CN113487685A - Calibration method, device and equipment of line laser scanning camera and storage medium - Google Patents

Calibration method, device and equipment of line laser scanning camera and storage medium Download PDF

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CN113487685A
CN113487685A CN202110883119.8A CN202110883119A CN113487685A CN 113487685 A CN113487685 A CN 113487685A CN 202110883119 A CN202110883119 A CN 202110883119A CN 113487685 A CN113487685 A CN 113487685A
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image
scanning camera
line
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line laser
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李一超
吴宏
方素平
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Solid High Tech Co ltd
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Abstract

The application relates to a calibration method, a calibration device, a calibration equipment and a calibration storage medium of a line laser scanning camera. The method comprises the following steps: determining a three-dimensional coordinate corresponding to each pixel in the first image based on the pixel coordinate and the first space coordinate of the characteristic point of the calibration plate in the first image; determining a three-dimensional coordinate corresponding to the line laser based on the pixel coordinate of the center of the laser line in the first laser image and the first space coordinate; determining a three-dimensional coordinate corresponding to each pixel in the second image based on the second image acquired by continuously moving the calibration plate and the second space coordinate of the characteristic point of the calibration plate located at the second position; determining a three-dimensional coordinate corresponding to the linear laser based on a second laser image acquired by continuously moving the calibration plate and the coordinate located in the second space; calculating parameters in a parameter plane equation of the line laser scanning camera based on the three-dimensional coordinates corresponding to the line lasers; and calculating parameters in a linear equation of the parameters of the line laser scanning camera based on the three-dimensional coordinates corresponding to the pixels. The camera calibration precision can be improved by the method.

Description

Calibration method, device and equipment of line laser scanning camera and storage medium
Technical Field
The present application relates to the field of computer vision technologies, and in particular, to a method, an apparatus, a device, and a storage medium for calibrating a line laser scanning camera.
Background
The line laser scanning camera mainly comprises a camera and a line laser.
The existing camera widely adopts a pinhole camera model which generates distortion due to manufacturing and installation errors of a camera lens in practical situations, so that the distortion of the camera lens needs to be corrected. The camera calibration is a very important problem in the field of computer vision, and the accuracy of the result generated by the camera work is directly influenced by the precision of the calibration result and the stability of the algorithm.
In the traditional line laser camera calibration scheme, the main method comprises the steps of firstly determining internal parameters and external parameters of a camera, then obtaining a distortion coefficient by using a distortion model, and reversely solving the three-dimensional coordinates of a measured object by image coordinates according to the constraint conditions of the internal parameters, the external parameters and the distortion coefficient. However, the lens distortion model may cause the camera calibration accuracy to be low due to the high coupling between the camera intrinsic parameters and the lens distortion coefficients.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a calibration method, device, apparatus and storage medium for a line laser scanning camera, which can improve the calibration accuracy of the camera.
A calibration method of a line laser scanning camera, the method comprising:
when a first image of a calibration plate is acquired at a first position, determining three-dimensional coordinates corresponding to pixels in the first image based on pixel coordinates of a characteristic point of the calibration plate in the first image and first space coordinates of the characteristic point of the calibration plate;
when a first laser image related to the calibration plate is acquired at the first position, determining three-dimensional coordinates corresponding to line laser based on pixel coordinates of the center of a laser line in the first laser image and the first space coordinates;
determining three-dimensional coordinates corresponding to pixels in a second image based on a second image acquired by continuously moving the calibration plate and second space coordinates of the characteristic points of the calibration plate located at a second position; determining a three-dimensional coordinate corresponding to the line laser based on a second laser image acquired by continuously moving the calibration plate and the coordinate located in the second space; the second position is the position when the calibration plate is continuously moved for image acquisition;
calculating parameters in a parameter plane equation of the line laser scanning camera based on the three-dimensional coordinates corresponding to the line lasers; calculating parameters in a linear equation of the line laser scanning camera parameters based on the three-dimensional coordinates corresponding to each pixel, thereby completing the calibration of the line laser scanning camera; each pixel in the first image corresponds to a linear laser scanning camera parameter linear equation, and a laser line in the first laser image corresponds to a linear laser scanning camera parameter planar equation; the line laser scanning camera parameter plane equation and the line laser scanning camera parameter linear equation form a model of the line laser scanning camera.
In one embodiment, the determining, based on the pixel coordinates of the calibration plate feature point in the first image and the first spatial coordinates of the calibration plate feature point, the three-dimensional coordinates corresponding to each pixel in the first image includes:
calculating a first parameter value based on the pixel coordinates of the characteristic point of the calibration plate in the first image and the first space coordinates of the characteristic point of the calibration plate;
inputting the first parameter value and the pixel coordinate of the characteristic point of the calibration plate in the first image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to each pixel in the first image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure BDA0003192896090000021
wherein epsiloni，mFor representing the three-dimensional coordinates, epsilon, corresponding to each pixel in said first imagetAnd εbRespectively representing said first parameter value, viPixel coordinates, v, corresponding to each pixel in the first imagetAnd vbRepresents the firstThe pixel coordinates of the pixel points in an image are adjacent to the characteristic points of the calibration plate.
In one embodiment, the determining three-dimensional coordinates corresponding to the line laser based on the pixel coordinates of the center of the laser line in the first laser image and the first space coordinates comprises:
calculating a second parameter value based on the pixel coordinate of the center of the laser line in the first laser image and the first space coordinate of the characteristic point of the calibration plate;
inputting the second parameter value and the pixel coordinate of the center of the laser line in the first laser image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to the laser line in the first laser image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure BDA0003192896090000031
wherein, thetai，mFor representing the three-dimensional coordinates, theta, corresponding to the line laser in the first laser imagetAnd thetabIs representative of said second parameter value, viPixel coordinates, v, corresponding to line laser in the first laser imagetAnd vbAnd pixel coordinates representing line laser adjacent calibration plate feature points in the first laser image.
