Global calibration method, 3D modeling method and polyhedral cylinder binocular correction method

Abstract

The present application relates to a global calibration method, a three-dimensional modeling method and a polyhedral cylinder binocular correction method. The method comprises: obtaining a first calibration image of a first calibration model and a second calibration image of a second calibration model; reconstructing the first calibration image and the second calibration image in three dimensions respectively to obtain corresponding first point cloud data and second point cloud data; obtaining calibration data according to the first point cloud data and the second point cloud data. The present method can obtain calibration data according to the first point cloud data and the second point cloud data, so that each model has corresponding calibration data, and the accuracy of the spliced ​​three-dimensional data can be made higher according to the calibration data.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional scanning technology, and in particular to a global calibration method, a three-dimensional modeling method, and a polyhedral cylinder binocular correction method. Background Art

[0002] The process of scanning the spatial shape, structure and color of an object to obtain the spatial coordinates of the object surface is called 3D scanning. Generally, this 3D scanning can be performed in the following ways: one is to use a single 3D scanning probe to scan, so that the probe and the object move relative to each other. For example, the probe remains stationary, the object is placed on a rotatable turntable, and the turntable rotates 360 degrees to rotate the object relative to the 3D scanner, or the object remains stationary and the probe moves around the object. In this way, the probe gradually scans the surface images of various parts of the object, and a comprehensive scan of the object can be achieved; the other is to use multiple probes to be arranged around the object, so that each probe is responsible for scanning a part of the object. Multiple probes can synchronously obtain surface images of various parts of the object to achieve a comprehensive scan of the object. The surface image obtained by the probe is transmitted to the computer for a series of processing, thereby generating a 3D digital model of the object surface.

[0003] Binocular probes (each probe includes two left and right cameras) are widely used due to their suitable accuracy, simple structure and low cost. Both of the above two types of binocular probes require camera internal and external parameter calibration, and the latter also requires camera global calibration for multiple probes. The existing camera internal and external parameter calibration uses a flat calibration plate to perform binocular internal and external parameter calibration on the left and right cameras of the probe. The results of the binocular internal and external parameter calibration are used to reconstruct the point cloud of the left and right images in three dimensions. The global calibration of the cameras of multiple probes uses a regular three-dimensional calibration object with markers on the surface to perform multi-camera global calibration. The results of the multi-camera global calibration are used to splice the point clouds (scanned targets) obtained based on each probe together to form complete three-dimensional data.

[0004] The calibration data obtained by the existing calibration method has low accuracy, which affects the accuracy of the three-dimensional model. Summary of the invention

[0005] Based on this, it is necessary to provide a global calibration method, a three-dimensional modeling method and a polyhedral cylinder binocular correction method that can improve the stitching accuracy and efficiency in response to the above technical problems.

[0006] A global calibration method, the method comprising:

[0007] Acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model;

[0008] Reconstructing the first calibration image and the second calibration image in three dimensions to obtain corresponding first point cloud data and second point cloud data;

[0009] Calibration data is obtained according to the first point cloud data and the second point cloud data.

[0010] In one embodiment, acquiring a first calibration image of the first calibration model and a second calibration image of the second calibration model comprises:

[0011] The first calibration image includes a plurality of first sub-images, and the second calibration image includes a plurality of second sub-images;

[0012] Acquire a first calibration image of the first calibration model in the first acquisition area by using multiple measuring heads, wherein each measuring head respectively acquires a first sub-image of a partial area of ​​the first calibration model;

[0013] A second calibration image of the second calibration model in the second acquisition area is acquired by multiple measuring heads, and each measuring head respectively acquires a second sub-image of a partial area of ​​the second calibration model.

[0014] In one embodiment, the three-dimensional reconstruction of the first calibration image and the second calibration image is performed respectively to obtain corresponding first point cloud data and second point cloud data; and obtaining the calibration data according to the first point cloud data and the second point cloud data includes:

[0015] Reconstructing the plurality of first sub-images in three dimensions respectively to obtain a plurality of first point cloud data;

[0016] Splicing the plurality of first point cloud data to obtain first calibration data;

[0017] Reconstructing the plurality of second sub-images in three dimensions respectively to obtain a plurality of second point cloud data;

[0018] The plurality of second point cloud data are spliced ​​to obtain second calibration data.

[0019] A three-dimensional modeling method, including a global calibration method, further comprising:

[0020] Acquire a measurement image of a target object;

[0021] The measured image of the target object is three-dimensionally reconstructed according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

[0022] In one of the embodiments, the three-dimensional reconstruction of the measured image of the target object according to the calibration data and the preset parameter information to obtain the three-dimensional digital model of the target object includes: the calibration data includes first calibration data and second calibration data;

[0023] Perform three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain third point cloud data of a plurality of first acquisition areas and fourth point cloud data of a plurality of second acquisition areas;

[0024] splicing the third point cloud data of the plurality of first acquisition areas according to the first calibration data to obtain a first three-dimensional digital model of the target;

[0025] The fourth point cloud data of the plurality of second acquisition areas are spliced ​​according to the second calibration data to obtain a second three-dimensional digital model of the target.

[0026] In one embodiment, the three-dimensional reconstruction of the plurality of measurement images according to the parameter information to obtain the third point cloud data of the plurality of first acquisition areas and the fourth point cloud data of the plurality of second acquisition areas comprises:

[0027] Performing three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain point cloud data corresponding to the plurality of measurement images;

[0028] transforming the point cloud data corresponding to the plurality of measurement images into a world unified coordinate system according to the first calibration data or the second calibration data;

[0029] According to the coordinates of each point of the point cloud data in the world unified coordinate system, the point cloud data is divided into third point cloud data corresponding to the first acquisition area and fourth point cloud data corresponding to the second acquisition area.

