Data processing method and device based on contour constraint, medium and computer device

Abstract

The application provides a data processing method and device based on contour constraint, a medium and computer equipment. The data processing method based on contour constraint comprises the following steps: acquiring texture image data of an object with a mark point patch pasted thereon, wherein the texture image data comprises a plurality of continuous image frames, and each image frame comprises a mark point pattern of the mark point patch; extracting contour three-dimensional information of the mark point pattern; constructing a contour error function model of the mark point pattern, and optimizing the contour three-dimensional information and pose information through the contour error function model; and performing three-dimensional point cloud splicing through the optimized pose information. The existing point cloud data can be automatically corrected by defining the error function model, the optimization precision of the three-dimensional point cloud splicing is improved, and the robustness of the three-dimensional point cloud splicing processing is more stable and robust.

Description

Technical Field

[0001] This invention relates to a data processing method, apparatus, medium, and computer equipment based on contour constraints, belonging to the field of image processing technology. Background Technology

[0002] In point cloud data acquired through 3D scanning equipment, errors can lead to data quality degradation. When acquiring marker point data, the data originates from image frames. These frames are subject to data diversity, varying acquisition angles, and varying degrees of marker point distortion during capture, resulting in insufficient precision in extracting the marker point center. This means that the process of extracting the circular coordinates from the marker point itself introduces errors into the point cloud data. Even if the marker point center is not distorted and unaffected by the acquisition angle, in a monocular measurement system, unlike a binocular system where marker point coordinates can be obtained through forward intersection, the center is obtained indirectly through depth interpolation. This method of center extraction itself introduces errors into the circular 3D coordinate data. Ultimately, the acquired point cloud data to be optimized is of poor quality. Subsequent point cloud transformation using the rotation and translation matrix RT from the camera coordinate system to the world coordinate system results in issues such as layering. Summary of the Invention

[0003] To address the shortcomings of the prior art, the present invention aims to provide a data processing method based on contour constraints.

[0004] According to an embodiment of the present invention, a first solution is provided: a data processing method based on contour constraints, comprising the following steps:

[0005] Acquire texture image data of an object with a sticker patch, the texture image data including multiple consecutive image frames, each image frame including the sticker pattern of the sticker patch;

[0006] Extract the 3D contour information of the marker point graphic;

[0007] Construct a contour error function model for the marker point graphic, and optimize the 3D contour information and pose information through the contour error function model;

[0008] 3D point cloud stitching is performed using optimized pose information.

[0009] Furthermore, the step of constructing the contour error function model of the marker point graphic includes:

[0010] Obtain the hypothetical optical center F of the camera c (m1, m2, m3) and camera intrinsic parameters (f) x f y c x c y );

[0011] Based on the marker point graphic in the image frame, obtain the center O (o1, o2, o3,), the normal n (n1, n2, n3,), and the radius r of the projection circle in the world coordinate system corresponding to the marker point graphic. Construct the projection circle and the projection circle plane based on the center, normal and radius of the projection circle.

[0012] From the light center F c Starting from (m1, m2, m3), a ray F passes through the contour point m(u, v) of the marker figure. c The parametric equation of m(x, y, z) is:

[0013] x = m1 + v1 * t

[0014] y = m² + v²*t

[0015] z = m3 + v3*t (2);

[0016] The optical center F is obtained by using the rotation and translation matrix from the world coordinate system to the camera coordinate system. c (m1, m2, m3, ):

[0017] F c (m1, m2, m3, ) = -R -1 *T (3);

[0018] Acquire light F c The direction of m, that is, the direction of the outline point m(u, v) of the marker point figure:

[0019] [v1, v2, v3] T =R*[x1, x2, x3] T (4)

[0020] in,

[0021] x1=(uc x ) / f x

[0022] x2=(Vc y ) / f y

[0023] x3 = 1.0 (5)

[0024] Obtain the point-normal equation of the projection plane with center O(o1, o2, o3) of the projection circle:

[0025] n1*(x-o1)+n2*(y-o2)+n3*(z-o3)=0 (6)

[0026] Due to light F cThe intersection of m and the projection circular plane satisfies both formula (2) and formula (6). The coefficient t can be obtained by simultaneously solving formulas (2) and (6):

[0027]

[0028] Based on the obtained coefficient t and formula (2), the ray F can be obtained. c The intersection point P(x, y, z) of m and the projection circular plane;

[0029] Construct a contour error function model for the marker point graphic:

[0030]

[0031] e i =||P(x, y, z)-O(o1, o2, o3,)||-r (1).

[0032] Furthermore, the step of optimizing the 3D contour information using the contour error function model includes:

[0033] With the radius r of the projection circle fixed and the 3D information of the map points fixed, the rotation and translation matrix RT from the world coordinate system to the camera coordinate system is optimized by the contour error function model. The 3D information of the map points includes the center O(o1, o2, o3) of the projection circle and the normal n(n1, n2, n3) of the projection circle.

