CN115457154A - Calibration method and device of three-dimensional scanner, computer equipment and storage medium - Google Patents
Calibration method and device of three-dimensional scanner, computer equipment and storage medium Download PDFInfo
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- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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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
- G06T2207/10004—Still image; Photographic image
- G06T2207/10008—Still image; Photographic image from scanner, fax or copier
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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
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
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- G—PHYSICS
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- G06T2207/30—Subject of image; Context of image processing
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Abstract
The application relates to a calibration method, a calibration device, computer equipment and a storage medium of a three-dimensional scanner, wherein the method comprises the following steps: acquiring a first quick marking image and a second quick marking image with image frame numbers in a preset period based on a preset polling mode; the first quick mark image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a trigger state; the second quick marking image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a non-working state; wherein, a marking point is arranged on the target object; and processing the first fast marking image and the second fast marking image to finish the marking of the three-dimensional scanner. According to the method and the device, the problem that the accuracy of the obtained marking point data is low and the precision of the calibration result of the three-dimensional scanner is low in the related technology is solved, the accuracy of the marking point data in the second quick-marking image is guaranteed, and the precision of the calibration result of the three-dimensional scanner is improved.
Description
Technical Field
The present application relates to the field of three-dimensional scanning technologies, and in particular, to a calibration method and apparatus for a three-dimensional scanner, a computer device, and a storage medium.
Background
The calibration process of the existing three-dimensional scanner is as follows: shooting images of the calibration plate by using a camera of the three-dimensional scanner simultaneously to acquire marking point data and laser point data simultaneously, and then processing the marking point data and the laser point data respectively; and the marking point data is used for calculating external parameters of the three-dimensional scanner, and the laser point data is used for calculating a laser plane, so that the calibration of the camera is completed. However, in the calibration process, laser line data and marking point data are simultaneously acquired based on the image of the same calibration plate, and if the laser line presses the marking point, the accuracy of the acquired data is not high, which results in low precision of the calibration result.
Aiming at the problem that the accuracy of acquired data is low in the related technology, so that the precision of a calibration result of a three-dimensional scanner is low, an effective solution is not provided at present.
Disclosure of Invention
The embodiment provides a calibration method and device of a three-dimensional scanner, computer equipment and a storage medium, so as to solve the problem that the accuracy of acquired data is not high, which results in low precision of a calibration result of the three-dimensional scanner in the related art.
In a first aspect, in this embodiment, a calibration method for a three-dimensional scanner is provided, including:
acquiring a first quick marking image and a second quick marking image with image frame numbers in a preset period based on a preset polling mode; the first quick mark image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a trigger state; the second quick marking image is obtained by shooting the target object by using the three-dimensional scanner when the laser equipment is in a non-working state; wherein, a marking point is arranged on the target object;
and processing the first quick mark image and the second quick mark image to finish the calibration of the three-dimensional scanner.
In some embodiments, the obtaining, based on a preset polling mode, a first quick caption image and a second quick caption image with an image frame number in a preset period includes:
sequentially shooting the target object by using the three-dimensional scanner in a preset period based on the preset polling mode;
when the laser equipment is in the trigger state, obtaining a first target object image; determining the image frame number corresponding to the first target object image based on the timestamp corresponding to the first target object image when shooting; obtaining a first quick mark image according to the first target object image and the corresponding image frame number;
when the laser equipment is in the non-working state, obtaining a second target object image; determining the image frame number corresponding to the second target object image based on the time stamp corresponding to the second target object image when shooting; and obtaining a second quick marking image according to the second target object image and the corresponding image frame number.
In some embodiments, the preset polling mode is that one or more groups of control strategies exist in one period, and the laser device comprises a plurality of laser combinations;
the control strategy is as follows: and controlling the plurality of laser combinations to sequentially emit a plurality of combined lights, and controlling the plurality of laser combinations to be in the non-working state after the plurality of combined lights sequentially appear.