[0030] A binocular correction method based on a polyhedral cylinder, the method comprising:

[0031] Scanning a third calibration image of the polyhedral cylinder model in the acquisition area by multiple probes, wherein the third calibration image includes multiple third sub-images, and each probe respectively acquires a third sub-image of a part of the polyhedral cylinder model;

[0032] Binocular calibration is performed on multiple probes according to the third calibration image to obtain parameter information of the multiple probes.

[0033] In one embodiment, scanning the third calibration image of the polyhedral cylinder model in the acquisition area by multiple probes, wherein each probe obtains a third sub-image of a portion of the polyhedral cylinder model, comprises:

[0034] Respectively acquiring a plurality of third calibration images of the polyhedral cylinder model at a plurality of calibration positions;

[0035] The third calibration image at each calibration position is subjected to code point recognition according to position parameters, and binocular calibration is performed on multiple probes to obtain parameter information of the probes.

[0036] A global calibration device, comprising:

[0037] A first image acquisition module, used to acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model;

[0038] A three-dimensional reconstruction module, used to perform three-dimensional reconstruction on the first calibration image and the second calibration image respectively to obtain corresponding first point cloud data and second point cloud data;

[0039] A matrix calculation module is used to obtain calibration data according to the first point cloud data and the second point cloud data.

[0040] A three-dimensional modeling device, including a global calibration device, further comprising:

[0041] A second image acquisition module, used to acquire a measurement image of the target object;

[0042] The three-dimensional modeling module is used to perform three-dimensional reconstruction on the measured image of the target object according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

[0043] A multifaceted cylindrical binocular correction device, the device comprising:

[0044] An image scanning module, used for scanning the third calibration image of the polyhedral cylinder model in the acquisition area through multiple probes, each probe respectively acquiring a third sub-image of a part of the polyhedral cylinder model;

[0045] The parameter calculation module is used to perform binocular calibration on multiple probes according to the third calibration image to obtain parameter information of the multiple probes.

[0046] A three-dimensional scanning system, the system comprising: a three-dimensional scanner and a processor, the three-dimensional scanner comprising a load-bearing platform and a plurality of probes, the plurality of probes being arranged around the load-bearing platform, the plurality of probes being connected to the processor, and sending the acquired images to the processor;

[0047] The load-bearing platform comprises a first mounting portion, a second mounting portion and a collection area, wherein the first mounting portion and the second mounting portion are arranged around the collection area, the first mounting portion is located at the top of the load-bearing platform, and the second mounting portion is located at the bottom of the load-bearing platform;

[0048] The first mounting portion and the second mounting portion are respectively mounted with a plurality of probes, each probe being arranged at intervals, the scanning areas of the plurality of probes covering the acquisition area, and the scanning areas of the plurality of probes at least partially overlap;

[0049] The processor is used to establish a corresponding three-dimensional digital model according to the image.

[0050] In one of the embodiments, the collection area includes a first collection area and a second collection area;

[0051] The processor is preset with a first parameter corresponding to the first acquisition area and a second parameter corresponding to the second acquisition area.

[0052] In one embodiment, the first mounting portion is provided with 5 probes, and the second mounting portion is provided with 6 probes.

[0053] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0054] Acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model;

[0055] Reconstructing the first calibration image and the second calibration image in three dimensions to obtain corresponding first point cloud data and second point cloud data;

[0056] Calibration data is obtained according to the first point cloud data and the second point cloud data.

[0057] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0058] Acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model;

[0059] Reconstructing the first calibration image and the second calibration image in three dimensions to obtain corresponding first point cloud data and second point cloud data;

[0060] Calibration data is obtained according to the first point cloud data and the second point cloud data.

[0061] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0062] Acquire a measurement image of a target object;

[0063] The measured image of the target object is three-dimensionally reconstructed according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

[0064] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0065] Acquire a measurement image of a target object;

[0066] The measured image of the target object is three-dimensionally reconstructed according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

[0067] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0068] Scanning a third calibration image of the polyhedral cylinder model in the acquisition area by multiple probes, wherein the third calibration image includes multiple third sub-images, and each probe respectively acquires a third sub-image of a part of the polyhedral cylinder model;

[0069] Binocular calibration is performed on multiple probes according to the third calibration image to obtain parameter information of the multiple probes.

[0070] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0071] Scanning a third calibration image of the polyhedral cylinder model in the acquisition area by multiple probes, wherein the third calibration image includes multiple third sub-images, and each probe respectively acquires a third sub-image of a part of the polyhedral cylinder model;

[0072] Binocular calibration is performed on multiple probes according to the third calibration image to obtain parameter information of the multiple probes.

