Calibration Method, System and Calibration Device for Omnidirectional Ring Three-Dimensional Scanner

Abstract

The present invention relates to a calibration method, system and calibration device for an omnidirectional ring three-dimensional scanner. The calibration method includes: setting the lens axis of the camera as the coordinate origin, taking the lens axis of the camera as the Z-axis to establish a three-dimensional coordinate system, and setting the Z-axis as the standard axis. Measuring the coordinate error from the axis of the annular structure generating device to the lens axis of the camera, and the coordinate error from the axis of the hyperbolic mirror to the lens axis of the camera, and sequentially marking the two coordinate errors as the first position error and the second position error. Measuring the angle between the axis of the annular structured light generating device and the lens axis of the camera, and the angle between the axis of the hyperbolic mirror and the lens axis of the camera, and sequentially marking the two angles as the first angle error and the second angle error, and finally calculating the installation error. The present invention obtains the installation error through manual measurement and calculation, which is beneficial to improving the installation accuracy and the measurement accuracy and range of the scanner.

Description

Technical Field

[0001] The present invention relates to a calibration method, system and calibration device for an omnidirectional ring three-dimensional scanner, and belongs to the field of measurement technology. Background Art

[0002] The omnidirectional ring three-dimensional scanner is a device used to obtain the spatial positions of a measured scene. It takes advantage of the large field of view of a catadioptric panoramic camera and combines it with annular structured light to form an active vision measurement system, solving the problem of completing 360-degree large-scene depth measurement in a single shot. Moreover, it is beneficial to improve the accuracy within the measurement range and optimize the parameters of each component, and has achieved good experimental results in aspects such as robot navigation and obstacle avoidance, and three-dimensional reconstruction of spatial scenes.

[0003] The scanner includes a panoramic camera, an annular structured light generating device, a scanner fixing frame, a 360-degree rotating platform, a PC and a microprocessor (see the appendix Figure 1 ). Among them, the panoramic camera includes a hyperbolic mirror and a camera. The camera is arranged at the focal point on the opposite side of the hyperbolic mirror. The camera lens is arranged opposite to the hyperbolic mirror. The camera and the cone mirror of the annular structured light generating device need to be located at the same position. However, most of the component modules of the current scanner are manually spliced, which is prone to large installation errors, resulting in the panoramic camera and the annular structured light generating device not being on the same axis, thereby affecting the measurement accuracy and range of the scanner. Summary of the Invention

[0004] The present invention provides a calibration method, system and calibration device for an omnidirectional ring three-dimensional scanner, aiming to solve at least one of the technical problems existing in the prior art.

[0005] The technical solution of the present invention is based on an omnidirectional ring three-dimensional scanner and a calibration device. The scanner includes a rotating platform, a panoramic camera, and an annular structured light generating device. The calibration device includes an annular measurement module and a cylindrical reference module. A fixing frame is provided on the rotating platform. The panoramic camera includes a camera and a hyperbolic mirror, and the camera and the hyperbolic mirror are respectively arranged at both ends of a connecting cylinder. One end of the connecting cylinder is arranged on the fixing frame of the rotating platform, and the camera is arranged above the fixing frame. The annular structured light generating device and the annular measurement module are arranged at one end of the connecting cylinder close to the camera. The camera is arranged in the inner cavity of the connecting cylinder, and a part of the annular structured light generating device leaks out of the connecting cylinder. The annular measurement module is arranged between the camera and the annular structured light generating device, and a square through hole is provided in the middle of the annular measurement module. The cylindrical reference module includes a light generating device end and a mirror end. The light generating device end is sleeved outside the annular structured light generating device, and the mirror end is sleeved outside the hyperbolic mirror. The axes of the camera lens, the annular structured light generating device, and the hyperbolic mirror are on the same straight line.

[0006] The first aspect of the technical solution of the present invention relates to a calibration method for an omnidirectional ring three-dimensional scanner, which is used for the assembly of the omnidirectional ring three-dimensional scanner. The scanner includes a rotating platform, a panoramic camera, and an annular structured light generating device. The panoramic camera includes a camera and a hyperbolic mirror, and the camera and the hyperbolic mirror are respectively arranged at both ends of a connecting cylinder. The connecting cylinder is placed on the rotating platform, and the annular structured light generating device is arranged at one end of the connecting cylinder close to the camera. In this aspect, the method according to the present invention includes the following steps:

