Rotary shaft calibration method, device, computer device and storage medium
A calibration method and computer program technology, applied in the field of 3D scanning, can solve problems such as poor adaptability and complicated operation, and achieve the effect of strong adaptability, convenient operation and accurate calibration
Active Publication Date: 2019-03-19
SHINING 3D TECH CO LTD
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[0004] Based on this, it is necessary to provide a rotating shaft calibration method, device, computer equipment and storage medium for the current technical problems that additional equipment such as calibration boards and marking points are required for calibration, complex operation, and poor adaptability when performing calibration.
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[0055] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0056] see figure 1 , figure 1 It is a schematic flow chart of the rotating shaft calibration method of the present invention.
[0057] In this embodiment, the method for calibrating the rotating shaft includes:
[0058]In step 100, the turntable is rotated multiple times around the spatial axis at a small angle, and scanned to obtain a first initial image and a rough calibration image after each rotation.
[0059] Preferably, the small angle is 3-5 degrees, and the number of rotations is 3-5 times. In this embodiment, the turntable is rotated 4 times around the spatia...
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The invention relates to a rotary shaft calibration method, device, computer device and storage medium. The method comprises the following steps of: rotating the turntable around a space axis at a small angle for a plurality of times, and scanning to obtain a first initial image and a coarse calibration image; calculating a coarse calibration spatial position according to a rigid body transformation matrix of the coarse calibration image relative to the first initial image; rotating the turntable at a large angle around the spatial axis for a plurality of times, and scanning to obtain a secondinitial image and a fine calibration image; Rotating the fine calibration image back to the space coordinate system where the second initial image is located with a corresponding rotation angle basedon the coarse calibration space position; a precise calibration spatial position is calculated from a rigid body transformation matrix of the precise calibration image with respect to the second initial image. The rotating shaft calibration method, the device, the computer equipment and the storage medium do not need to use additional equipment such as a calibration board and a calibration point,and only the data obtained by scanning is used for calibration, so that the operation is convenient, the adaptability is strong, and the calibration is more accurate.
Description
technical field [0001] The present application relates to the technical field of 3D scanning, in particular to a method, device, computer equipment and storage medium for calibrating a rotating shaft. Background technique [0002] A 3D scanner (3D scanner) is a scientific instrument used to detect and analyze the shape (geometric structure) and appearance data (such as color, surface albedo, etc.) of objects or environments in the real world. The collected data is often used to perform 3D reconstruction calculations, creating digital models of actual objects in the virtual world. These models have a wide range of uses, such as industrial design, defect detection, reverse engineering, robot guidance, landform measurement, medical information, biological information, criminal identification, digital cultural relic collection, film production, game creation materials, etc. application. The production of 3D scanners does not rely on a single technology. Various reconstruction ...
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IPC IPC(8): G06T7/80
CPCG06T7/85
Inventor 赵斌涛张健
Owner SHINING 3D TECH CO LTD