In some embodiments, the plurality of combined lights are one or more of single blue laser, single red laser, single infrared laser, multiple parallel blue laser, multiple cross blue laser, multiple parallel red laser, multiple cross infrared laser, multiple parallel infrared laser, and multiple cross infrared laser.
In some of these embodiments, the plurality of combined lights comprises a plurality of parallel blue lasers, a plurality of parallel red lasers, and a plurality of parallel infrared lasers; after the plurality of parallel blue lasers, the plurality of parallel red lasers and the plurality of parallel infrared lasers appear in sequence, the plurality of laser combinations are in the non-working state.
In some of these embodiments, the length of time the laser device is in the inactive state is the same as the length of time the laser device emits the combined light each time.
In some embodiments, the processing the first and second fast mark images to complete the calibration of the three-dimensional scanner includes:
classifying the first quick mark image and the second quick mark image based on the image frame number, and determining a laser line image and a mark point image;
determining a laser plane based on laser line data in the laser line image;
and determining external parameters of the three-dimensional scanner based on the mark point data in the mark point image.
In some embodiments, the classifying the first quick mark image and the second quick mark image based on the image frame number, and determining the laser line image and the mark point image includes:
converting image frame numbers in the first quick label image and the second quick label image according to a preset conversion number;
when the conversion result meets the laser line condition, classifying the laser line image from the first quick mark image and the second quick mark image;
and classifying the mark point images from the first quick mark image and the second quick mark image when the conversion result meets the mark point condition.
In a second aspect, in this embodiment, there is provided a calibration apparatus for a three-dimensional scanner, including: the device comprises an acquisition module and a processing module;
the acquisition module is used for acquiring a first quick label image and a second quick label image with image frame numbers in a preset period based on a preset polling mode; the first quick mark image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a trigger state; the second quick marking image is obtained by shooting the target object by using the three-dimensional scanner when the laser equipment is in a non-working state; wherein the target object is provided with a mark point;
and the processing module is used for processing the first fast marking image and the second fast marking image so as to finish the marking of the three-dimensional scanner.
In a third aspect, in this embodiment, there is provided a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the calibration method of the three-dimensional scanner according to the first aspect is implemented.
In a fourth aspect, in the present embodiment, a storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the calibration method of the three-dimensional scanner according to the first aspect.
Compared with the related art, the calibration method, the calibration device, the computer equipment and the storage medium of the three-dimensional scanner provided in the embodiment acquire the first fast marking image and the second fast marking image with the image frame number in the preset period based on the preset polling mode; the first quick marking image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a trigger state; the second quick marking image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a non-working state; wherein, a marking point is arranged on the target object; processing the first quick mark image and the second quick mark image to finish the calibration of the three-dimensional scanner; the problem that the accuracy of the obtained marking point data is low and the precision of the calibration result of the three-dimensional scanner is low in the related technology is solved, the situation that the laser presses the marking point cannot occur necessarily because the laser equipment is in a non-working state, the accuracy of the marking point data in the second quick-marking image can be ensured, and the precision of the calibration result of the three-dimensional scanner is improved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a hardware structure of a terminal device of a calibration method of a three-dimensional scanner according to an embodiment of the present application;
fig. 2 is a flowchart of a calibration method of a three-dimensional scanner according to an embodiment of the present application;
FIG. 3 is a flowchart of step S210 in FIG. 2;
fig. 4 is a block diagram of a calibration apparatus of a three-dimensional scanner according to an embodiment of the present application.
Detailed Description
For a clearer understanding of the objects, aspects and advantages of the present application, reference is made to the following description and accompanying drawings.
