provides a kind of electronic equipment, including memory, processor, and being stored with memory to locate
The computer program that runs on reason device, the automatic rental method that above-described embodiment provides is realized during computing device computer program
The step of.
The embodiment of the present invention also provides a kind of computer-readable recording medium, and meter is stored with computer-readable recording medium
Calculation machine program, the step of automatic rental method of above-described embodiment is performed when computer program is run by processor.
In the description of the invention, it is necessary to which explanation, term " first ", " second ", " the 3rd " are only used for describing purpose,
And it is not intended that instruction or hint relative importance.
The computer program product of the scan method for the progress mixed-precision that the embodiment of the present invention is provided, including store
The computer-readable recording medium of the executable non-volatile program code of processor, the instruction that described program code includes can use
In the method described in previous methods embodiment that performs, specific implementation can be found in embodiment of the method, will not be repeated here.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in the executable non-volatile computer read/write memory medium of a processor.Based on such understanding, the present invention
The part that is substantially contributed in other words to prior art of technical scheme or the part of the technical scheme can be with software
The form of product is embodied, and the computer software product is stored in a storage medium, including some instructions are causing
One computer equipment (can be personal computer, server, or network equipment etc.) performs each embodiment institute of the present invention
State all or part of step of method.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
The medium of store program codes.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of scan method of mixed-precision, it is characterised in that methods described includes：
Region division is carried out to target object according to body characteristicses, obtains Distributed Scans region；
Level fractionation is carried out to the Distributed Scans region according to partial structurtes feature, obtains step scanning region；
Camera is carried according to the step scanning region, structure mixed-precision scanning framework；
The target object is scanned in mixed-precision scanning framework, obtains scanned photograph sequence；
The scanned photograph sequence is resolved, generates the point cloud matrix of three dimensions.
2. the scan method of mixed-precision according to claim 1, it is characterised in that described according to the step scanning
Region is carried to camera, and structure mixed-precision scanning framework includes：
Multiple shooting distances are obtained according to the step scanning region；
The camera of different levels is carried according to the multiple shooting distance, so as to build the first of different densities the scanning framework；
According to mixed-precision scanning framework described in the first of the different densities the scanning framework establishment.
3. the scan method of mixed-precision according to claim 1, it is characterised in that described according to the step scanning
Region is carried to camera, and structure mixed-precision scanning framework also includes：
Multiple shooting focal lengths are obtained according to the step scanning region；
The camera of different focal is carried according to the multiple shooting focal length, so as to build the second of different densities the scanning framework；
According to mixed-precision scanning framework described in the second of the different densities the scanning framework establishment.
4. the scan method of mixed-precision according to claim 2, it is characterised in that the multiple shooting distance includes the
One shooting distance, the second shooting distance and third shot photographic range, first shooting distance, second shooting distance and described
The scope of proportionate relationship between third shot photographic range is specially：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>D</mi>
<mn>1</mn>
</msub>
<mo>&le;</mo>
<mn>2</mn>
<msub>
<mi>D</mi>
<mn>2</mn>
</msub>
<mo>&le;</mo>
<mn>4</mn>
<msub>
<mi>D</mi>
<mn>3</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>D</mi>
<mn>1</mn>
</msub>
<mo>&GreaterEqual;</mo>
<mn>1.5</mn>
<msub>
<mi>D</mi>
<mn>2</mn>
</msub>
<mo>&GreaterEqual;</mo>
<mn>2.25</mn>
<msub>
<mi>D</mi>
<mn>3</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
Wherein, D1For first shooting distance, D2For second shooting distance, D3For the third shot photographic range.
5. the scan method of mixed-precision according to claim 3, it is characterised in that the multiple shooting focal length includes the
One focal length, the second focal length and the 3rd focal length, the ratio between first focal length, second focal length and the 3rd focal length are closed
The scope of system is specially：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>L</mi>
<mn>1</mn>
</msub>
<mo>&ap;</mo>
<mn>1.5</mn>
<msub>
<mi>L</mi>
<mn>2</mn>
</msub>
<mo>&ap;</mo>
<mn>3</mn>
<msub>
<mi>L</mi>
<mn>3</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>L</mi>
<mn>1</mn>
</msub>
<mo>&ap;</mo>
<mn>2</mn>
<msub>
<mi>L</mi>
<mn>2</mn>
</msub>
<mo>&ap;</mo>
<mn>4</mn>
<msub>
<mi>L</mi>
<mn>3</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>,</mo>
</mrow>
Wherein, L1For first focal length, L2For second focal length, L3For the 3rd focal length.
6. the scan method of mixed-precision according to claim 1, it is characterised in that methods described also includes：
Grid model is built according to described cloud matrix；
Picture-element color information in described cloud matrix and the grid model are subjected to matching mapping, output texture mapping is three-dimensional
Model.
7. a kind of scanning system of mixed-precision, it is characterised in that the system includes：
Area division unit, for carrying out region division to target object according to body characteristicses, obtain Distributed Scans region；
Level split cells, for carrying out level fractionation to the Distributed Scans region according to partial structurtes feature, obtain rank
Ladder type scanning area；
Framework establishment unit, for being carried according to the step scanning region to camera, build mixed-precision scan box
Frame；
Scanning element, the target object is scanned in mixed-precision scanning framework, obtains scanned photograph sequence；
Solving unit, the scanned photograph sequence is resolved, generate the point cloud matrix of three dimensions.
8. the scanning system of mixed-precision according to claim 7, it is characterised in that the framework establishment unit includes：
Multiple shooting distances are obtained according to the step scanning region；
The camera of different levels is carried according to the multiple shooting distance, so as to build the first of different densities the scanning framework；
According to mixed-precision scanning framework described in the first of the different densities the scanning framework establishment.
9. the scanning system of mixed-precision according to claim 7, it is characterised in that the framework establishment unit also wraps
Include：
Multiple shooting focal lengths are obtained according to the step scanning region；
The camera of different focal is carried according to the multiple shooting focal length, so as to build the second of different densities the scanning framework；
According to mixed-precision scanning framework described in the second of the different densities the scanning framework establishment.
10. the scanning system of mixed-precision according to claim 7, it is characterised in that the system also includes：
First model construction unit, for building grid model according to described cloud matrix；
Second model construction unit, for the picture-element color information in described cloud matrix to be matched with the grid model
Mapping, export texture mapping threedimensional model.
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