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

The method as claimed in 1, wherein the determining matching point pairs between every two of the three frames of two-dimensional images to correspondingly obtain three sets of matching point pairs comprises:

• obtaining a plurality of lines in the three frames of two-dimensional images, wherein each line is composed of a plurality of pixel points;
• adopting one pixel point on the line of one frame of two-dimensional image as a selected point, and determining a plurality of candidate matching points matched with the selected point from another frame of two-dimensional image;
• performing three-dimensional reconstruction on the selected point and the plurality of candidate matching points based on a triangulation principle to obtain a plurality of first candidate three-dimensional points;
• determining the first candidate three-dimensional points satisfying preset conditions as second candidate three-dimensional points, wherein a plurality of second candidate three-dimensional points are provided;
• and
• forming the matching point pairs by the candidate matching points corresponding to the second candidate three-dimensional points and the selected point.

The method as claimed in 4, wherein the verifying matching consistency between the three sets of matching point pairs comprises:

• adopting a candidate matching point corresponding to the target light plane as a target matching point;
• forming a target matching point pair by the selected point and the target matching point, and obtaining three sets of target matching point pairs;
• and
• verifying matching consistency between the three sets of target matching point pairs.

The method as claimed in 5, wherein the three frames of two-dimensional images are respectively a first-frame two-dimensional image, a second-frame two-dimensional image, and a third-frame two-dimensional image, and the verifying matching consistency between the three sets of target matching point pairs comprises:

• obtaining a selected point of the first-frame two-dimensional image, and a first target light plane determined by the selected point based on matching of the first-frame two-dimensional image and the second-frame two-dimensional image;
• obtaining a selected point of the first-frame two-dimensional image, and a second target light plane determined by the selected point based on matching of the first-frame two-dimensional image and the third-frame two-dimensional image;
• obtaining a target matching point, within the second-frame two-dimensional image, for the selected point from the first-frame two-dimensional image;
• obtaining a third target light plane determined by the target matching point in the second-frame two-dimensional image based on matching of the second-frame two-dimensional image and the third-frame two-dimensional image;
• determining whether the first target light plane, the second target light plane, and the third target light plane are a same light plane;
• and
• when the first target light plane, the second target light plane, and the third target light plane are the same light plane, determining the three sets of target matching point pairs having matching consistency.

The method as claimed in 1, wherein the performing three-dimensional reconstruction on the matching point pairs with the matching consistency between the three frames of two-dimensional images to obtain three-dimensional points on the surface of the object-to-be-measured comprises:

• determining matching point pairs between two of the three frames of two-dimensional images;
• verifying matching accuracy between the matching point pairs through third frame of the three frames of two-dimensional images;
• and
• performing three-dimensional reconstruction on the matching point pairs with the matching accuracy to obtain three-dimensional points on the surface of the object-to-be-measured.

A three-dimensional scanning device, wherein the three-dimensional scanning device comprises three cameras, the three cameras are combined in pair to obtain three binocular systems, wherein the three binocular systems are configured to:

• collect two-dimensional images on a surface of an object-to-be-measured to correspondingly obtain three frames of two-dimensional images,
• determine matching point pairs between every two of the three frames of two-dimensional images to correspondingly obtain three sets of matching point pairs,
• verify matching consistency between the three sets of matching point pairs, and
• perform three-dimensional reconstruction on the matching point pairs with the matching consistency to obtain three-dimensional points on the surface of the object-to-be-measured,
• wherein the three binocular systems are further configured to:
• determine matching point pairs between every two of the three frames of two-dimensional images to correspondingly obtain three sets of matching point pairs;
• verify matching consistency between the three sets of matching point pairs;
• and
• perform three-dimensional reconstruction on the matching point pairs with the matching consistency to obtain three-dimensional points on the surface of the object-to-be-measured.

A non-transitory computer-readable storage medium, wherein the storage medium comprises a stored program, and the program executes following steps:

• projecting, by a pattern projector, a plurality of lines to a surface of an object-to-be-measured;
• collecting, by three cameras, two-dimensional images on the surface of the object-to-be-measured to correspondingly obtain three frames of two-dimensional images;
• performing three-dimensional reconstruction on the matching point pairs with the matching consistency between the three frames of two-dimensional images to obtain three-dimensional points on the surface of the object-to-be-measured, wherein the performing three-dimensional reconstruction comprises:
• determining matching point pairs between every two of the three frames of two-dimensional images to correspondingly obtain three sets of matching point pairs;
• verifying matching consistency between the three sets of matching point pairs;
• and
• performing three-dimensional reconstruction on the matching point pairs with the matching consistency to obtain three-dimensional points on the surface of the object-to-be-measured.