In one embodiment, the acquiring the first laser image about the calibration plate at the first position includes:
and when the line laser is projected onto the calibration plate at the first position, the calibration plate is subjected to image acquisition to obtain a first laser image.
In one embodiment, the line laser scanning camera parameter line equation is a first line laser scanning camera parameter line equation or a second line laser scanning camera parameter line equation; the linear equation of the first line laser scanning camera parameters is as follows:
Figure BDA0003192896090000032
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each of the pixels, and (n) represents a three-dimensional coordinate corresponding to each of the pixelsx，ny，nz)、(x0，y0，z0) And t is a parameter in the first line laser scanning camera parameter linear equation;
the linear equation of the parameters of the second line laser scanning camera is as follows:
Figure BDA0003192896090000033
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each of the pixels, and A1、B1、C1、D1、A2、B2、C2、D2Parameters in a parameter linear equation of the second line laser scanning camera;
the calculating parameters in the linear equation of the line laser scanning camera parameter based on the three-dimensional coordinates corresponding to each pixel comprises:
and calculating parameters in the parameter linear equation of the first line laser scanning camera or parameters in the parameter linear equation of the second line laser scanning camera based on the three-dimensional coordinates corresponding to the pixels.
In one embodiment, determining three-dimensional coordinates corresponding to each pixel in the second image based on the second image acquired by continuously moving the calibration plate and the second spatial coordinates of the characteristic point of the calibration plate located at the second position comprises:
continuously moving the calibration plate on the linear guide rail, and acquiring images when the calibration plate is moved to different preset second positions each time to obtain second images;
acquiring a second space coordinate of the characteristic point of the calibration plate at a second position;
and determining the three-dimensional coordinates corresponding to the pixels in the second image based on the pixel coordinates of the characteristic points of the calibration plate in the second image and the second space coordinates.
In one embodiment, the line laser scanning camera parameter plane equation is a first line laser scanning camera parameter plane equation or a second line laser scanning camera parameter plane equation, and the first line laser scanning camera parameter plane equation is:
Ax+By+Cz+D＝0
wherein (x, y, z) represents the three-dimensional coordinates corresponding to each line laser, and A, B, C and D are both parameters in the first line laser scanning camera parameter plane equation;
the second line laser scanning camera parameter plane equation is as follows:
Figure BDA0003192896090000041
wherein, (x, y, z) represents the three-dimensional coordinates corresponding to each line laser, and a, b and c are parameters in the second line laser scanning camera parameter plane equation;
the calculating parameters in the line laser scanning camera parameter plane equation based on the three-dimensional coordinates corresponding to the line lasers comprises:
and calculating parameters in the parameter plane equation of the first line laser scanning camera or the parameter plane equation of the second line laser scanning camera based on the three-dimensional coordinates corresponding to the line lasers.
A calibration apparatus for a line laser scanning camera, the apparatus comprising:
the device comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for determining three-dimensional coordinates corresponding to pixels in a first image based on pixel coordinates of a characteristic point of a calibration plate in the first image and first space coordinates of the characteristic point of the calibration plate when the first image related to the calibration plate is acquired at a first position;
the second determining module is used for determining three-dimensional coordinates corresponding to the line laser based on pixel coordinates of the center of the laser line in the first laser image and the first space coordinates when the first laser image related to the calibration plate is acquired at the first position;
the processing module is used for determining three-dimensional coordinates corresponding to pixels in the second image based on a second image acquired by continuously moving the calibration plate and second space coordinates of the characteristic points of the calibration plate located at a second position; determining a three-dimensional coordinate corresponding to the line laser based on a second laser image acquired by continuously moving the calibration plate and the coordinate located in the second space; the second position is the position when the calibration plate is continuously moved for image acquisition;
the calculation module is used for calculating parameters in a parameter plane equation of the line laser scanning camera based on the three-dimensional coordinates corresponding to the line lasers; calculating parameters in a linear equation of the line laser scanning camera parameters based on the three-dimensional coordinates corresponding to each pixel, thereby completing the calibration of the line laser scanning camera; each pixel in the first image corresponds to a linear laser scanning camera parameter linear equation, and a laser line in the first laser image corresponds to a linear laser scanning camera parameter planar equation; the line laser scanning camera parameter plane equation and the line laser scanning camera parameter linear equation form a model of the line laser scanning camera.
In one embodiment, the first determining module is further configured to calculate a first parameter value based on pixel coordinates of a calibration plate feature point in the first image and first spatial coordinates of the calibration plate feature point;
inputting the first parameter value and the pixel coordinate of the characteristic point of the calibration plate in the first image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to each pixel in the first image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure BDA0003192896090000051
wherein epsiloni，mFor representing the three-dimensional coordinates, epsilon, corresponding to each pixel in said first imagetAnd εbRespectively representing said first parameter value, viPixel coordinates, v, corresponding to each pixel in the first imagetAnd vbAnd representing the pixel coordinates of the pixel point which is obtained in the first image and is adjacent to the characteristic point of the calibration board.
In one embodiment, the second determining module is further configured to calculate a second parameter value based on the pixel coordinate of the center of the laser line in the first laser image and the first spatial coordinate of the feature point of the calibration plate; inputting the second parameter value and the pixel coordinate of the center of the laser line in the first laser image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to the laser line in the first laser image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure BDA0003192896090000061
wherein, thetai，mFor representing the three-dimensional coordinates, theta, corresponding to the line laser in the first laser imagetAnd thetabIs representative of said second parameter value, viPixel coordinates, v, corresponding to line laser in the first laser imagetAnd vbAnd pixel coordinates representing line laser adjacent calibration plate feature points in the first laser image.