[0007] S10. Set the axis of the camera lens as the coordinate origin, take the axis of the camera lens as the Z-axis, establish a three-dimensional coordinate system, and set the Z-axis as the standard axis; through measurement, the coordinate error between the axis of the annular structure generating device and the axis of the camera lens, and the coordinate error between the axis of the hyperbolic mirror and the axis of the camera lens are obtained, and the above two coordinate errors are marked as the first position error and the second position error in sequence;

[0008] S20. Through measurement, the angle between the axis of the annular structured light generating device and the axis of the camera lens, and the angle between the axis of the hyperbolic mirror and the axis of the camera lens are obtained, and the above two angles are marked as the first angle error and the second angle error in sequence;

[0009] S30. Calculate the installation error based on the first position error, the second position error, the first angular error, and the second angular error.

[0010] Further,

[0011] In the step S10:

[0012] When the cylindrical reference module is in the state of being installed on the scanner and the annular measurement module is in the state of being detached from the scanner, execute step S11, and step S11 includes:

[0013] Establish a first two-dimensional coordinate system with a lower right-angle point at the light generating device end as the first coordinate origin; measure the center of the annular structured light generating device to obtain the center coordinate of the annular structured light generating device; establish a second two-dimensional coordinate system with a lower right-angle point at the mirror end as the second coordinate origin; measure the center of the hyperbolic mirror to obtain the center coordinate of the hyperbolic mirror.

[0014] When the mirror end of the cylindrical reference module is in the state of being detached from the scanner and the annular measurement module is installed on the scanner, a square through-hole is provided in the middle of the annular measurement module; execute step S12, and step S12 includes:

[0015] Establish a third two-dimensional coordinate system with a lower right-angle point of the square through-hole as the third coordinate origin; measure the center of the camera lens to obtain the center coordinate of the camera lens.

[0016] S13. Represent the position distance between the cylindrical reference module and the annular measurement module by the distance between the first two-dimensional coordinate system and the third two-dimensional coordinate system;

[0017] Calculate the first position error based on the position distance, the center coordinate of the light generating device end, and the center coordinate of the camera lens.

[0018] Calculate the second position error based on the position distance, the center coordinate of the mirror end, and the center coordinate of the camera lens.

[0019] Further, in steps S12, S15, and S16, the center of the light generating device end, the center of the mirror end, and the center of the camera lens are measured by the right triangle method.

[0020] Further, the step S20 includes:

[0021] S21. Collect images of the hyperbolic mirror and the annular structured light generating device through the camera.

[0022] S22. Divide the image of the annular structured light generating device into a left semi-circle and a right semi-circle by a vertical line; perform three-dimensional scanning on the same object through the left semi-circle and the right semi-circle respectively to obtain two point clouds of the object.

[0023] S23. Register the two point clouds to obtain their positions; set one of the point clouds as the standard position to obtain the position angle between the two point clouds.

[0024] S24. Calculate the centroids of the two point clouds; set the centroid of one of the point clouds as the standard point and calculate the centroid angle between the centroid of the other point cloud and the standard point.

[0025] S25. Calculate the average value of the position angle and the centroid angle, and set the obtained average value as the first angle error and the second angle error respectively.

[0026] Further, in the step S30:

[0027] The installation error is obtained by the following formula:

[0028] e x = a x +(b x - l m × cosθ mx )

[0029] e y = a y +(b y - l m × cosθ my )

[0030] where (e x , e y ) is the installation error, (a x , a y ) is the first position error, (b x , b y ) is the second position error, (θ rx , θ ry ) is the first angle error; (θ mx , θ my ) is the second angle error; l r is the axial length of the annular structured light generating device, and l m is the axial length of the hyperbolic mirror.

[0031] The second aspect of the technical solution of the present invention relates to a computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a processor, the above method is implemented.

[0032] The third aspect of the technical solution of the present invention relates to a calibration device for an omnidirectional ring three-dimensional scanner, including: a computer device, which includes the above-mentioned computer-readable storage medium.

[0033] Further, the above-mentioned calibration device includes an annular measurement module and a cylindrical reference module, where

[0034] The annular measurement module is arranged at one end of the connecting cylinder close to the camera; a square through hole is arranged in the middle of the annular measurement module;

[0035] The cylindrical reference module includes a light generating device end and a mirror end. The light generating device end is sleeved outside the annular structured light generating device, and the mirror end is sleeved outside the hyperbolic mirror.

[0036] The beneficial effects of the present invention are as follows.

