Method for planning three-dimensional scanning viewpoint, device for planning three-dimensional scanning viewpoint, and computer readable storage medium

A device for planning three-dimensional scanning viewpoint, comprising:

• an acquisition module configured to acquire a low-precision digitalized model of an object to be scanned, wherein the low-precision digitalized model is used to indicate spatial information of the object to be scanned;
• a calculation module configured to perform a viewpoint planning calculation on point cloud data in the low-precision digitalized model according to a preset viewpoint planning algorithm, wherein performing the viewpoint planning calculation on point cloud data in the low-precision digitalized model comprises:
• estimating surface normals of the point cloud data in the low-precision digitalized model, to obtain point cloud normal vectors to a surface of the object to be scanned;
• transforming the point cloud normal vectors to a spherical coordinate system, and grouping the point cloud normal vectors in the spherical coordinate system into a matrix of M lines×N columns;
• collecting histogram statistics for a number of the point cloud normal vectors in each grouping region in the matrix;
• moving a window of a preset size cyclically on the matrix with each grouping region as a center;
• collecting statistics for a number of the point cloud normal vectors in the window in each movement, to determine a window with a largest number of the point cloud normal vectors;
• and then determining pointing directions ni=(xi, yi, zi) of the three-dimensional sensor based on a point cloud normal vector in the center of the window with the largest number of the point cloud normal vectors;
• establishing a minimum bounding box for point clouds in the window with the largest number of the point cloud normal vectors, dividing the minimum bounding box based on a size of a field of view (FOV) space of the three-dimensional sensor, and determining three-dimensional coordinates of a center of the divided space as Ci=(xi, yi, zi);
• and
• determining viewpoint information of the three-dimensional sensor in space according to ni, Ci, and a focusing distance D of the three-dimensional sensor;
• and
• a determining module configured to:
• if it is determined that a preset algorithm termination condition is met, determine all calculated viewpoint information as a target viewpoint set of a three-dimensional sensor during overall scanning of the object to be scanned, wherein the viewpoint information comprises viewpoint position information and viewpoint direction information.