In one embodiment thereof, the apparatus further comprises:
and the image acquisition module is used for acquiring an image of the calibration plate to obtain a first laser image when the line laser projects line laser onto the calibration plate at the first position.
In one embodiment, the line laser scanning camera parametric line equation is a first line laser scanning camera parametric line equation or a second line laser scanning camera parametric line equation; the linear equation of the first line laser scanning camera parameters is as follows:
Figure BDA0003192896090000062
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each of the pixels, and (n) represents a three-dimensional coordinate corresponding to each of the pixelsx，ny，nz)、(x0，y0，z0) And t is a parameter in the first line laser scanning camera parameter linear equation;
the linear equation of the parameters of the second line laser scanning camera is as follows:
Figure BDA0003192896090000063
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each of the pixels, and A1、B1、C1、D1、A2、B2、C2、D2Parameters in a parameter linear equation of the second line laser scanning camera;
the calculation module is further configured to calculate parameters in the linear equation of parameters of the first line laser scanning camera or parameters in the linear equation of parameters of the second line laser scanning camera based on the three-dimensional coordinates corresponding to each of the pixels.
In one embodiment, the processing module is further configured to continuously move the calibration plate on the linear guide rail, and perform image acquisition each time the calibration plate is moved to a preset different second position, so as to obtain a second image; acquiring a second space coordinate of the characteristic point of the calibration plate at a second position; and determining the three-dimensional coordinates corresponding to the pixels in the second image based on the pixel coordinates of the characteristic points of the calibration plate in the second image and the second space coordinates.
In one embodiment, the line laser scanning camera parameter plane equation is a first line laser scanning camera parameter plane equation or a second line laser scanning camera parameter plane equation, and the first line laser scanning camera parameter plane equation is:
Ax+By+Cz+D＝0
wherein (x, y, z) represents the three-dimensional coordinates corresponding to each line laser, and A, B, C and D are both parameters in the first line laser scanning camera parameter plane equation;
the second line laser scanning camera parameter plane equation is as follows:
Figure BDA0003192896090000071
wherein, (x, y, z) represents the three-dimensional coordinates corresponding to each line laser, and a, b and c are parameters in the second line laser scanning camera parameter plane equation;
the calculation module is further configured to calculate parameters in the first line laser scanning camera parameter plane equation or the second line laser scanning camera parameter plane equation based on the three-dimensional coordinates corresponding to the line lasers.
A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to perform the steps of the above-described method of calibrating a line laser scanning camera.
A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the above method of calibrating a line laser scanning camera.
According to the calibration method, the calibration device, the calibration equipment and the storage medium of the line laser scanning camera, when a first image related to a calibration plate is acquired at a first position, three-dimensional coordinates corresponding to pixels in the first image are determined based on pixel coordinates of characteristic points of the calibration plate in the first image and first space coordinates of the characteristic points of the calibration plate; when a first laser image related to a calibration plate is acquired at a first position, determining a three-dimensional coordinate corresponding to line laser based on a pixel coordinate of the center of a laser line in the first laser image and a first space coordinate; the above processes are repeated continuously to obtain three-dimensional coordinates corresponding to each pixel in the image corresponding to each position and three-dimensional coordinates corresponding to the line laser, and then parameters in a parameter plane equation of the line laser scanning camera and parameters in a parameter straight line equation of the line laser scanning camera are calculated according to the three-dimensional coordinates, so that the calibration of the line laser scanning camera is completed, the internal parameters and the external parameters of the camera do not need to be calculated independently, the condition that the internal parameters of the camera are coupled with the distortion coefficients does not exist, and the calibration precision of the camera can be effectively improved. In addition, multiple groups of data are rapidly obtained by continuously moving the calibration plate to calculate parameters, and the efficiency of calibrating the line laser scanning camera is improved. After calibration is completed, the three-dimensional coordinates of the measured object are deduced by intersecting the linear laser scanning camera parameter plane equation and the linear laser scanning camera parameter linear equation, so that errors caused by high coupling of camera internal parameters and lens distortion coefficients can be avoided.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a calibration method for a line laser scanning camera;
FIG. 2 is a schematic flow chart illustrating a method for calibrating a line laser scanning camera according to an embodiment;
FIG. 3a is a schematic diagram of a line laser projecting light onto a calibration board for each movement and a line laser scanning camera performing image acquisition in one embodiment;
FIG. 3b is a diagram illustrating parameter calculations for a bilinear interpolation algorithm in one embodiment;
FIG. 4 is a schematic diagram illustrating a three-dimensional coordinate of an object to be measured obtained by using a linear laser scanning camera parameter plane equation and a linear laser scanning camera parameter linear equation in an embodiment;
FIG. 5 is a flowchart illustrating the step of determining three-dimensional coordinates corresponding to pixels in the second image according to one embodiment;
FIG. 6 is a block diagram of a calibration apparatus of a line laser scanning camera according to an embodiment;
FIG. 7 is a block diagram of a calibration apparatus of a line laser scanning camera in another embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following embodiments and the accompanying drawings.
The method for calibrating the line laser scanning camera provided by the application can be applied to the application environment shown in fig. 1. In the application environment, a terminal 102 and a cloud server 104 are included.