[0073] The above-mentioned global calibration method, three-dimensional modeling method and polyhedral cylinder binocular correction method obtain a first calibration image and a second calibration image, perform three-dimensional reconstruction based on the first calibration image and the second calibration image, and obtain corresponding first point cloud data and second point cloud data; obtain calibration data based on the first point cloud data and the second point cloud data, so that each model has corresponding calibration data, and the accuracy of the spliced ​​three-dimensional data can be made higher based on the calibration data. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 A schematic diagram of a module of a three-dimensional scanning system in one embodiment;

[0075] Figure 2 is a schematic flow chart of a global calibration method in one embodiment;

[0076] Figure 3 A schematic diagram of a process of a three-dimensional modeling method in one embodiment;

[0077] Figure 4 1 is a flow chart of a binocular correction method based on a polyhedron in one embodiment;

[0078] Figure 5 It is a structural schematic diagram of a load-bearing platform in one embodiment;

[0079] Figure 6 A schematic diagram of a structure in which a polyhedral column bearing platform is placed in one embodiment;

[0080] Figure 7 is a structural block diagram of a global calibration device in one embodiment;

[0081] Figure 8 A structural block diagram of a three-dimensional modeling device in one embodiment;

[0082] Fig. 9 is a structural block diagram of a binocular correction device based on a polyhedral cylinder in one embodiment;

[0083] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0084] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0085] The global calibration method provided in this application can be applied to Figure 1In the three-dimensional scanning system shown. The system includes: a three-dimensional scanner 110 and a processor 120, the three-dimensional scanner 110 includes a load-bearing platform 111 and a plurality of probes 112, the plurality of probes 112 are arranged around the load-bearing platform 111, the plurality of probes 112 are connected to the processor 120, and the acquired images are sent to the processor 120; the load-bearing platform 111 includes an acquisition area, the scanning area of ​​each probe 112 at least partially overlaps with the acquisition area, and the scanning areas of the plurality of probes 112 cover the acquisition area, or it can be said that the acquisition area is limited by the scanning areas of the plurality of probes 112, and the acquisition area does not exceed the scanning area of ​​the probe 112, preferably, the scanning areas of the plurality of probes 112 at least partially overlap; the processor 120 is used to establish a corresponding three-dimensional digital model according to the image. In this embodiment, the load-bearing platform 111 includes a first mounting portion, a second mounting portion and a collection area, wherein the collection area includes a first collection area and a second collection area; the processor 120 is preset with a first parameter corresponding to the first collection area and a second parameter corresponding to the second collection area, the first mounting portion is located at the top of the load-bearing platform 111, and the second mounting portion is located at the bottom of the load-bearing platform 111; the first mounting portion and the second mounting portion are respectively equipped with a plurality of probes 112, which are arranged at intervals between each probe 112 of the first mounting portion and are arranged at intervals between each probe 112 of the second mounting portion, the first mounting portion is provided with 5 probes 112, and the second mounting portion is provided with 6 probes 112, the load-bearing platform 111 is made of transparent material, and each probe respectively collects images of different parts of the model on the load-bearing platform 111.

[0086] In one embodiment, Figure 2 As shown, a global calibration method is provided, which can be applied to Figure 1 The three-dimensional scanning system in the example is used to illustrate, including the following steps:

[0087] Step 202: Acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model.

[0088] The first calibration image corresponds to the first acquisition area, and the second calibration image corresponds to the second acquisition area, that is, the first calibration image of the first calibration model located in the first acquisition area is obtained, and the second calibration image of the second calibration model located in the second acquisition area is obtained.

[0089] The first calibration image includes a plurality of first sub-images, namely, images of different parts of the first calibration model; and the second calibration image includes a plurality of second sub-images, namely, images of different parts of the second calibration model.

[0090] Specifically, the multiple probes of the three-dimensional scanner respectively acquire the first sub-image of the first calibration model in the first acquisition area and the second sub-image of the second calibration model in the second acquisition area through a fixed acquisition angle. In one embodiment, the three-dimensional scanner acquires the first calibration image of the first calibration model in the first acquisition area of ​​the load-bearing platform through multiple probes at different acquisition angles, and each probe acquires the first sub-image of the first calibration model respectively. For example, the multiple probes include a first probe and a second probe, and the first probe acquires the first sub-image of the first part of the first calibration model, and the second probe acquires the first sub-image of the second part of the first calibration model; the three-dimensional scanner acquires the second calibration image of the second calibration model in the second acquisition area of ​​the load-bearing platform through multiple probes at different acquisition angles, and each probe acquires the second sub-image of the second calibration model respectively. For example, the multiple probes include a first probe and a second probe, and the first probe acquires the second sub-image of the first part of the second calibration model, and the second probe acquires the second sub-image of the second part of the second calibration model.

[0091] Step 204 : Three-dimensionally reconstruct the first calibration image and the second calibration image respectively to obtain corresponding first point cloud data and second point cloud data.

[0092] Specifically, the processor performs three-dimensional reconstruction on the plurality of first sub-images respectively to obtain a plurality of first point cloud data. The processor performs three-dimensional reconstruction on the plurality of second sub-images respectively to obtain a plurality of second point cloud data.

[0093] Step 206: Obtain calibration data according to the first point cloud data and the second point cloud data.

[0094] Specifically, the processor splices the first point cloud data with known calibration auxiliary data by feature splicing to obtain corresponding first calibration data; the processor splices the second point cloud data with known calibration auxiliary data by feature splicing to obtain corresponding second calibration data. The calibration auxiliary data is data preset in the processor, including first calibration model three-dimensional data and second calibration model three-dimensional data.