[0037] The calibration method, system and calibration device of the omnidirectional ring three-dimensional scanner of the present invention calculate the installation error according to the first position error between the axis of the annular structured light generating device and the axis of the camera lens, the second position error between the axis of the hyperbolic mirror and the axis of the camera lens, the first angle error between the axis of the annular structured light generating device and the axis of the camera lens, and the second angle error between the axis of the hyperbolic mirror and the axis of the camera lens, thereby facilitating the improvement of the installation accuracy and the measurement accuracy and range of the scanner. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic structural diagram of the scanner according to an embodiment of the present invention.

[0039] Figure 2 is a schematic diagram of the installation error of the structure of the scanner according to an embodiment of the present invention.

[0040] Figure 3 is a schematic structural diagram of the annular measurement module according to an embodiment of the present invention.

[0041] Figure 4 is a schematic structural diagram of the cylindrical reference module according to an embodiment of the present invention.

[0042] Figure 5 is a schematic front structural diagram of the scanner according to an embodiment of the present invention.

[0043] Figure 6 is Figure 5 a schematic left side (light generating device end) structural diagram of the scanner in

[0044] Figure 7 is Figure 5 a schematic right side (mirror end) structural diagram of the scanner in

[0045] Figure 8 It is a front schematic view of the installation position of the annular measurement module in the embodiment of the present invention.

[0046] Figure 9 It is Figure 8 a schematic right-side view of the annular measurement module.

[0047] Reference numerals:

[0048] 100, scanner; 110, rotating platform; 120, panoramic camera; 121, camera; 122, hyperbolic mirror; 123, connecting cylinder; 130, annular structured light generating device; 140, annular measurement module; 141, square through-hole; 150, cylindrical reference module; 151, light generating device end; 152, mirror end. Detailed implementation manners

[0049] The following will clearly and completely describe the concept, specific structure and technical effects generated by the present invention in combination with the embodiments and the drawings, so as to fully understand the purpose, solution and effects of the present invention.

[0050] It should be noted that, unless otherwise specified, when a certain feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. The singular forms "a", "the" and "said" used herein are also intended to include the plural forms, unless the context clearly indicates otherwise. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the description of this specification herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0051] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of this disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element. The use of any and all examples or exemplary language ("for example", "such as", etc.) provided herein is only intended to better illustrate the embodiments of the present invention, and unless otherwise required, will not impose a limitation on the scope of the present invention.

[0052] Refer to Figures 1 to 9, the technical solution of the present invention is based on an omnidirectional ring three-dimensional scanner 100 and a calibration device. The scanner 100 includes a rotating platform 110, a panoramic camera 120, and an annular structured light generating device 130. The calibration device includes an annular measurement module 140 and a cylindrical reference module 150. A fixing frame is provided on the rotating platform 110. The panoramic camera 120 includes a camera 121 and a hyperbolic mirror 122, and the camera 121 and the hyperbolic mirror 122 are respectively arranged at both ends of a connecting cylinder 123. One end of the connecting cylinder 123 is arranged on the fixing frame of the rotating platform 110, and the camera 121 is arranged above the fixing frame. The annular structured light generating device 130 and the annular measurement module 140 are arranged at one end of the connecting cylinder 123 close to the camera 121. The camera 121 is arranged in the inner cavity of the connecting cylinder 123, and a part of the annular structured light generating device 130 leaks out of the connecting cylinder 123. The annular measurement module 140 is arranged between the camera 121 and the annular structured light generating device 130, and a square through hole 141 (see Figure 3 ) is provided in the middle of the annular measurement module 140. The cylindrical reference module 150 includes a light generating device end 151 and a mirror end 152 (see Figure 4 ), the light generating device end 151 is sleeved outside the annular structured light generating device 130, and the mirror end 152 is sleeved outside the hyperbolic mirror 122. The axes of the camera 121 lens, the annular structured light generating device 130, and the hyperbolic mirror 122 are on the same straight line. Referring to Figure 2 , there is a certain angle θ between the axis b of the camera 121 lens and the axis a of the annular structured light generating device 130, that is, the two axes are not on the same straight line, so there is an installation error in the scanner 100.