When a first image of a calibration plate is acquired at a first position, the terminal 102 determines three-dimensional coordinates corresponding to each pixel in the first image based on pixel coordinates of a characteristic point of the calibration plate in the first image and first space coordinates of the characteristic point of the calibration plate; when a first laser image related to a calibration plate is acquired at a first position, determining a three-dimensional coordinate corresponding to line laser based on a pixel coordinate of the center of a laser line in the first laser image and a first space coordinate; determining a three-dimensional coordinate corresponding to each pixel in the second image based on the second image acquired by continuously moving the calibration plate and the second space coordinate of the characteristic point of the calibration plate located at the second position; determining a three-dimensional coordinate corresponding to the linear laser based on a second laser image acquired by continuously moving the calibration plate and the coordinate located in the second space; the second position is the position when the calibration plate is continuously moved for image acquisition; calculating parameters in a parameter plane equation of the line laser scanning camera based on the three-dimensional coordinates corresponding to the line lasers; and calculating parameters in a linear equation of the line laser scanning camera parameters based on the three-dimensional coordinates corresponding to the pixels, thereby completing the calibration of the line laser scanning camera. When an image is collected based on the calibrated line laser scanning camera, the collected image may be uploaded to the cloud server 104.
The terminal 102 may be a smart phone, a tablet computer, a notebook computer, a smart watch, etc. capable of emitting line laser, and may also be a line laser scanning camera, etc., but is not limited thereto.
The cloud server 104 may be an independent physical server or a service node in a blockchain system, a point-To-point (P2P, Peer To Peer) network is formed among the service nodes in the blockchain system, and the P2P Protocol is an application layer Protocol operating on a Transmission Control Protocol (TCP).
In addition, the cloud server 104 may also be a server cluster formed by a plurality of physical servers, and may be a cloud server providing basic cloud computing services such as cloud service, a cloud database, cloud computing, a cloud function, cloud storage, Network service, cloud communication, middleware service, domain name service, security service, Content Delivery Network (CDN), big data and artificial intelligence platform, and the like.
The terminal 102 and the cloud server 104 may be connected through communication connection manners such as bluetooth, USB (Universal Serial Bus), or network, which is not limited herein.
In an embodiment, as shown in fig. 2, a calibration method for a line laser scanning camera is provided, which is described by taking the method as an example for being applied to the terminal in fig. 1, and includes the following steps:
s202, when a first image related to the calibration plate is acquired at the first position, three-dimensional coordinates corresponding to each pixel in the first image are determined based on pixel coordinates of the characteristic point of the calibration plate in the first image and first space coordinates of the characteristic point of the calibration plate.
Wherein the first position may refer to a position where the distance from the line laser scanning camera is a fixed value, and the coordinates of the world coordinate system relative to the line laser scanning camera are known, see pos1 in fig. 3 a. The line laser scanning camera may be a laser scanning camera consisting of a camera and a laser.
The calibration plate may be a flat plate for calibrating the camera, and the calibration plate feature points may refer to an array of patterns with a fixed pitch on the flat plate.
In one embodiment, the terminal sends a movement control instruction to the calibration board to control the calibration board to move to the first position, and when the calibration board is located at the first position, the terminal performs image acquisition on the calibration board to obtain a first image.
In one embodiment, the terminal may calculate the three-dimensional coordinates corresponding to each pixel in the first image by using an interpolation algorithm, which may be one of bilinear interpolation, bicubic interpolation, nearest neighbor interpolation, and the like.
In one embodiment, S202 includes:
the terminal calculates a first parameter value based on the pixel coordinate of the characteristic point of the calibration board in the first image and the first space coordinate of the characteristic point of the calibration board; inputting the first parameter value and the pixel coordinate of the characteristic point of the calibration plate in the first image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to each pixel in the first image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure BDA0003192896090000101
wherein epsiloni，mFor representing the three-dimensional coordinates, epsilon, of the pixels in the first imagetAnd εbRespectively representing a first parameter value, viFor the pixel coordinates, v, of each pixel in the first imagetAnd vbAnd representing the pixel coordinates of the pixel point in the first image, which is adjacent to the characteristic point of the calibration plate.
As shown in FIG. 3b, the pixel coordinate of the pixel is (u)i，vi) With three-dimensional coordinates of epsiloni，m＝(xi，m，yi，m，zi，m) (ii) a Characteristic point Pf，0，mHas a pixel coordinate of (u)0，v0) The three-dimensional coordinate is (x)0，m，y0，m，z0，m) (ii) a Characteristic point Pf，1，mHas a pixel coordinate of (u)1，v1) The three-dimensional coordinate is (x)1，m，y1，m，z1，m) (ii) a Characteristic point Pf，2，mHas a pixel coordinate of (u)2，v2) The three-dimensional coordinate is (x)2，m，y2，m，z2，m) (ii) a Characteristic point Pf，3，mHas a pixel coordinate of (u)3，v3) Three dimensional coordinates of (x)3，m，y3，m，z3，m)。
Wherein v istCan pass through
Figure BDA0003192896090000111
Carry out the calculation of vbCan pass through
Figure BDA0003192896090000112
Figure BDA0003192896090000113
And (6) performing calculation.
εt＝(xt，yt，zt) In which epsilontX in (2)tCan pass through
Figure BDA0003192896090000114
Carry out the calculation oftY in (1)t，ztThe calculation can also be performed in the manner described above.
εb＝(xb，yb，zb) In which epsilontX in (2)bCan pass through
Figure BDA0003192896090000115
Carry out the calculation ofbY in (1)b，zbThe calculation can also be performed in the manner described above.
S204, when a first laser image related to the calibration plate is acquired at the first position, determining a three-dimensional coordinate corresponding to the line laser based on the pixel coordinate of the center of the laser line in the first laser image and the first space coordinate.
The first laser image can be acquired by acquiring an image of a calibration plate when the line laser projects line laser onto the calibration plate at the first position. The laser line center can be projected to the line structure striation center of calibration plate surface by the line laser.
In one embodiment, the terminal sends a projection instruction to the line laser to control the line laser to project line laser to the calibration board, and when the calibration board is at the first position, the calibration board is subjected to image acquisition to obtain a first laser image.