Unless defined otherwise, technical or scientific terms used herein shall have the same general meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (including a reference to the context of the specification and claims) are to be construed to cover both the singular and the plural, as well as the singular and plural. The terms "comprises," "comprising," "has," "having," and any variations thereof, as referred to in this application, are intended to cover non-exclusive inclusions; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or modules, but may include other steps or modules (elements) not listed or inherent to such process, method, article, or apparatus. Reference throughout this application to "connected," "coupled," and the like is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference to "a plurality" in this application means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, "a and/or B" may indicate: a exists alone, A and B exist simultaneously, and B exists alone. In general, the character "/" indicates a relationship in which the objects associated before and after are an "or". The terms "first," "second," "third," and the like in this application are used for distinguishing between similar items and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the present embodiment may be executed in a terminal, a computer, or a similar computing device. For example, the method is executed on a terminal, and fig. 1 is a hardware configuration block diagram of the terminal of the calibration method of the three-dimensional scanner according to the embodiment. As shown in fig. 1, the terminal may include one or more processors 102 (only one shown in fig. 1) and a memory 104 for storing data, wherein the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those of ordinary skill in the art that the structure shown in fig. 1 is merely an illustration and is not intended to limit the structure of the terminal described above. For example, the terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 can be used for storing computer programs, for example, software programs and modules of application software, such as a computer program corresponding to the calibration method of the three-dimensional scanner in the embodiment, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. The network described above includes a wireless network provided by a communication provider of the terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
The following embodiments may be applied to a three-dimensional scanner, which includes a laser device, an image acquisition device, a light supplement device, and a processor.
The processor is used for controlling the operation of each component, and can operate the calibration method of the three-dimensional scanner in the following embodiments.
The laser device is connected with the processor and used for triggering the laser device to emit various combined lights under the control of the processor. The laser device can be formed by combining a plurality of lasers, and each laser can independently emit laser light; such as: blue laser, red laser, infrared laser, or the like can be emitted; and may emit single, multiple parallel or multiple intersecting beams of laser light. Then, after the multiple lasers are combined, multiple parallel blue lasers, multiple parallel red lasers and multiple parallel infrared lasers can be emitted in sequence under the control of the processor; after emitting a plurality of parallel blue lasers, a plurality of parallel red lasers and a plurality of parallel infrared lasers in sequence, the plurality of laser combinations are in a non-working state, which is not illustrated herein.
The light supplementing device comprises an LED lamp, a light emitting diode and the like, is used for supplementing light to combined light emitted by the laser device under the control of the processor, and can work synchronously with the laser device; the sharpness of the image acquisition device can be improved. The image acquisition device may be a camera, and the number of cameras may be one or more. If there are at least two cameras, then synchronized capture under processor control is required.
In this embodiment, a calibration method of a three-dimensional scanner is provided, and fig. 2 is a flowchart of the calibration method of the three-dimensional scanner of this embodiment, as shown in fig. 2, the flowchart includes the following steps:
step S210, acquiring a first quick label image and a second quick label image with image frame numbers in a preset period based on a preset polling mode; the first quick marking image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a trigger state; the second quick marking image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a non-working state; wherein, a marking point is arranged on the target object;
step S220, the first fast mark image and the second fast mark image are processed to complete the calibration of the three-dimensional scanner.
It should be noted that the target object refers to an object to be scanned; the surface of which is provided with a mark point. The mark point can be a non-coding mark point or a coding mark point.
The polling mode may be preset in the processor, and the laser device and the image capturing device are controlled to work together in units of cycles, and one or more sets of control strategies may exist in one cycle. Such as: each group of control strategies may be to control the plurality of laser devices to sequentially emit the plurality of combined lights, and to control the plurality of laser devices to be in a non-operating state after the plurality of combined lights sequentially appear. In other embodiments, the control strategy may also be: firstly, controlling a plurality of laser devices to be in a non-working state, and then controlling the plurality of laser devices to sequentially emit a plurality of combined lights; or, the control strategy is to control the plurality of laser devices to sequentially emit a part of the combined light, then control the plurality of laser devices to be in a non-working state, and finally control the plurality of laser devices to sequentially emit the rest of the combined light; the specific form of the control strategy is not limited.