[0095] In this embodiment, the first calibration model is a right foot model, and the second calibration model is a left foot model. The calibration auxiliary data includes three-dimensional data of the right foot model and three-dimensional data of the left foot model. The global calibration process is as follows: first, the right foot model is placed in the first acquisition area, and the first calibration image of the first calibration model in the first acquisition area is acquired, and each probe obtains the first sub-image of the partial area of ​​the first calibration model; then the left foot model is placed in the second acquisition area, and the second calibration image of the second calibration model in the second acquisition area is acquired, and each probe obtains the second sub-image of the partial area of ​​the second calibration model. After the acquisition of the image is completed, the three-dimensional reconstruction of the first calibration image and the second calibration image is started. The three-dimensional reconstruction of the image can also be performed while the image is being acquired, which is not limited here. The right foot point cloud data (i.e., the first point cloud data) and the left foot point cloud data (i.e., the second point cloud data) corresponding to each probe are obtained, and the left foot point cloud data of each probe is feature-joined with the known (preset in the processor) left foot model three-dimensional data to obtain the second calibration data corresponding to the second acquisition area, and the right foot point cloud data of each probe is feature-joined with the known (preset in the processor) right foot model three-dimensional data to obtain the first calibration data corresponding to the first acquisition area. Of course, the first calibration data can also be obtained by directly feature-joining multiple first point cloud data, and the second calibration data can be obtained by directly feature-joining multiple second point cloud data, without using the left foot model three-dimensional data and the right foot model three-dimensional data. The first calibration data is the relative position relationship of multiple probes corresponding to the first acquisition area, specifically including the rotation and translation matrix between the multiple probes corresponding to the first acquisition area; the second calibration data is the relative position relationship of multiple probes corresponding to the second acquisition area, specifically including the rotation and translation matrix between the multiple probes corresponding to the second acquisition area.

[0096] In the above-mentioned global calibration method, by acquiring a first calibration image and a second calibration image, three-dimensional reconstruction is performed based on the first calibration image and the second calibration image to obtain corresponding first point cloud data and second point cloud data; calibration data is obtained based on the first point cloud data and the second point cloud data so that each acquisition area has corresponding calibration data, and the accuracy of the spliced ​​three-dimensional data can be made higher based on the calibration data.

[0097] In one embodiment, Figure 3 As shown, a three-dimensional modeling method is provided, which is applied to Figure 1 The three-dimensional scanning system in the example is used to illustrate, including the following steps:

[0098] Step 302: Acquire a measurement image of the target object.

[0099] Specifically, a plurality of measuring heads collect measurement images of the target object, and each measuring head collects a partial image of the target object.

[0100] Step 304 : reconstructing the measured image of the target object in three dimensions according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

[0101] The calibration data includes first calibration data and second calibration data; the parameter information is the internal parameters and external parameters of the probe. The internal parameters are parameters related to the camera's own characteristics, which are the inherent properties of the camera, such as the focal length and principal point of the camera; the external parameters are the rotation and translation matrix between the two cameras in the probe, which represent the relative position relationship between the two cameras.

[0102] Among multiple probes, the single-frame measurement images acquired by some probes may only include the surface image of the target object located in the first acquisition area, and / or only include the surface image of the target object located in the second acquisition area, and / or the single-frame measurement images acquired by some probes include the surface image of the target object located in the first acquisition area and the surface image of the target object located in the second acquisition area. Specifically, the processor performs three-dimensional reconstruction on the measurement image according to the parameter information, and the single-frame measurement image only obtains the point cloud data corresponding to the first acquisition area, and / or the single-frame measurement image only obtains the point cloud data corresponding to the second acquisition area, and / or the single-frame measurement image obtains the point cloud data corresponding to the first acquisition area and the point cloud data corresponding to the second acquisition area, each probe obtains a point cloud, and multiple probes obtain multiple point clouds. The point cloud data of a single point cloud includes the third point cloud data and / or the fourth point cloud data, the third point cloud data corresponds to the points of the first acquisition area, and the fourth point cloud data corresponds to the points of the second acquisition area.

[0103] The three-dimensional reconstruction of the multiple measurement images according to the parameter information to obtain the third point cloud data of the multiple first acquisition areas and the fourth point cloud data of the multiple second acquisition areas includes: performing three-dimensional reconstruction of the multiple measurement images according to the parameter information to obtain the point cloud data corresponding to the multiple measurement images; transforming the point cloud data corresponding to the multiple measurement images into a world unified coordinate system according to the first calibration data or the second calibration data; and dividing the point cloud data into third point cloud data corresponding to the first acquisition area and fourth point cloud data corresponding to the second acquisition area according to the coordinates of each point of the point cloud data in the world unified coordinate system.

[0104] Specifically, multiple point clouds are transformed into a unified world coordinate system according to any one of the first calibration data and the second calibration data, and the multiple point clouds are divided into two regions according to the coordinate size of each point in the unified world coordinate system. In this embodiment, the points corresponding to the first acquisition region and the points corresponding to the second acquisition region are divided into two regions, that is, the third point cloud data and the fourth point cloud data are identified and divided into two independent point clouds from the same point cloud. Multiple independent third point cloud data are spliced ​​according to the first calibration data; multiple independent fourth point cloud data are spliced ​​according to the second calibration data to obtain a first three-dimensional digital model and a second three-dimensional digital model of the target object.

[0105] In this embodiment, the target object is two feet, the right foot is located in the first acquisition area, and the left foot is located in the second acquisition area. The processor performs three-dimensional reconstruction on the measurement image according to the parameter information to obtain multiple point clouds, wherein a single point cloud in some of the point clouds only includes points corresponding to the left foot, and / or a single point cloud in some of the point clouds only includes points corresponding to the right foot, and / or a single point cloud in some of the point clouds includes points corresponding to the left foot and points corresponding to the right foot, and obtains third point cloud data corresponding to the right foot and fourth point cloud data corresponding to the left foot. According to the first calibration data and / or the second calibration data, the multiple point clouds are transformed into the world unified coordinate system, and the multiple point clouds are distinguished and divided into the third point cloud data corresponding to the right foot (first acquisition area) and the fourth point cloud data corresponding to the left foot (second acquisition area) according to the coordinates of each point of the point cloud data in the world unified coordinate system. The third point cloud data of multiple right feet are spliced ​​according to the first calibration data to obtain a three-dimensional digital model of the right foot; and the fourth point cloud data of multiple left feet are spliced ​​according to the second calibration data to obtain a three-dimensional digital model of the left foot.