[0053] Referring to Figures 1 to 9 , in some embodiments, the calibration method of the omnidirectional ring three-dimensional scanner 100 according to the present invention includes at least the following steps:

[0054] S10. Set the lens axis center of the camera 121 as the coordinate origin, take the lens axis of the camera 121 as the Z axis, establish a three-dimensional coordinate system O XYZ , and set the Z axis as the standard axis. Correspondingly, the axis center of the annular structured light generating device 130 is denoted as (r x , r y , r z ), and the error between the axis center of the camera 121 denoted as (x, y, z) is denoted as (a x = r x - x, a y = r y - y), that is, (a x , a y ), and the axis center of the hyperbolic mirror 122 is denoted as (m x , my , m z ) The error from the axis (x, y, z) of the camera 121 is (b x = m x - x, b y = m y - y), that is, (b x , b y )

[0055] Through measurement, the coordinate error (a x , a y ) from the axis of the annular structure generating device to the lens axis of the camera 121, and the coordinate error (b x , b y ) from the axis of the hyperbolic mirror 122 to the lens axis of the camera 121 are marked successively as the first position error (a x , a y ) and the second position error (b x , b y );

[0056] S20. Through measurement, the angle (θ rx , θ ry ) between the axis of the annular structured light generating device 130 and the lens axis of the camera 121, and the angle (θ mx , θ my ) between the axis of the hyperbolic mirror 122 and the lens axis of the camera 121 are marked successively as the first angular error (θ rx , θ ry ) and the second angular error (θ mx , θ my );

[0057] S30. Based on the first position error (a x , a y ), the second position error (b x , b y ), the first angular error (θ rx , θ ry ) and the second angular error (θ mx , θ my ), calculate the installation error (e x , e y ).

[0058] Specific implementation of step S10

[0059] The first position error (a x , a y ) and the second position error (b x , by ) is obtained through the following steps:

[0060] Refer to Figures 6 to 7 . When the cylindrical reference module 150 is in the state of being installed on the scanner 100 and the annular measurement module 140 is in the state of being detached from the scanner 100, step S11 is executed. Step S11 includes:

[0061] Taking a lower right-angle point of the light generating device end 151 (refer to Figure 6 ) as the first coordinate origin, a first two-dimensional coordinate system R is established xy . Through the right triangle method, the center R of the annular structured light generating device 130 is measured. That is, a first right triangle is marked on the annular structured light generating device using a ruler and a protractor (as shown in Figure 6 ). Then, the midpoint of the hypotenuse of the first right triangle is the center R of the annular structured light generating device 130. Then, the distances of the center R on the x-axis and y-axis are measured using a vernier caliper, thereby obtaining the center coordinates (R x , R y ) of the annular structured light generating device 130.

[0062] Taking a lower right-angle point of the mirror end 152 (refer to Figure 7 ) as the second coordinate origin, a second two-dimensional coordinate system M is established xy . Through the right triangle method, the center M of the hyperbolic mirror 122 is measured. That is, a second right triangle is marked on the annular structured light generating device using a ruler and a protractor (refer to Figure 7 ). Then, the midpoint of the hypotenuse of the second right triangle is the center M of the hyperbolic mirror 122. Then, the distances of the center M on the x-axis and y-axis are measured using a vernier caliper, thereby obtaining the center coordinates (M x , M y ) of the hyperbolic mirror 122.

[0063] Then, refer to Figures 8 to 9 . When the mirror end 152 of the cylindrical reference module 150 is in the state of being detached from the scanner 100 and the annular measurement module 140 is in the state of being installed on the scanner 100, a square through hole 141 is provided in the middle of the annular measurement module 140; step S12 is executed. Step S12 includes:

[0064] Taking a lower right-angle point of the square through hole 141 (refer to Figure 9 ) as the third coordinate origin, a third two-dimensional coordinate system Sxy is established; the lens center S of the measurement camera 121 is measured. Through the right triangle method, it is measured as Figure 4The center of proficiency of the camera 121 shown, and then the distances from the center S to the x-axis and y-axis are measured with a vernier caliper, so as to obtain the lens center coordinates of the camera 121 (S x , S y );

[0065] S13. Represent the positional distance between the cylindrical reference module 150 and the annular measurement module 140 by the distances (d xy and d xy ) in the first two-dimensional coordinate system R x and the third two-dimensional coordinate system S y .

[0066] According to the positional distance, the center coordinates of the light generating device end 151 and the lens center coordinates of the camera 121, and according to the positional distance, the center coordinates of the mirror end 152 and the lens center coordinates of the camera 121, it can be obtained that (a x , a y ), (b x , b y ) are respectively (R x - S x - d x , R y - S y - d y ), (M x - S x - d x , M y - S y - d y ), thereby obtaining the first position error and the second position error.