The laser equipment can emit combined light consisting of one or more of single blue laser, single red laser, single infrared laser, multiple parallel blue laser, multiple crossed blue laser, multiple parallel red laser, multiple crossed infrared laser, multiple parallel infrared laser and multiple crossed infrared laser in a trigger state. Various forms of combined light are provided to meet the requirements of different uses.
The following description will take the laser device emitting multiple parallel lasers as an example:
in the polling mode, the laser equipment is in a trigger state and can sequentially emit a plurality of parallel blue lasers, a plurality of parallel red lasers and a plurality of parallel infrared lasers; at this time, the image acquisition device in the three-dimensional scanner may also sequentially shoot the corresponding first quick mark images in synchronization. Because the laser equipment is in a trigger state, the laser can irradiate the target object at the moment, and then the first quick mark image comprises laser line data and mark point data. And then, the laser equipment is in a non-working state, and at the moment, the image acquisition equipment in the three-dimensional scanner synchronously shoots a corresponding second quick mark image. The laser equipment is in a non-working state, the situation that the laser presses the mark point can not occur, and the second quick mark image only contains mark point data, so that the accuracy of the mark point data in the second quick mark image can be ensured.
Finally, processing the first fast mark image and the second fast mark image, and determining external parameters of the three-dimensional scanner based on the second fast mark image; and determining a laser plane based on the first quick mark image so as to finish the calibration of the three-dimensional scanner. The first fast mark image can be optimized based on the second fast mark image, and then the laser plane and the external parameters of the three-dimensional scanner are determined based on the first fast mark image, so that the calibration of the three-dimensional scanner is completed. In other embodiments, no limitations are intended to the specific implementations. The accuracy of the marking point data in the second quick marking graph is high, so that the precision of the marking result of the three-dimensional scanner is improved.
In the related art, because the image shot by the camera of the three-dimensional scanner contains marking point data and laser point data at the same time, if the laser line presses the marking point, the accuracy of the obtained marking point data is not high, which results in low precision of the calibration result. The method includes the steps that a first quick mark image and a second quick mark image are obtained by setting the working state of laser equipment and combining a polling mode; the second quick marking image is obtained when the laser equipment is in a non-working state, so that the situation that the laser presses the marking point can not occur, the accuracy of the marking point data in the second quick marking image can be ensured, the first quick marking image and the second quick marking image are processed to finish the marking result of the three-dimensional scanner, and the method has the specific characteristic of high precision.
The above steps are explained in detail below:
in some embodiments, as shown in fig. 3, the obtaining the first fast marked image and the second fast marked image with the image frame number in the preset period based on the preset polling mode in step S210 includes the following steps:
step S211, sequentially shooting target objects by using a three-dimensional scanner in a preset period based on a preset polling mode;
step S212, obtaining a first target object image when the laser equipment is in a trigger state; determining an image frame number corresponding to the first target object image based on a timestamp corresponding to the first target object image when the first target object image is shot; obtaining a first quick mark image according to the first target object image and the corresponding image frame number;
step S213, obtaining a second target object image when the laser equipment is in a non-working state; determining an image frame number corresponding to the second target object image based on the time stamp corresponding to the second target object image when shooting; and obtaining a second quick marking image according to the second target object image and the corresponding image frame number.
Specifically, the polling mode is executed at a preset cycle. Such as: the polling mode is that a group of control strategies exist in a period; then the next cycle is entered after the execution according to a set of control strategies in the cycle. A plurality of control strategies may be included in the next cycle. In the course of the execution of each set of control strategies, the laser device will be involved in two operating states.
The triggering state of the laser equipment means that the laser equipment can emit laser to a target object, the processor controls image acquisition equipment in the three-dimensional scanner to shoot at the moment to obtain a first target object image, and a timestamp of a built-in timer in the three-dimensional scanner during shooting is recorded; and taking the time stamp as the time stamp corresponding to the first target object image when shooting. And adding the timestamp into the corresponding first target object image to obtain a first fast marking image with the image frame number, and uploading the first fast marking image with the image frame number to a processor for subsequent processing.