In one embodiment, S204 may specifically include:
the terminal calculates a second parameter value based on the pixel coordinate of the center of the laser line in the first laser image and the first space coordinate of the characteristic point of the calibration plate; inputting the second parameter value and the pixel coordinate of the center of the laser line in the first laser image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to the laser line in the first laser image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure BDA0003192896090000116
wherein, thetai，mFor representing the three-dimensional coordinates, theta, corresponding to the line laser in the first laser imagetAnd thetabIs indicative of a second parameter value, viPixel coordinates, v, corresponding to line laser in the first laser imagetAnd vbPixel coordinates representing line laser adjacent calibration plate feature points in the first laser image, for θtAnd thetabAnd vtAnd vbReference may be made to S202.
S206, determining three-dimensional coordinates corresponding to each pixel in the second image based on the second image acquired by continuously moving the calibration plate and the second space coordinates of the characteristic point of the calibration plate at the second position; determining a three-dimensional coordinate corresponding to the linear laser based on a second laser image acquired by continuously moving the calibration plate and the coordinate located in the second space; the second position is the position when constantly moving the calibration plate and carrying out image acquisition.
Where the second position may refer to a position at a different distance from the line laser scanning camera than the first position, and the coordinates are known with respect to the world coordinate system in which the line laser scanning camera is located, see pos2 in fig. 3 a.
In one embodiment, the terminal sends a movement control instruction to the calibration plate to control the calibration plate to move to the second position, and when the calibration plate is located at the second position, image acquisition is performed on the calibration plate to obtain a second image, and the terminal sends a multi-movement control instruction to the calibration plate to control the calibration plate to move to a plurality of different positions, and the calibration plate is subjected to multi-image acquisition to obtain a plurality of groups of three-dimensional coordinates.
For the three-dimensional coordinates corresponding to each pixel in the second image in S206 and the three-dimensional coordinates corresponding to the line laser, reference may be specifically made to S202 and S204.
S208, calculating parameters in a parameter plane equation of the line laser scanning camera based on the three-dimensional coordinates corresponding to the line lasers; and calculating parameters in a linear equation of the line laser scanning camera parameters based on the three-dimensional coordinates corresponding to the pixels, thereby completing the calibration of the line laser scanning camera.
Each pixel in the first image corresponds to a linear laser scanning camera parameter linear equation, and the laser line in the first laser image corresponds to a linear laser scanning camera parameter planar equation; the linear laser scanning camera parameter plane equation and the linear laser scanning camera parameter linear equation form a model of the linear laser scanning camera.
In one embodiment, the terminal may calculate the parameters in the line laser scanning camera parameter line equation by using a fitting algorithm, which may be one of a least square method, a newton iteration method, an interval bisection method, and the like.
In one embodiment, when the line laser scanning camera parametric line of equations is a first line laser scanning camera parametric line of equations; the linear equation of the first line laser scanning camera parameters is as follows:
Figure BDA0003192896090000121
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each pixel, and (n) represents a three-dimensional coordinate corresponding to each pixelx，ny，nz)、(x0，y0，z0) And t is a parameter in a first line laser scanning camera parameter linear equation;
therefore, S208 may specifically include: and calculating parameters in a parameter linear equation of the first line laser scanning camera based on the three-dimensional coordinates corresponding to the pixels.
In another embodiment, if the line laser scanning camera parameter line equation is a second line laser scanning camera parameter line equation, the second line laser scanning camera parameter line equation is:
Figure BDA0003192896090000131
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each pixel, and A1、B1、C1、D1、A2、B2、C2、D2Parameters in a parameter linear equation of the second line laser scanning camera;
therefore, S208 may specifically include: and calculating parameters in a parameter linear equation of the second line laser scanning camera based on the three-dimensional coordinates corresponding to the pixels.
In one embodiment, when the line laser scanning camera parametric plane equation is the first line laser scanning camera parametric plane equation, the first line laser scanning camera parametric plane equation is:
Ax+By+Cz+D＝0
wherein, (x, y, z) represents the three-dimensional coordinates corresponding to each line laser, and A, B, C and D are both parameters in the first line laser scanning camera parameter plane equation;
therefore, S208 may specifically include: and calculating parameters in a parameter plane equation of the first line laser scanning camera based on the three-dimensional coordinates corresponding to the laser of each line.
In another embodiment, if the line laser scanning camera parameter plane equation is a second line laser scanning camera parameter plane equation, the second line laser scanning camera parameter plane equation is:
Figure BDA0003192896090000132
wherein, (x, y, z) represents the three-dimensional coordinates corresponding to each line of laser, and a, b and c are parameters in a parameter plane equation of the second line laser scanning camera;
therefore, S208 may specifically include: and calculating parameters in a parameter plane equation of the second line laser scanning camera based on the three-dimensional coordinates corresponding to the lasers of each line.
In one embodiment, after S208, the method further comprises:
when the terminal is used for measurement, firstly, image acquisition is carried out on a measured object, and pixel coordinates of the measured object are obtained; secondly, searching a corresponding linear laser scanning camera parameter linear equation according to the pixel coordinate; and finally, combining the linear equation of the line laser scanning camera parameter and the plane equation of the line laser scanning camera parameter to solve the three-dimensional coordinate of the measured object, and referring to fig. 4.