[0067] Specific implementation of step S20

[0068] S21. Collect images of the hyperbolic mirror 122 and the annular structured light generating device 130 through the camera 121;

[0069] S22. Divide the image of the annular structured light generating device 130 into a left semi-circle h1 and a right semi-circle h2 by a vertical line; perform three-dimensional scanning of the same object through the left semi-circle h1 and the right semi-circle h2 respectively to obtain two point clouds of the object;

[0070] S23. Through the cloudcompare software, register the two point clouds to obtain the positions of the two point clouds; set one of the point clouds as the standard position to obtain the position angle (θ mx1 , θ my1 ) between the two point clouds;

[0071] S24, calculate the centroids of the two point clouds; set the centroid of one point cloud as the standard point, and calculate the centroid angle (θ mx2 ,θ my2 );

[0072] S25, calculate the position angle (θ mx1 ,θ my1 ) and the centroid angle (θ mx2 ,θ my2 ) is the average value (θ mx ,θ my ), and the average value (θ mx ,θ my ) are respectively set as the first angle error θ mx and the second angle error θ my .

[0073] Specific implementation of step S30

[0074] The installation error is obtained by the following formula:

[0075] e x =a x +(b x -l m ×cosθ mx )

[0076] e y =a y +(b y -l m ×cosθ my )

[0077] Among them, (e x , e y ) is the installation error, (a x , a y ) is the first position error, (b x , b y ) is the second position error, (θ rx ,θ ry ) is the first angle error; (θ mx ,θ my ) is the second angle error; l r is the axial length of the ring-shaped structured light generating device 130, l m is the axial length of the hyperbolic reflector 122 .

[0078] The present invention conducts actual testing on the calibration method of the omnidirectional ring 3D scanner 100, and calculates the first position error (a x , a y ), the second position error (b x, b y ), the first angular error θ mx and the second angular error θ my , and adjust the installation positions of the components of the scanner 100 according to the above error values. Through experimental comparative analysis, the accuracy of the calibrated point cloud is improved by 0.1 mm compared with that before calibration, and the registration pixel accuracy is improved by 1.5 mm.

[0079] It should be recognized that the method steps in the embodiments of the present invention can be implemented or executed by computer hardware, a combination of hardware and software, or computer instructions stored in a non-transitory computer-readable memory. The method can use standard programming techniques. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with a computer system. However, if necessary, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, for this purpose, the program can run on a dedicated integrated circuit programmed for this purpose.

[0080] In addition, the operations of the processes described herein can be performed in any suitable order, unless otherwise indicated herein or otherwise clearly contradicted by the context. The processes described herein (or variations and / or combinations thereof) can be executed under the control of one or more computer systems configured with executable instructions, and can be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) executed commonly on one or more processors, by hardware, or a combination thereof. The computer program includes a plurality of instructions executable by one or more processors.

[0081] Furthermore, the method can be implemented in any type of computing platform operably connected as appropriate, including but not limited to personal computers, minicomputers, mainframes, workstations, network or distributed computing environments, separate or integrated computer platforms, or communicating with charged particle tools or other imaging devices, etc. Aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into the computing platform, such as a hard disk, optical read and / or write storage medium, RS1M, ROM, etc., such that it can be read by a programmable computer and can be used to configure and operate the computer to execute the processes described herein when the storage medium or device is read by the computer. In addition, the machine-readable code, or portions thereof, can be transmitted via a wired or wireless network. When such media include instructions or programs that implement the steps described above in combination with a microprocessor or other data processor, the inventions described herein include these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques of the present invention, the present invention can also include the computer itself.

[0082] A computer program can be applied to input data to perform the functions described herein, thereby transforming the input data to generate output data stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the transformed data represents physical and tangible objects, including a specific visual depiction of the physical and tangible objects generated on the display.

[0083] As described above, this is only a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. As long as the same means are used to achieve the technical effects of the present invention, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the present invention. Within the scope of protection of the present invention, its technical solutions and / or implementation manners can have various different modifications and changes.