[0106] In the above three-dimensional modeling method, the calibration data and preset parameter information are used to perform three-dimensional reconstruction on the measurement image to obtain a three-dimensional digital model of the target object, thereby improving the accuracy of the three-dimensional digital model.

[0107] In one embodiment, Figure 4 As shown in FIG. 1 , a binocular correction method based on a polyhedral cylinder is provided, and the method is applied to Figure 1 The three-dimensional scanning system in the example is used to illustrate, including the following steps:

[0108] Step 402 : Scanning a third calibration image of the polyhedral cylinder model 520 in the acquisition area by multiple probes. The third calibration image includes multiple third sub-images. Each probe obtains a third sub-image of a part of the polyhedral cylinder model 520 .

[0109] The side and bottom surfaces of the polyhedral cylinder model 520 are provided with coding points with unique coding values, and each coding point is arranged according to a preset position parameter; a plurality of calibration positions 510 are provided in the acquisition area. The position parameter is the relative position relationship between each coding point. Optionally, the calibration positions 510 are distributed in the acquisition area at preset intervals. Figures 5-6 As shown, in one embodiment, the polyhedral cylinder model 520 is a hexagonal prism, and its six sides are arranged in order of 1 to 6, and each side is marked with a number, which is displayed in order of 1 to 6, so as to identify and adjust the placement direction of the hexagonal prism at each calibration position; the number of the calibration positions 510 is 8, which are symmetrically distributed in the acquisition area at a preset interval, and the polyhedral cylinder model 520 is placed at the corresponding calibration position 510 for scanning. The calibration positions are evenly distributed in the first acquisition area and the second acquisition area, and the calibration positions are preferably at the edge and center of the first acquisition area and the second acquisition area. The interval range is 5cm to 10cm, and they can be arranged at equal intervals or at unequal intervals. For example, the calibration positions are arranged in the acquisition area in a 3-2-3 manner, with a spacing of 10cm from each other. It can be understood that the calibration positions 510 can also be 5, 6, 7, 9, 10 or other values. The more the number, the higher the accuracy of the binocular correction.

[0110] Specifically, the method of scanning the third calibration image of the polyhedral cylinder model 520 in the acquisition area by multiple probes, and each probe separately acquiring the third sub-image of part of the polyhedral cylinder model 520 includes: separately acquiring the corresponding third calibration images of the polyhedral cylinder model 520 at multiple calibration positions 510; performing coding point recognition on the third calibration image at each calibration position 510 according to the position parameters, performing binocular calibration on multiple probes, and acquiring the parameter information of the probes. In this embodiment, during calibration, the polyhedral cylinder model 520 is placed at the calibration position 510 of the acquisition area of ​​the load-bearing platform, and the polyhedral cylinder model 520 is scanned at each calibration position 510, and multiple third sub-images are acquired, and each probe acquires the third sub-images corresponding to the polyhedral cylinder model 520 at all calibration positions 510.

[0111] Step 404: perform binocular calibration on multiple probes according to the third calibration image to obtain parameter information of the multiple probes.

[0112] Specifically, the third calibration image at each calibration position 510 is subjected to code point identification according to position parameters, a plane can be determined according to the identification results of the code points in each third sub-image, binocular correction is performed according to the determined plane, binocular correction is performed on multiple probes, parameter information of multiple probes is obtained, and the parameter information of multiple probes is stored in the corresponding probes and / or processors. In one embodiment, the parameter information includes internal parameters and external parameters, the internal parameters are determined using the third images of at least five calibration positions 510, and the external parameters are determined using the third images of eight calibration positions 510. Preferably, when the polyhedral cylinder model 520 is placed, each side of the polyhedral cylinder model 520 is parallel or nearly parallel to the corresponding probe, ensuring that the collected code points are front views or nearly front views, thereby ensuring that the code points can be accurately extracted, facilitating binocular correction, and improving the accuracy of binocular correction. In the above-mentioned binocular calibration method based on polyhedron, all probes can be binocularly calibrated through one scan, which improves the efficiency of binocular calibration of multiple probes. By placing the polyhedron model at multiple calibration positions 510, the effective area is increased and the calibration accuracy is improved.

[0113] It should be understood that although Figures 2 to 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figures 2 to 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0114] In one embodiment, Figure 7 As shown, a global calibration device is provided, including: a first image acquisition module 710, a three-dimensional reconstruction module 720 and a matrix calculation module 730, wherein:

[0115] The first image acquisition module 710 is used to acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model.

[0116] The three-dimensional reconstruction module 720 is used to perform three-dimensional reconstruction on the first calibration image and the second calibration image respectively to obtain corresponding first point cloud data and second point cloud data.

[0117] The matrix calculation module 730 is used to obtain calibration data according to the first point cloud data and the second point cloud data.

[0118] The first image acquisition module 710 is also used to acquire a first calibration image of the first calibration model in the first acquisition area through multiple measuring probes, and each measuring probe respectively acquires a first sub-image of a partial area of ​​the first calibration model; and acquire a second calibration image of the second calibration model in the second acquisition area through multiple measuring probes, and each measuring probe respectively acquires a second sub-image of a partial area of ​​the second calibration model.

[0119] The three-dimensional reconstruction module 720 is also used to perform three-dimensional reconstruction on multiple first sub-images respectively to obtain multiple first point cloud data; splice the multiple first point cloud data to obtain first calibration data; perform three-dimensional reconstruction on multiple second sub-images respectively to obtain multiple second point cloud data; and splice the multiple second point cloud data to obtain second calibration data.