The non-working state of the laser equipment means that the laser equipment cannot emit laser to a target object, the processor controls image acquisition equipment in the three-dimensional scanner to shoot at the moment to obtain a second target object image, and a timestamp of a built-in timer in the three-dimensional scanner during shooting is recorded; and taking the time stamp as the time stamp corresponding to the second target object image when shooting. And adding the time stamp into the corresponding second target object image to obtain a second fast marking image with the image frame number, and uploading the second fast marking image to a processor for subsequent processing.
In this embodiment, both the first quick mark image and the second quick mark image may be obtained by processing in the image acquisition device, so as to reduce resource occupation of the processor. In other embodiments, the first quick target image, the second target object image and the corresponding image frame number may also be uploaded to the processor for processing.
The time stamps corresponding to the first target object image and the second target object image during shooting can also be provided by an external timer, so that the internal structure of the three-dimensional scanner is simplified.
In some embodiments, the preset polling mode is that one or more groups of control strategies exist in one period, and the laser device comprises a plurality of laser combinations;
although there are various ways for the control strategy, in the present embodiment, the control strategy is: the following description will be given by taking an example of a manner in which a plurality of laser combinations are controlled to sequentially emit a plurality of combined lights and, after the plurality of combined lights appear in sequence, the plurality of laser combinations are controlled to be in a non-operating state.
Specifically, if a group of control strategies exists in a cycle, the next cycle is entered after the execution of the group of control strategies is completed. If multiple groups of control strategies exist in a period, in one period, after the multiple groups of control strategies are executed, the next period is started. Since the control strategy is: the laser combination is controlled to emit various combined lights in sequence, and the laser combination is controlled to be in a non-working state after the various combined lights appear in sequence. Then each cycle will acquire a first and second quick mark image in turn. Such as: if the first quick mark image comprises three types of combined light (blue laser, red laser and infrared laser) obtained by shooting; then the first quick icon image (blue image), the first quick icon image (red image), the first quick icon image (infrared image), and the second quick icon image (blank frame image) are sorted. Other cases are not to be taken as an example here.
In some embodiments, the plurality of combined lights are one or more of single blue laser, single red laser, single infrared laser, multiple parallel blue laser, multiple cross blue laser, multiple parallel red laser, multiple cross infrared laser, multiple parallel infrared laser, and multiple cross infrared laser.
The images obtained by sequentially photographing the target object with the three-dimensional scanner may also be different for each combined light.
Such as: the multiple combined lights comprise multiple parallel blue lasers, multiple parallel red lasers and multiple parallel infrared lasers; after a plurality of parallel blue lasers, a plurality of parallel red lasers and a plurality of parallel infrared lasers appear in sequence, the plurality of laser combinations are in a non-working state. Then for the acquired image: blue light image, red light image, infrared light image, blank frame image. The specific combination form of the plurality of combined lights is not limited, such as: the multiple combined lights comprise a single beam of blue laser, multiple beams of parallel blue laser and multiple beams of cross blue laser; for another example, the plurality of combined lights include a cross blue laser, a parallel blue laser, an infrared blue laser, a single beam blue laser; for example, the plurality of combined lights include a cross blue laser, a single blue laser, and a parallel blue laser, and of course, the plurality of combined lights are more often used, and they are not listed here, and all such combinations are within the scope of the present application.
In some embodiments, processing the first and second fast mark images to complete the calibration of the three-dimensional scanner includes the following steps:
step S221, classifying the first quick mark image and the second quick mark image based on the image frame number, and determining a laser line image and a mark point image;
step S222, determining a laser plane based on laser line data in the laser line image;
step S223, determining external parameters of the three-dimensional scanner based on the mark point data in the mark point image.
Specifically, the image frame number can represent the shooting time of the first quick mark image and the second quick mark image, and the shooting sequence of the first quick mark image and the second quick mark image is fixed, so that the first quick mark image and the second quick mark image can be classified based on the image frame number, and the laser line image and the mark point image are separated from the first quick mark image and the second quick mark image.