[0034] Furthermore, the step of optimizing the 3D contour information using the contour error function model includes:

[0035] With the radius r of the projection circle fixed, the 3D information of the map points and the rotation and translation matrix RT from the world coordinate system to the camera coordinate system are optimized through the contour error function model. The 3D information of the map points includes the center O(o1, o2, o3) of the projection circle and the normal n(n1, n2, n3) of the projection circle.

[0036] Furthermore, the step of optimizing the 3D contour information using the contour error function model includes:

[0037] With the radius r of the projection circle fixed, the 3D information of the map points and the rotation and translation matrix RT from the world coordinate system to the camera coordinate system are optimized through the contour error function model. The 3D information of the map points includes the center O(o1, o2, o3) of the projection circle and the normal n(n1, n2, n3) of the projection circle.

[0038] Furthermore, texture image data of objects with attached marker patches are acquired using a handheld 3D scanner.

[0039] Furthermore, the method for extracting the three-dimensional contour information of the marker point image includes: obtaining the three-dimensional information of the contour points through depth interpolation.

[0040] According to an embodiment of the present invention, utilizing the contour constraint-based data processing method in the first solution provided by the present invention, a second solution is provided as follows:

[0041] An apparatus for a data processing method based on contour constraints, comprising:

[0042] The marker acquisition module is used to acquire texture image data of an object with a marker patch pasted on it. The texture image data includes multiple consecutive image frames, and each image frame includes the marker pattern of the marker patch.

[0043] The punctuation mark extraction module extracts the 3D outline information of the punctuation mark graphic.

[0044] The error model module is used to construct the contour error function model of the marker point graphic, and to optimize the contour 3D information and pose information through the contour error function model;

[0045] The point cloud optimization module is used to stitch together 3D point clouds using optimized pose information.

[0046] A computer device includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the following steps:

[0047] Acquire texture image data of an object with a sticker patch, the texture image data including multiple consecutive image frames, each image frame including the sticker pattern of the sticker patch;

[0048] Extract the 3D contour information of the marker point graphic;

[0049] Construct a contour error function model for the marker point graphic, and optimize the 3D contour information and pose information through the contour error function model;

[0050] 3D point cloud stitching is performed using optimized pose information.

[0051] A computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the following steps:

[0052] Acquire texture image data of an object with a sticker patch, the texture image data including multiple consecutive image frames, each image frame including the sticker pattern of the sticker patch;

[0053] Extract the 3D contour information of the marker point graphic;

[0054] Construct a contour error function model for the marker point graphic, and optimize the 3D contour information and pose information through the contour error function model;

[0055] 3D point cloud stitching is performed using optimized pose information.

[0056] Compared with the prior art, the unique beneficial effects of the technical solution provided in this application are: by defining an error function model, the existing point cloud data can be automatically corrected, which improves the optimization accuracy of 3D point cloud stitching and makes the robustness of 3D point cloud stitching processing more robust. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] in:

[0059] Figure 1 This is a flowchart of a data processing method based on contour constraints in one embodiment;

[0060] Figure 2 This is an ideal state diagram of the projection process of the projection circle plane in one embodiment;

[0061] Figure 3 This is a state diagram to be optimized for the projection process diagram of the projection circle plane in one embodiment;

[0062] Figure 4 This is a block diagram of a contour constraint-based data processing apparatus in one embodiment.

[0063] Figure 5 This is a schematic diagram of the structure of an electronic device using a contour constraint-based data processing method in one embodiment. Detailed Implementation

[0064] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0065] Example 1

[0066] The technical problem this embodiment aims to solve is that the point cloud data acquired by a 3D scanning device suffers from quality degradation due to errors. For example, the amount of data for circular markers is less than the actual number of circular markers pasted on the surface of a real object. When acquiring marker data, the data originates from image frames, which exhibit data diversity, varying acquisition angles, and varying degrees of marker deformation during the shooting process. This leads to insufficient accuracy in extracting the center point of the markers, specifically in the process of extracting the circular coordinates from the markers, resulting in errors in the point cloud data. Even if the marker center is not deformed and is unaffected by the acquisition angle, in a monocular measurement system, unlike a binocular system where marker coordinates can be obtained through forward intersection, the center point is obtained indirectly through depth interpolation. This method of center point extraction itself introduces errors in the circular 3D coordinate data. Ultimately, the acquired point cloud data to be optimized is of poor quality. Furthermore, the point cloud obtained after the rotation and translation matrix RT transformation from the camera coordinate system to the world coordinate system exhibits problems such as layering.

[0067] To alleviate the aforementioned technical problems, this embodiment provides a data processing method based on contour constraints, such as... Figure 1 As shown, it includes the following steps:

[0068] S100: Acquire texture image data of an object with a sticker patch, wherein the texture image data includes multiple consecutive image frames, and each image frame includes a sticker pattern of the sticker patch.

[0069] S120: Extract the three-dimensional outline information of the marker point graphic;

[0070] S130: Construct a contour error function model for the marker point graphic, and optimize the contour 3D information and pose information through the contour error function model;

[0071] S140: 3D point cloud stitching is performed using optimized pose information.