[0120] For the specific definition of the global calibration device, please refer to the definition of the global calibration method above, which will not be repeated here. Each module in the above-mentioned global calibration device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0121] In one embodiment, Figure 8 As shown, a three-dimensional modeling device is provided, including: a second image acquisition module 810 and a three-dimensional modeling module 820, wherein:

[0122] The second image acquisition module 810 is used to acquire a measurement image of the target object.

[0123] The three-dimensional modeling module 820 is used to perform three-dimensional reconstruction on the measured image of the target object according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

[0124] The three-dimensional modeling module 820 is also used to perform three-dimensional reconstruction on the multiple measurement images according to the parameter information, and obtain the third point cloud data of the multiple first acquisition areas and the fourth point cloud data of the multiple second acquisition areas; splice the third point cloud data of the multiple first acquisition areas according to the first calibration data to obtain the first three-dimensional digital model of the target; splice the fourth point cloud data of the multiple second acquisition areas according to the second calibration data to obtain the second three-dimensional digital model of the target. For the specific definition of the three-dimensional modeling device, please refer to the definition of the three-dimensional modeling method above, which will not be repeated here. The various modules in the above-mentioned three-dimensional modeling device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0125] The three-dimensional modeling module 820 is also used to perform three-dimensional reconstruction on the multiple measurement images according to the parameter information to obtain point cloud data corresponding to the multiple measurement images; transform the point cloud data corresponding to the multiple measurement images into a world unified coordinate system according to the first calibration data or the second calibration data; and divide the point cloud data into third point cloud data corresponding to the first acquisition area and fourth point cloud data corresponding to the second acquisition area according to the coordinates of each point of the point cloud data in the world unified coordinate system.

[0126] In one embodiment, Fig. 9 As shown, a multi-faceted cylindrical binocular correction device is provided, including: an image scanning module 910 and a parameter calculation module 920, wherein:

[0127] The image scanning module 910 is used to scan the third calibration image of the polyhedral cylinder model in the acquisition area through multiple probes, and each probe respectively obtains a third sub-image of a part of the polyhedral cylinder model.

[0128] The parameter calculation module 920 is used to perform binocular calibration on multiple probes according to the third calibration image to obtain parameter information of the multiple probes.

[0129] The image scanning module 910 is also used to respectively obtain multiple third calibration images of the polyhedral cylinder model at multiple calibration positions; perform coding point recognition on the third calibration image at each calibration position according to position parameters, perform binocular calibration on multiple probes, and obtain parameter information of the probes.

[0130] For the specific definition of the polyhedral cylinder binocular correction device, please refer to the definition of the polyhedral cylinder binocular correction method above, which will not be repeated here. Each module in the above-mentioned polyhedral cylinder binocular correction device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0131] In one embodiment, a computer device is provided. The computer device may be a processor, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile 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 the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a global calibration method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0132] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0133] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0134] Acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model;

[0135] Reconstructing the first calibration image and the second calibration image in three dimensions to obtain corresponding first point cloud data and second point cloud data;

[0136] Calibration data is obtained according to the first point cloud data and the second point cloud data.

[0137] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the acquiring of the first calibration image of the first calibration model and the second calibration image of the second calibration model comprises:

[0138] The first calibration image includes a plurality of first sub-images, and the second calibration image includes a plurality of second sub-images;

[0139] Acquire a first calibration image of the first calibration model in the first acquisition area by using multiple measuring heads, wherein each measuring head respectively acquires a first sub-image of a partial area of ​​the first calibration model;

[0140] A second calibration image of the second calibration model in the second acquisition area is acquired by multiple measuring heads, and each measuring head respectively acquires a second sub-image of a partial area of ​​the second calibration model.

[0141] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the first calibration image and the second calibration image are three-dimensionally reconstructed respectively to obtain corresponding first point cloud data and second point cloud data; and the calibration data is obtained according to the first point cloud data and the second point cloud data, comprising:

[0142] Reconstructing the plurality of first sub-images in three dimensions respectively to obtain a plurality of first point cloud data;

[0143] Splicing the plurality of first point cloud data to obtain first calibration data;

[0144] Reconstructing the plurality of second sub-images in three dimensions respectively to obtain a plurality of second point cloud data;

[0145] The plurality of second point cloud data are spliced ​​to obtain second calibration data.

[0146] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0147] Acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model;

[0148] Reconstructing the first calibration image and the second calibration image in three dimensions to obtain corresponding first point cloud data and second point cloud data;

[0149] Calibration data is obtained according to the first point cloud data and the second point cloud data.

[0150] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the acquiring of the first calibration image of the first calibration model and the second calibration image of the second calibration model comprises:

[0151] The first calibration image includes a plurality of first sub-images, and the second calibration image includes a plurality of second sub-images;

[0152] Acquire a first calibration image of the first calibration model in the first acquisition area by using multiple measuring heads, wherein each measuring head respectively acquires a first sub-image of a partial area of ​​the first calibration model;

[0153] A second calibration image of the second calibration model in the second acquisition area is acquired by multiple measuring heads, and each measuring head respectively acquires a second sub-image of a partial area of ​​the second calibration model.

[0154] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the first calibration image and the second calibration image are respectively three-dimensionally reconstructed to obtain corresponding first point cloud data and second point cloud data; and the calibration data is obtained according to the first point cloud data and the second point cloud data, comprising:

[0155] Reconstructing the plurality of first sub-images in three dimensions respectively to obtain a plurality of first point cloud data;

[0156] Splicing the plurality of first point cloud data to obtain first calibration data;

[0157] Reconstructing the plurality of second sub-images in three dimensions respectively to obtain a plurality of second point cloud data;

[0158] The plurality of second point cloud data are spliced ​​to obtain second calibration data.