Wherein the laser plane is determined based on the laser line data in the laser line image. The specific process can be as follows: and performing characteristic extraction on the laser line image to obtain laser line data, and determining a laser plane based on the laser line data. The specific algorithm for determining the laser plane is not limited.
And determining external parameters of the three-dimensional scanner based on the mark point data in the mark point image. The specific process can be as follows: and performing feature extraction on the mark point image to obtain mark point data, and determining external parameters of the three-dimensional scanner based on the mark point data. The specific algorithm for determining the external parameters of the three-dimensional scanner is not limited.
In some embodiments, classifying the first quick mark image and the second quick mark image based on the image frame number, and determining the laser line image and the mark point image, comprises the following steps;
converting image frame numbers in the first quick bidding image and the second quick bidding image according to a preset conversion number;
when the conversion result meets the laser line condition, classifying the laser line image from the first quick mark image and the second quick mark image;
and classifying the mark point images from the first fast mark image and the second fast mark image when the conversion result meets the mark point condition.
Specifically, the conversion number is determined by the number of combined light in a group of control strategies, and the combined light consists of 2 types of laser; then the conversion number is 2; the laser line condition and the marker point condition are also matched with the conversion inclusion. Such as: the conversion number is 2, and the laser line condition is that the remainder of division is 1; the mark point condition is that the remainder of division is 2. At this time, the image number of the first quick label image is 1; the image number 2 of the second quick label image; the first quick mark image is the laser line image; the second quick marking image is a marking point image.
The following description is given by way of preferred embodiments:
in the preferred embodiment, the plurality of combined lights include a plurality of parallel blue lasers, a plurality of parallel red lasers, and a plurality of parallel infrared lasers; the length of time that the laser device is in the inactive state is consistent with the length of time that the laser device emits the combined light each time. The laser time length of each time is assumed to be 1 second; namely 4 seconds are taken as a period, and only one group of control strategies exist in the period; the control strategy is as follows: and controlling the plurality of laser combinations to sequentially emit a plurality of parallel blue laser beams for 1 second, a plurality of parallel red laser beams for 1 second and a plurality of parallel infrared laser beams for 1 second, and then controlling the plurality of laser combinations to be in a non-working state for 1 second.
If the execution is started in the preset polling mode at 0: first fast mark image, 0 00, first fast mark image 0; the image corresponding to the second period is a first fast standard image, wherein the ratio of 0; polling continues.
After controlling the plurality of laser combinations to sequentially emit the plurality of parallel blue lasers for 1 second, the plurality of parallel red lasers for 1 second and the plurality of parallel infrared lasers for 1 second, the plurality of laser combinations are controlled to be in a non-working state for 1 second. The specific image of the first quick mark image or the second quick mark image can be known through the image frame number; such as: the image frame number is 0. The image frame number is 0. The image frame number is 0. The image frame number is 0; therefore, the laser line image and the marking point image can be quickly determined.
The method comprises the steps of obtaining a blue light image, a red light image and an infrared image, extracting characteristics of the blue light image, the red light image and the infrared image to obtain laser line data, and determining a laser plane based on the laser line data. And extracting the features of the blank frame image to obtain mark point data, and determining the external parameters of the three-dimensional scanner based on the mark point data.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In this embodiment, a calibration apparatus for a three-dimensional scanner is further provided, and the apparatus is used to implement the foregoing embodiments and preferred embodiments, and details are not repeated after the description is given. The terms "module," "unit," "subunit," and the like as used below may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 4 is a block diagram of a calibration apparatus of the three-dimensional scanner of the present embodiment, and as shown in fig. 4, the apparatus includes: an acquisition module 210 and a processing module 220;
an obtaining module 210, configured to obtain, based on a preset polling mode, a first fast caption image and a second fast caption image with an image frame number in a preset period; the first quick mark image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a trigger state; the second fast marking image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a non-working state; wherein, a marking point is arranged on the target object;
and the processing module 220 is configured to process the first quick mark image and the second quick mark image to complete the calibration of the three-dimensional scanner.