In the above embodiment, when the first image of the calibration plate is acquired at the first position, the three-dimensional coordinates corresponding to each pixel in the first image are determined based on the pixel coordinates of the characteristic point of the calibration plate in the first image and the first spatial coordinates of the characteristic point of the calibration plate; when a first laser image related to a calibration plate is acquired at a first position, determining a three-dimensional coordinate corresponding to line laser based on a pixel coordinate of the center of a laser line in the first laser image and a first space coordinate; the above processes are repeated continuously to obtain three-dimensional coordinates corresponding to each pixel in the image corresponding to each position and three-dimensional coordinates corresponding to the line laser, and then parameters in a parameter plane equation of the line laser scanning camera and parameters in a parameter straight line equation of the line laser scanning camera are calculated according to the three-dimensional coordinates, so that the calibration of the line laser scanning camera is completed, the internal parameters and the external parameters of the camera do not need to be calculated independently, the condition that the internal parameters of the camera are coupled with the distortion coefficients does not exist, and the calibration precision of the camera can be effectively improved. In addition, multiple groups of data are rapidly obtained by continuously moving the calibration plate to calculate parameters, and the efficiency of calibrating the line laser scanning camera is improved. After calibration is completed, the three-dimensional coordinates of the measured object are deduced by intersecting the linear laser scanning camera parameter plane equation and the linear laser scanning camera parameter linear equation, so that errors caused by high coupling of camera internal parameters and lens distortion coefficients can be avoided.
In an embodiment, as shown in fig. 5, S206 may specifically include:
and S502, continuously moving the calibration plate on the linear guide rail, and acquiring images when the calibration plate is moved to different preset second positions each time to obtain second images.
S504, second space coordinates of the characteristic points of the calibration plate located at the second position are obtained.
S506, determining three-dimensional coordinates corresponding to the pixels in the second image based on the pixel coordinates and the second space coordinates of the characteristic points of the calibration plate in the second image.
In the above embodiment, the parameters are calculated by rapidly obtaining multiple groups of data in a manner of continuously moving the calibration plate on the linear guide rail, which is beneficial to improving the calibration efficiency of the line laser scanning camera.
It should be understood that although the steps in the flowcharts of fig. 2 and 5 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 and 5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 6, a calibration apparatus for a line laser scanning camera is provided, where the apparatus may adopt a software module or a hardware module, or a combination of the two modules, as a part of a computer device, and the apparatus specifically includes: a first determination module 602, a second determination module 604, a processing module 606, and a calculation module 608.
A first determining module 602, configured to determine, when a first image of a calibration plate is acquired at a first position, three-dimensional coordinates corresponding to pixels in the first image based on pixel coordinates of a characteristic point of the calibration plate in the first image and a first spatial coordinate of the characteristic point of the calibration plate;
a second determining module 604, configured to determine, when a first laser image about the calibration plate is acquired at the first position, a three-dimensional coordinate corresponding to the line laser based on a pixel coordinate of a center of the laser line in the first laser image and the first spatial coordinate;
the processing module 606 is configured to determine a three-dimensional coordinate corresponding to each pixel in the second image based on the second image acquired by continuously moving the calibration plate and the second spatial coordinate of the calibration plate feature point located at the second position; determining a three-dimensional coordinate corresponding to the linear laser based on a second laser image acquired by continuously moving the calibration plate and the coordinate located in the second space; the second position is the position when the calibration plate is continuously moved for image acquisition;
a calculating module 608, configured to calculate parameters in a line laser scanning camera parameter plane equation based on the three-dimensional coordinates corresponding to each line laser; calculating parameters in a linear equation of the line laser scanning camera parameters based on the three-dimensional coordinates corresponding to the pixels, thereby completing the calibration of the line laser scanning camera; each pixel in the first image corresponds to a linear laser scanning camera parameter linear equation, and the laser line in the first laser image corresponds to a linear laser scanning camera parameter planar equation; the linear laser scanning camera parameter plane equation and the linear laser scanning camera parameter linear equation form a model of the linear laser scanning camera.
In the above embodiment, when the first image of the calibration plate is acquired at the first position, the three-dimensional coordinates corresponding to each pixel in the first image are determined based on the pixel coordinates of the characteristic point of the calibration plate in the first image and the first spatial coordinates of the characteristic point of the calibration plate; when a first laser image related to a calibration plate is acquired at a first position, determining a three-dimensional coordinate corresponding to line laser based on a pixel coordinate of the center of a laser line in the first laser image and a first space coordinate; the above processes are repeated continuously to obtain three-dimensional coordinates corresponding to each pixel in the image corresponding to each position and three-dimensional coordinates corresponding to the line laser, and then parameters in a parameter plane equation of the line laser scanning camera and parameters in a parameter straight line equation of the line laser scanning camera are calculated according to the three-dimensional coordinates, so that the calibration of the line laser scanning camera is completed, the internal parameters and the external parameters of the camera do not need to be calculated independently, the condition that the internal parameters of the camera are coupled with the distortion coefficients does not exist, and the calibration precision of the camera can be effectively improved. After calibration is completed, the three-dimensional coordinates of the measured object are deduced by intersecting the linear laser scanning camera parameter plane equation and the linear laser scanning camera parameter linear equation, so that errors caused by high coupling of camera internal parameters and lens distortion coefficients can be avoided.
In one embodiment, the first determining module 602 is further configured to calculate a first parameter value based on the pixel coordinates of the calibration plate feature point in the first image and the first spatial coordinates of the calibration plate feature point; inputting the first parameter value and the pixel coordinate of the characteristic point of the calibration plate in the first image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to each pixel in the first image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure BDA0003192896090000161
wherein epsiloni，mFor representing the three-dimensional coordinates, epsilon, of the pixels in the first imagetAnd εbRespectively representing a first parameter value, viFor the pixel coordinates, v, of each pixel in the first imagetAnd vbAnd representing the pixel coordinates of the pixel point in the first image, which is adjacent to the characteristic point of the calibration plate.