[0159] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0160] Acquire a measurement image of a target object;

[0161] The measured image of the target object is three-dimensionally reconstructed according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

[0162] In one embodiment, when the processor executes the computer program, the following steps are further implemented: performing three-dimensional reconstruction on the measured image of the target object according to the calibration data and the preset parameter information to obtain a three-dimensional digital model of the target object includes:

[0163] Perform three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain third point cloud data of a plurality of first acquisition areas and fourth point cloud data of a plurality of second acquisition areas;

[0164] splicing the third point cloud data of the plurality of first acquisition areas according to the first calibration data to obtain a first three-dimensional digital model of the target;

[0165] The fourth point cloud data of the plurality of second acquisition areas are spliced ​​according to the second calibration data to obtain a second three-dimensional digital model of the target.

[0166] In one embodiment, when the processor executes the computer program, the following steps are further implemented: performing three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain third point cloud data of the plurality of first acquisition areas and fourth point cloud data of the plurality of second acquisition areas comprises:

[0167] Performing three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain point cloud data corresponding to the plurality of measurement images;

[0168] transforming the point cloud data corresponding to the plurality of measurement images into a world unified coordinate system according to the first calibration data or the second calibration data;

[0169] According to the coordinates of each point of the point cloud data in the world unified coordinate system, the point cloud data is divided into third point cloud data corresponding to the first acquisition area and fourth point cloud data corresponding to the second acquisition area.

[0170] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0171] Acquire a measurement image of a target object;

[0172] The measured image of the target object is three-dimensionally reconstructed according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

[0173] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: performing three-dimensional reconstruction on the measured image of the target object according to the calibration data and the preset parameter information to obtain a three-dimensional digital model of the target object includes:

[0174] Perform three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain third point cloud data of a plurality of first acquisition areas and fourth point cloud data of a plurality of second acquisition areas;

[0175] splicing the third point cloud data of the plurality of first acquisition areas according to the first calibration data to obtain a first three-dimensional digital model of the target;

[0176] The fourth point cloud data of the plurality of second acquisition areas are spliced ​​according to the second calibration data to obtain a second three-dimensional digital model of the target.

[0177] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: performing three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain third point cloud data of the plurality of first acquisition areas and fourth point cloud data of the plurality of second acquisition areas comprises:

[0178] Performing three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain point cloud data corresponding to the plurality of measurement images;

[0179] transforming the point cloud data corresponding to the plurality of measurement images into a world unified coordinate system according to the first calibration data or the second calibration data;

[0180] According to the coordinates of each point of the point cloud data in the world unified coordinate system, the point cloud data is divided into third point cloud data corresponding to the first acquisition area and fourth point cloud data corresponding to the second acquisition area.

[0181] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0182] Scanning a third calibration image of the polyhedral cylinder model in the acquisition area by multiple probes, wherein the third calibration image includes multiple third sub-images, and each probe respectively acquires a third sub-image of a part of the polyhedral cylinder model;

[0183] Binocular calibration is performed on multiple probes according to the third calibration image to obtain parameter information of the multiple probes.

[0184] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the scanning of the third calibration image of the polyhedral cylinder model in the acquisition area by multiple probes, wherein each probe obtains a third sub-image of a part of the polyhedral cylinder model, comprises:

[0185] Respectively acquiring a plurality of third calibration images of the polyhedral cylinder model at a plurality of calibration positions;

[0186] The third calibration image at each calibration position is subjected to code point recognition according to position parameters, and binocular calibration is performed on multiple probes to obtain parameter information of the probes.

[0187] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the calibration positions are distributed in the acquisition area at preset intervals.

[0188] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0189] Scanning a third calibration image of the polyhedral cylinder model in the acquisition area by multiple probes, wherein the third calibration image includes multiple third sub-images, and each probe respectively acquires a third sub-image of a part of the polyhedral cylinder model;

[0190] Binocular calibration is performed on multiple probes according to the third calibration image to obtain parameter information of the multiple probes.

[0191] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the scanning of the third calibration image of the polyhedral cylinder model in the acquisition area by multiple probes, wherein each probe respectively acquires a third sub-image of a part of the polyhedral cylinder model, comprises:

[0192] Respectively acquiring a plurality of third calibration images of the polyhedral cylinder model at a plurality of calibration positions;

[0193] The third calibration image at each calibration position is subjected to code point recognition according to position parameters, and binocular calibration is performed on multiple probes to obtain parameter information of the probes.

[0194] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the calibration positions are distributed in the acquisition area at preset intervals.

[0195] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0196] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0197] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A global calibration method, characterized in that: The method comprises: Acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model; Reconstructing the first calibration image and the second calibration image in three dimensions to obtain corresponding first point cloud data and second point cloud data; Obtaining calibration data according to the first point cloud data and the second point cloud data; The step of acquiring the first calibration image of the first calibration model and the second calibration image of the second calibration model comprises: acquiring the first calibration image of the first calibration model in the first acquisition area by using a plurality of measuring heads, wherein each measuring head respectively acquires a first sub-image of a partial area of ​​the first calibration model; acquiring the second calibration image of the second calibration model in the second acquisition area by using a plurality of measuring heads, wherein each measuring head respectively acquires a second sub-image of a partial area of ​​the second calibration model; The first calibration image and the second calibration image are respectively three-dimensionally reconstructed to obtain corresponding first point cloud data and second point cloud data; the calibration data is obtained according to the first point cloud data and the second point cloud data, including: three-dimensionally reconstructing multiple first sub-images to obtain multiple first point cloud data; splicing the multiple first point cloud data with known calibration auxiliary data by feature stitching to obtain corresponding first calibration data; three-dimensionally reconstructing multiple second sub-images to obtain multiple second point cloud data; splicing the multiple second point cloud data with known calibration auxiliary data by feature stitching to obtain corresponding second calibration data; the calibration auxiliary data includes first calibration model three-dimensional data and second calibration model three-dimensional data.