By the device, the problem that the accuracy of the obtained marking point data is low and the precision of the calibration result of the three-dimensional scanner is low in the related technology is solved, and the situation that the laser presses the marking point cannot occur necessarily because the laser equipment is in a non-working state, so that the accuracy of the marking point data in the second quick-marking image can be ensured, and the precision of the calibration result of the three-dimensional scanner is improved.
In some embodiments, the obtaining module 210 is further configured to sequentially shoot the target objects by using the three-dimensional scanner in a preset period based on a preset polling mode; obtaining a first target object image when the laser equipment is in a trigger state; determining an image frame number corresponding to the first target object image based on a timestamp corresponding to the first target object image when the first target object image is shot; obtaining a first quick marking image according to the first target object image and the corresponding image frame number; obtaining a second target object image when the laser equipment is in a non-working state; determining an image frame number corresponding to the second target object image based on the time stamp corresponding to the second target object image when shooting; and obtaining a second quick marking image according to the second target object image and the corresponding image frame number.
In some embodiments, the preset polling mode is that one or more groups of control strategies exist in one period, and the laser device comprises a plurality of laser combinations;
the control strategy is as follows: and controlling the plurality of laser combinations to sequentially emit the plurality of combined lights, and controlling the plurality of laser combinations to be in a non-working state after the plurality of combined lights sequentially appear.
In some embodiments, the plurality of combined lights are one or more of single blue laser light, single red laser light, single infrared laser light, multiple parallel blue laser light, multiple cross blue laser light, multiple parallel red laser light, multiple cross infrared laser light, multiple parallel infrared laser light, and multiple cross infrared laser light.
In some of these embodiments, the plurality of combined lights includes a plurality of parallel blue lasers, a plurality of parallel red lasers, and a plurality of parallel infrared lasers; after a plurality of parallel blue lasers, a plurality of parallel red lasers and a plurality of parallel infrared lasers appear in sequence, the plurality of laser combinations are in a non-working state.
In some of these embodiments, the length of time the laser device is inactive coincides with the length of time the laser device emits the combined light each time.
In some embodiments, the processing module 220 is further configured to classify the first quick mark image and the second quick mark image based on the image frame number, and determine a laser line image and a mark point image; determining a laser plane based on laser line data in the laser line image; and determining the external parameters of the three-dimensional scanner based on the mark point data in the mark point image.
In some embodiments, the processing module 220 is further configured to scale the image frame numbers in the first quick caption image and the second quick caption image according to a preset scaling number; when the conversion result meets the laser line condition, classifying the laser line image from the first quick mark image and the second quick mark image; and classifying the mark point images from the first fast mark image and the second fast mark image when the conversion result meets the mark point condition.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
There is also provided in this embodiment a computer device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
Optionally, the computer device may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring a first quick marking image and a second quick marking image with image frame numbers in a preset period based on a preset polling mode; the first quick mark image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a trigger state; the second quick marking image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a non-working state; wherein, a marking point is arranged on the target object;
and S2, processing the first fast marking image and the second fast marking image to finish the marking of the three-dimensional scanner.
It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiment and optional implementation manners, and details are not described in this embodiment again.
In addition, in combination with the calibration method of the three-dimensional scanner provided in the foregoing embodiment, a storage medium may also be provided in this embodiment. The storage medium has a computer program stored thereon; the computer program, when executed by a processor, implements the calibration method of any one of the three-dimensional scanners in the above embodiments.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.
It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference throughout this application to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly or implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
The above-mentioned embodiments 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 patent protection. 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, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.
Claims (11)
1. A calibration method of a three-dimensional scanner is characterized by comprising the following steps:
acquiring a first quick marking image and a second quick marking image with image frame numbers in a preset period based on a preset polling mode; the first quick mark image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a trigger state; the second quick marking image is obtained by shooting the target object by using the three-dimensional scanner when the laser equipment is in a non-working state; wherein the target object is provided with a mark point;
and processing the first quick mark image and the second quick mark image to finish the calibration of the three-dimensional scanner.