In one embodiment, the second determining module 604 is further configured to calculate a second parameter value based on the pixel coordinates of the center of the laser line in the first laser image and the first spatial coordinates of the feature point of the calibration board; inputting the second parameter value and the pixel coordinate of the center of the laser line in the first laser image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to the laser line in the first laser image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure BDA0003192896090000162
wherein, thetai，mFor representing the three-dimensional coordinates, theta, corresponding to the line laser in the first laser imagetAnd thetabIs indicative of a second parameter value，viPixel coordinates, v, corresponding to line laser in the first laser imagetAnd vbPixel coordinates representing line laser adjacent calibration plate feature points in the first laser image.
In one embodiment, as shown in fig. 7, the apparatus further comprises:
the image acquisition module 610 is configured to acquire an image of a calibration board to obtain a first laser image when the line laser projects line laser onto the calibration board at the first position.
In one embodiment, the line laser scanning camera parameter line equation is a first line laser scanning camera parameter line equation or a second line laser scanning camera parameter line equation; the linear equation of the first line laser scanning camera parameters is as follows:
Figure BDA0003192896090000171
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each pixel, and (n) represents a three-dimensional coordinate corresponding to each pixelx，ny，nz)、(x0，y0，z0) And t is a parameter in a first line laser scanning camera parameter linear equation;
the linear equation of the parameters of the second line laser scanning camera is as follows:
Figure BDA0003192896090000172
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each pixel, and A1、B1、C1、D1、A2、B2、C2、D2Parameters in a parameter linear equation of the second line laser scanning camera;
the calculating module 608 is further configured to calculate parameters in a linear equation of parameters of the first line laser scanning camera or parameters in a linear equation of parameters of the second line laser scanning camera based on the three-dimensional coordinates corresponding to each pixel.
In an embodiment, the processing module 606 is further configured to continuously move the calibration board on the linear guide rail, and perform image acquisition when the calibration board is moved to a preset different second position each time, so as to obtain a second image; acquiring a second space coordinate of the characteristic point of the calibration plate at a second position; and determining the three-dimensional coordinates corresponding to the pixels in the second image based on the pixel coordinates and the second space coordinates of the characteristic points of the calibration plate in the second image.
In the embodiment, the parameters are calculated by rapidly obtaining multiple groups of data in a mode of continuously moving the calibration plate, which is beneficial to improving the calibration efficiency of the line laser scanning camera.
In one embodiment, the line laser scanning camera parameter plane equation is a first line laser scanning camera parameter plane equation or a second line laser scanning camera parameter plane equation, the first line laser scanning camera parameter plane equation being:
Ax+By+Cz+D＝0
wherein, (x, y, z) represents the three-dimensional coordinates corresponding to each line laser, and A, B, C and D are both parameters in the first line laser scanning camera parameter plane equation;
the second line laser scanning camera parameter plane equation is as follows:
Figure BDA0003192896090000173
wherein, (x, y, z) represents the three-dimensional coordinates corresponding to each line of laser, and a, b and c are parameters in a parameter plane equation of the second line laser scanning camera;
the calculating module 608 is further configured to calculate parameters in the first line laser scanning camera parameter plane equation or the second line laser scanning camera parameter plane equation based on the three-dimensional coordinates corresponding to each line laser.
For specific limitations of the calibration device of the line laser scanning camera, reference may be made to the above limitations of the calibration method of the line laser scanning camera, which are not described herein again. All or part of the modules in the calibration device of the line laser scanning camera can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a line laser scanning camera, the internal structure of which may be as shown in fig. 8. The computer device includes a processor, a memory, a communication interface, and a display screen connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a calibration method for a line laser scanning camera. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the steps in the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A calibration method of a line laser scanning camera is characterized by comprising the following steps:
when a first image of a calibration plate is acquired at a first position, determining three-dimensional coordinates corresponding to pixels in the first image based on pixel coordinates of a characteristic point of the calibration plate in the first image and first space coordinates of the characteristic point of the calibration plate;
when a first laser image related to the calibration plate is acquired at the first position, determining three-dimensional coordinates corresponding to line laser based on pixel coordinates of the center of a laser line in the first laser image and the first space coordinates;
determining three-dimensional coordinates corresponding to pixels in a second image based on a second image acquired by continuously moving the calibration plate and second space coordinates of the characteristic points of the calibration plate located at a second position; determining a three-dimensional coordinate corresponding to the line laser based on a second laser image acquired by continuously moving the calibration plate and the coordinate located in the second space; the second position is the position when the calibration plate is continuously moved for image acquisition;
calculating parameters in a parameter plane equation of the line laser scanning camera based on the three-dimensional coordinates corresponding to the line lasers; calculating parameters in a linear equation of the line laser scanning camera parameters based on the three-dimensional coordinates corresponding to each pixel, thereby completing the calibration of the line laser scanning camera; each pixel in the first image corresponds to a linear laser scanning camera parameter linear equation, and a laser line in the first laser image corresponds to a linear laser scanning camera parameter planar equation; the line laser scanning camera parameter plane equation and the line laser scanning camera parameter linear equation form a model of the line laser scanning camera.
2. The method of claim 1, wherein determining three-dimensional coordinates corresponding to each pixel in the first image based on the pixel coordinates of the calibration plate feature point in the first image and the first spatial coordinates of the calibration plate feature point comprises:
calculating a first parameter value based on the pixel coordinates of the characteristic point of the calibration plate in the first image and the first space coordinates of the characteristic point of the calibration plate;
inputting the first parameter value and the pixel coordinate of the characteristic point of the calibration plate in the first image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to each pixel in the first image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure FDA0003192896080000011
wherein epsiloni，mFor representing the three-dimensional coordinates, epsilon, corresponding to each pixel in said first imagetAnd εbRespectively representing said first parameter value, viPixel coordinates, v, corresponding to each pixel in the first imagetAnd vbAnd representing the pixel coordinates of the pixel point which is obtained in the first image and is adjacent to the characteristic point of the calibration board.