2. The method according to claim 1, characterized in that The first calibration image includes a plurality of first sub-images, and the second calibration image includes a plurality of second sub-images.

3. A three-dimensional modeling method, comprising the global calibration method according to any one of claims 1 to 2, characterized in that: Also includes: Acquire a measurement image of a target object; The measured image of the target object is three-dimensionally reconstructed according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

4. The method according to claim 3, characterized in that The three-dimensional reconstruction of the measured image of the target object according to the calibration data and the preset parameter information to obtain the three-dimensional digital model of the target object comprises: the calibration data comprises first calibration data and second calibration data; Perform three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain third point cloud data of a plurality of first acquisition areas and fourth point cloud data of a plurality of second acquisition areas; splicing the third point cloud data of the plurality of first acquisition areas according to the first calibration data to obtain a first three-dimensional digital model of the target; The fourth point cloud data of the plurality of second acquisition areas are spliced ​​according to the second calibration data to obtain a second three-dimensional digital model of the target.

5. The method according to claim 4, characterized in that The three-dimensional reconstruction of the plurality of measurement images according to the parameter information to obtain the third point cloud data of the plurality of first acquisition areas and the fourth point cloud data of the plurality of second acquisition areas comprises: Performing three-dimensional reconstruction on the plurality of measurement images according to the parameter information to obtain point cloud data corresponding to the plurality of measurement images; transforming the point cloud data corresponding to the plurality of measurement images into a world unified coordinate system according to the first calibration data or the second calibration data; According to the coordinates of each point of the point cloud data in the world unified coordinate system, the point cloud data is divided into third point cloud data corresponding to the first acquisition area and fourth point cloud data corresponding to the second acquisition area.

6. A global calibration device, characterized in that: The device comprises: A first image acquisition module, used to acquire a first calibration image of the first calibration model and a second calibration image of the second calibration model; A three-dimensional reconstruction module, used to perform three-dimensional reconstruction on the first calibration image and the second calibration image respectively to obtain corresponding first point cloud data and second point cloud data; A matrix calculation module, used for obtaining calibration data according to the first point cloud data and the second point cloud data; The step of acquiring the first calibration image of the first calibration model and the second calibration image of the second calibration model comprises: acquiring the first calibration image of the first calibration model in the first acquisition area by using a plurality of measuring heads, wherein each measuring head respectively acquires a first sub-image of a partial area of ​​the first calibration model; acquiring the second calibration image of the second calibration model in the second acquisition area by using a plurality of measuring heads, wherein each measuring head respectively acquires a second sub-image of a partial area of ​​the second calibration model; The first calibration image and the second calibration image are respectively three-dimensionally reconstructed to obtain corresponding first point cloud data and second point cloud data; the calibration data is obtained according to the first point cloud data and the second point cloud data, including: three-dimensionally reconstructing multiple first sub-images to obtain multiple first point cloud data; splicing the multiple first point cloud data with known calibration auxiliary data by feature stitching to obtain corresponding first calibration data; three-dimensionally reconstructing multiple second sub-images to obtain multiple second point cloud data; splicing the multiple second point cloud data with known calibration auxiliary data by feature stitching to obtain corresponding second calibration data; the calibration auxiliary data includes first calibration model three-dimensional data and second calibration model three-dimensional data.

7. A three-dimensional modeling device, comprising the global calibration device according to claim 6, characterized in that: Also includes: A second image acquisition module, used to acquire a measurement image of the target object; The three-dimensional modeling module is used to perform three-dimensional reconstruction on the measured image of the target object according to the calibration data and preset parameter information to obtain a three-dimensional digital model of the target object.

8. A three-dimensional scanning system, characterized in that: The three-dimensional scanning system is used to implement the global calibration method described in any one of claims 1 to 2, and the system comprises: a three-dimensional scanner and a processor, the three-dimensional scanner comprises a load-bearing platform and a plurality of probes, the plurality of probes are arranged around the load-bearing platform, the plurality of probes are connected to the processor, and the collected images are sent to the processor; The load-bearing platform comprises a first mounting portion, a second mounting portion and a collection area, wherein the first mounting portion and the second mounting portion are arranged around the collection area, the first mounting portion is located at the top of the load-bearing platform, and the second mounting portion is located at the bottom of the load-bearing platform; The first mounting portion and the second mounting portion are respectively mounted with a plurality of probes, each probe being arranged at intervals, the scanning areas of the plurality of probes covering the acquisition area, and the scanning areas of the plurality of probes at least partially overlap; The processor is used to establish a corresponding three-dimensional digital model according to the image.

9. The system according to claim 8, characterized in that The collection area includes a first collection area and a second collection area; The processor is preset with a first parameter corresponding to the first acquisition area and a second parameter corresponding to the second acquisition area.

10. The system according to claim 9, characterized in that The first mounting portion is provided with 5 probes, and the second mounting portion is provided with 6 probes.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 2 or 3 to 5 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 2 or 3 to 5 are implemented.

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