2. The method for calibrating a three-dimensional scanner according to claim 1, wherein the obtaining a first fast zoom image and a second fast zoom image with an image frame number in a preset period based on a preset polling mode comprises:
sequentially shooting the target object by using the three-dimensional scanner in a preset period based on the preset polling mode;
when the laser equipment is in the trigger state, obtaining a first target object image; determining the image frame number corresponding to the first target object image based on the timestamp corresponding to the first target object image when shooting; obtaining a first quick mark image according to the first target object image and the corresponding image frame number;
when the laser equipment is in the non-working state, obtaining a second target object image; determining the image frame number corresponding to the second target object image based on the timestamp corresponding to the second target object image when shooting; and obtaining a second quick marking image according to the second target object image and the corresponding image frame number.
3. The method for calibrating a three-dimensional scanner according to claim 2, wherein the predetermined polling pattern is that one or more control strategies exist in a period, and the laser device comprises a plurality of laser combinations;
the control strategy is as follows: and controlling the laser combinations to sequentially emit various combined lights, and controlling the laser combinations to be in the non-working state after the various combined lights sequentially appear.
4. The method for calibrating a three-dimensional scanner according to claim 3, wherein the plurality of combined lights are one or more of a single blue laser, a single red laser, a single infrared laser, a plurality of parallel blue lasers, a plurality of cross blue lasers, a plurality of parallel red lasers, a plurality of cross infrared lasers, a plurality of parallel infrared lasers, and a plurality of cross infrared lasers.
5. The method for calibrating a three-dimensional scanner according to claim 4, wherein the plurality of combined lights comprise a plurality of parallel blue lasers, a plurality of parallel red lasers and a plurality of parallel infrared lasers; after the plurality of parallel blue lasers, the plurality of parallel red lasers and the plurality of parallel infrared lasers appear in sequence, the plurality of laser combinations are in the non-working state.
6. The method for calibrating a three-dimensional scanner according to claim 3, wherein a time length of said laser device in said non-operating state is the same as a time length of said laser device emitting said combined light each time.
7. The calibration method of the three-dimensional scanner according to claim 1, wherein the processing the first quick calibration image and the second quick calibration image to complete calibration of the three-dimensional scanner comprises:
classifying the first quick mark image and the second quick mark image based on the image frame number, and determining a laser line image and a mark point image;
determining a laser plane based on laser line data in the laser line image;
and determining external parameters of the three-dimensional scanner based on the mark point data in the mark point image.
8. The calibration method of the three-dimensional scanner according to claim 7, wherein the classifying the first quick calibration image and the second quick calibration image based on the image frame number to determine the laser line image and the calibration point image comprises:
converting image frame numbers in the first quick label image and the second quick label image according to a preset conversion number;
when the conversion result meets the laser line condition, classifying the laser line image from the first quick mark image and the second quick mark image;
and classifying the mark point images from the first quick mark image and the second quick mark image when the conversion result meets the mark point condition.
9. A calibration device of a three-dimensional scanner is characterized by comprising: the device comprises an acquisition module and a processing module;
the acquisition module is used for acquiring a first quick label image and a second quick label image with image frame numbers in a preset period based on a preset polling mode; the first quick marking image is obtained by shooting a target object by using a three-dimensional scanner when the laser equipment is in a trigger state; the second quick marking image is obtained by shooting the target object by using the three-dimensional scanner when the laser equipment is in a non-working state; wherein the target object is provided with a mark point;
and the processing module is used for processing the first fast marking image and the second fast marking image so as to finish the marking of the three-dimensional scanner.
10. A computer device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the computer program to perform the steps of the calibration method of a three-dimensional scanner according to any of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the calibration method of a three-dimensional scanner of any of claims 1 to 8.
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Application publication date: 20221209 |