3. The method of claim 1, wherein determining three-dimensional coordinates corresponding to a line laser based on pixel coordinates of a center of a laser line in the first laser image and the first spatial coordinates comprises:
calculating a second parameter value based on the pixel coordinate of the center of the laser line in the first laser image and the first space coordinate of the characteristic point of the calibration plate;
inputting the second parameter value and the pixel coordinate of the center of the laser line in the first laser image into a bilinear interpolation algorithm to calculate the three-dimensional coordinate corresponding to the center of the laser line in the first laser image through the bilinear interpolation algorithm, wherein the bilinear interpolation algorithm is as follows:
Figure FDA0003192896080000021
wherein, thetai，mFor representing the three-dimensional coordinates, theta, corresponding to the line laser in the first laser imagetAnd thetabIs representative of said second parameter value, viPixel coordinates, v, corresponding to line laser in the first laser imagetAnd vbAnd pixel coordinates representing line laser adjacent calibration plate feature points in the first laser image.
4. The method of claim 1, wherein said acquiring a first laser image about the calibration plate at the first location comprises:
and when the line laser is projected onto the calibration plate at the first position, the calibration plate is subjected to image acquisition to obtain a first laser image.
5. The method of claim 1, wherein the line laser scanning camera parametric line equation is a first line laser scanning camera parametric line equation or a second line laser scanning camera parametric line equation; the linear equation of the first line laser scanning camera parameters is as follows:
Figure FDA0003192896080000022
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each of the pixels, and (n) represents a three-dimensional coordinate corresponding to each of the pixelsx，ny，nz)、(x0，y0，z0) And t is a parameter in the first line laser scanning camera parameter linear equation;
the linear equation of the parameters of the second line laser scanning camera is as follows:
Figure FDA0003192896080000031
wherein (x, y, z) represents a three-dimensional coordinate corresponding to each of the pixels, and A1、B1、C1、D1、A2、B2、C2、D2Parameters in a parameter linear equation of the second line laser scanning camera;
the calculating parameters in the linear equation of the line laser scanning camera parameter based on the three-dimensional coordinates corresponding to each pixel comprises:
and calculating parameters in the parameter linear equation of the first line laser scanning camera or parameters in the parameter linear equation of the second line laser scanning camera based on the three-dimensional coordinates corresponding to the pixels.
6. The method of claim 1, wherein determining three-dimensional coordinates corresponding to each pixel in the second image based on the second image captured by continuously moving the calibration plate and the second spatial coordinates of the characteristic point of the calibration plate located at the second position comprises:
continuously moving the calibration plate on the linear guide rail, and acquiring images when the calibration plate is moved to different preset second positions each time to obtain second images;
acquiring a second space coordinate of the characteristic point of the calibration plate at a second position;
and determining the three-dimensional coordinates corresponding to the pixels in the second image based on the pixel coordinates of the characteristic points of the calibration plate in the second image and the second space coordinates.
7. The method of claim 1, wherein the line laser scanning camera parametric plane equation is a first line laser scanning camera parametric plane equation or a second line laser scanning camera parametric plane equation, the first line laser scanning camera parametric plane equation being:
Ax+By+Cz+D＝0
wherein (x, y, z) represents the three-dimensional coordinates corresponding to each line laser, and A, B, C and D are both parameters in the first line laser scanning camera parameter plane equation;
the second line laser scanning camera parameter plane equation is as follows:
Figure FDA0003192896080000032
wherein, (x, y, z) represents the three-dimensional coordinates corresponding to each line laser, and a, b and c are parameters in the second line laser scanning camera parameter plane equation;
the calculating parameters in the line laser scanning camera parameter plane equation based on the three-dimensional coordinates corresponding to the line lasers comprises:
and calculating parameters in the parameter plane equation of the first line laser scanning camera or the parameter plane equation of the second line laser scanning camera based on the three-dimensional coordinates corresponding to the line lasers.
8. A line laser scanning camera calibration device is characterized in that the device comprises:
the device comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for determining three-dimensional coordinates corresponding to pixels in a first image based on pixel coordinates of a characteristic point of a calibration plate in the first image and first space coordinates of the characteristic point of the calibration plate when the first image related to the calibration plate is acquired at a first position;
the second determining module is used for determining three-dimensional coordinates corresponding to the line laser based on pixel coordinates of the center of the laser line in the first laser image and the first space coordinates when the first laser image related to the calibration plate is acquired at the first position;
the processing module is used for determining three-dimensional coordinates corresponding to pixels in the second image based on a second image acquired by continuously moving the calibration plate and second space coordinates of the characteristic points of the calibration plate located at a second position; determining a three-dimensional coordinate corresponding to the line laser based on a second laser image acquired by continuously moving the calibration plate and the coordinate located in the second space; the second position is the position when the calibration plate is continuously moved for image acquisition;
the calculation module is used for calculating parameters in a parameter plane equation of the line laser scanning camera based on the three-dimensional coordinates corresponding to the line lasers; calculating parameters in a linear equation of the line laser scanning camera parameters based on the three-dimensional coordinates corresponding to each pixel, thereby completing the calibration of the line laser scanning camera; each pixel in the first image corresponds to a linear laser scanning camera parameter linear equation, and a laser line in the first laser image corresponds to a linear laser scanning camera parameter planar equation; the line laser scanning camera parameter plane equation and the line laser scanning camera parameter linear equation form a model of the line laser scanning camera.
9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 7.
CN202110883119.8A 2021-08-02 2021-08-02 Calibration method, device and equipment of line laser scanning camera and storage medium Pending CN113487685A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114200463A (en) * 2021-12-09 2022-03-18 青岛图海纬度科技有限公司 Underwater laser scanning equipment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114200463A (en) * 2021-12-09 2022-03-18 青岛图海纬度科技有限公司 Underwater laser scanning equipment

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