Claims

1. A calibration method for an omnidirectional ring 3D scanner, which is used for the assembly of the omnidirectional ring 3D scanner (100), wherein, The scanner (100) includes a rotating platform (110), a panoramic camera (120), and an annular structured light generating device (130). The panoramic camera (120) includes a camera (121) and a hyperbolic mirror (122). The camera (121) and the hyperbolic mirror (122) are respectively arranged at two ends of a connecting cylinder (123). The connecting cylinder (123) is arranged on the rotating platform (110). The annular structured light generating device (130) is arranged at one end of the connecting cylinder (123) close to the camera (121). It is characterized in that the method includes the following steps: S10: Set the lens axis of the camera (121) as the coordinate origin, take the lens axis of the camera (121) as the Z-axis, establish a three-dimensional coordinate system, and set the Z-axis as the standard axis. Through measurement, the coordinate error between the axis of the annular structured light generating device (130) and the lens axis of the camera (121), and the coordinate error between the axis of the hyperbolic mirror (122) and the lens axis of the camera (121) are obtained. The above two coordinate errors are sequentially marked as the first position error and the second position error; In the step S10: When the cylindrical reference module (150) is in the state of being installed on the scanner (100) and the annular measurement module (140) is in the state of being detached from the scanner (100), step S11 is executed. Step S11 includes: Taking a lower right-angle point at one end of the light generating device end (151) as the first coordinate origin, establish a first two-dimensional coordinate system; measure the center of the annular structured light generating device (130) to obtain the center coordinate of the annular structured light generating device (130); taking a lower right-angle point at one end of the mirror end (152) as the second coordinate origin, establish a second two-dimensional coordinate system; measure the center of the hyperbolic mirror (122) to obtain the center coordinate of the hyperbolic mirror (122); When the mirror end (152) of the cylindrical reference module (150) is in the state of being detached from the scanner (100) and the annular measurement module (140) is installed on the scanner (100), a square through hole (141) is arranged in the middle of the annular measurement module (140); step S12 is executed. Step S12 includes: Taking a lower right-angle point of the square through hole (141) as the third coordinate origin, establish a third two-dimensional coordinate system; measure the lens center of the camera (121) to obtain the lens center coordinate of the camera (121); S13: Represent the position distance between the cylindrical reference module (150) and the annular measurement module (140) by the distance between the first two-dimensional coordinate system and the third two-dimensional coordinate system; Calculate the first position error according to the position distance, the center coordinate of the light generating device end (151), and the lens center coordinate of the camera (121); Calculate and obtain the second position error based on the position distance, the center coordinates of the mirror end (152), and the center coordinates of the lens of the camera (121). S20: Through measurement, the angles between the axis of the annular structured light generating device (130) and the lens axis of the camera (121), and between the axis of the hyperbolic mirror (122) and the lens axis of the camera (121) are obtained, and the above two angles are successively marked as the first angle error and the second angle error. S30: Calculate and obtain the installation error based on the first position error, the second position error, the first angle error, and the second angle error.

2. The method according to claim 1, wherein In the steps S12, S15, and S16, the centers of the light generating device end (151), the mirror end (152), and the lens of the camera (121) are measured by the right triangle method.

3. The method according to claim 1, wherein, The step S20 includes: S21: The camera (121) acquires images of the hyperbolic mirror (122) and the annular structured light generating device (130). S22: The image of the annular structured light generating device (130) is evenly divided into a left semi-circle and a right semi-circle by a vertical line; three-dimensional scans of the same object are respectively performed through the left semi-circle and the right semi-circle to obtain two point clouds of the object. S23: Register the above two point clouds to obtain the positions of the two point clouds; set one of the point clouds as the standard position to obtain the position angle between the two point clouds. S24: Calculate and obtain the centroids of the two point clouds; set the centroid of one of the point clouds as the standard point, and calculate the centroid angle between the centroid of the other point cloud and the standard point. S25: Calculate and obtain the average value of the position angle and the centroid angle, and respectively set the obtained average value as the first angle error and the second angle error.

4. The method according to claim 1, wherein In the step S30: The installation error is obtained through the following formula: ； ； Among them, is the installation error, is the first position error, is the second position error, is the first angular error; is the second angular error; is the axial length of the annular structured light generating device (130), is the axial length of the hyperbolic mirror (122).

5. A computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a processor, the method described in any one of claims 1 to 4 is implemented.

6. A calibration device for an omnidirectional ring three-dimensional scanner, characterized in that, It includes: A computer device, which includes the computer-readable storage medium described in claim 5.

7. The calibration device according to claim 6, including an annular measurement module (140) and a cylindrical reference module (150), wherein The annular measurement module (140) is arranged at one end of the connecting cylinder (123) close to the camera (121); a square through hole (141) is arranged in the middle of the annular measurement module (140). The cylindrical reference module (150) includes a light generating device end (151) and a mirror end (152). The light generating device end (151) is sleeved outside the annular structured light generating device (130), and the mirror end (152) is sleeved outside the hyperbolic mirror (122).

Images