[0072] In the above scheme, the existing point cloud data can be automatically corrected by defining an error function model, which improves the optimization accuracy of 3D point cloud stitching and makes the 3D point cloud stitching processing more robust.

[0073] Example 2

[0074] This embodiment provides a specific method for constructing a contour error function model.

[0075] To increase the amount of point cloud data, this application adds a set of circular contour data to each center data point, based on the data of the effective circular marker center points, which greatly increases the amount of point cloud data. In order to solve the problems of large errors in the three-dimensional data of the center points and large fluctuations in the quality of point cloud data caused by errors in individual center data points, this application proposes an error function model to optimize the point cloud data.

[0076] This scheme involves three coordinate systems. The first is the camera coordinate system (Xc, Yc, Zc), which moves with the camera. In this application, the origin of the camera coordinate system is the optical center Fc. The second is the image plane coordinate system (X, Y, Z), where the light rays emitted from the optical center are mapped onto the image plane coordinate system to form an image frame. The image frame contains only X and Y points, with a Z value of 0. The image frame includes marker points. Conventional schemes extract the center of the marker point circle from the image frame, while this application extracts the center of the marker point circle and the marker point contour information from the image frame. The third is the projection circle plane (Xp, Yp, Zp), which is the plane where the projection circle is located. The projection circle is the circular contour of the marker point patch that is ideally attached to the surface of the real object. Since the real object has a three-dimensional surface, the projection circle plane is not necessarily parallel to the XY plane of the image plane coordinate system.

[0077] In theory, such as Figure 2 As shown, a beam of diverging light emitted from the optical center Fc of the camera coordinate system forms a circle, i.e. the outline of the marker point, when it passes through the image plane. It continues to fall on the projection circle in the projection circle plane. In the projection circle plane, the projection circle is a circle. However, when viewed from the Z-axis direction of the image plane, the projection circle is a deformed ellipse.

[0078] In theory, a ray originating from the optical center Fc in the camera coordinate system passes through a contour point m(u, v) on the outline of the image plane and then falls onto the edge of the projection circle in the projection circle plane. That is, the contour point corresponds one-to-one with the edge point of the projection circle.

[0079] However, due to the point cloud data error problem of the marker points, the intersection point P of a ray emanating from the optical center Fc in the camera coordinate system and the projection circle plane cannot fall on the edge of the projection circle, such as... Figure 3 As shown, this scheme adjusts the distance from the intersection point to the projection circle to obtain the optimal camera pose information and map point 3D information.

[0080] Specifically, the steps include the following:

[0081] Obtain the hypothetical optical center F of the camera c (m1, m2, m3) and camera intrinsic parameters (f) x f y c x c y );

[0082] Based on the marker point graphic in the image frame, obtain the center O (o1, O2, O3,), the normal n (n1, n2, n3,), and the radius r of the projection circle in the world coordinate system corresponding to the marker point graphic. Construct the projection circle and the projection circle plane based on the center, normal, and radius of the projection circle.

[0083] From the light center F c Starting from (m1, m2, m3), a ray F passes through the contour point m(u, v) of the marker figure. c The parametric equation of m(x, y, z) is:

[0084] x = m1 + v1 * t

[0085] y = m² + v²*t

[0086] z = m3 + v3*t (2);

[0087] The optical center F is obtained by using the rotation and translation matrix from the world coordinate system to the camera coordinate system. c (m1, m2, m3, ):

[0088] F c (m1, m2, m3, ) = -R -1 *T (3):

[0089] Acquire light F c The direction of m, that is, the direction of the outline point m(u, v) of the marker point figure:

[0090] [v1, v2, v3] T =R*[x1, x2, x3] T (4)

[0091] in,

[0092] x1=(uc x ) / f x

[0093] x2=(Vc y ) / f y

[0094] x3 = 1.0 (5)

[0095] Obtain the point-normal equation of the projection plane with center O(o1, o2, o3) of the projection circle:

[0096] n1*(x-o1)+n2*(y-o2)+n3*(z-o3)=0 (6)

[0097] Due to light F cThe intersection of m and the projection circular plane satisfies both formula (2) and formula (6). The coefficient t can be obtained by simultaneously solving formulas (2) and (6):

[0098]

[0099] Based on the obtained coefficient t and formula (2), the ray F can be obtained. c The intersection point P(x, y, z) of m and the projection circular plane; construct the contour error function model of the marker point graphic:

[0100]

[0101] e i =||P(x, y, z)-o(o1, o2, o3,)||-r (1).

[0102] The steps for optimizing 3D contour information using a contour error function model include:

[0103] With the radius r of the projection circle fixed, the 3D information of the map points and the rotation and translation matrix RT from the world coordinate system to the camera coordinate system are optimized through the contour error function model. The 3D information of the map points includes the center O (o1, o2, o3) of the projection circle and the normal n (n1, n2, n3) of the projection circle.

[0104] Alternatively, with a fixed radius r of the projection circle and 3D map point information, the rotation and translation matrix RT from the world coordinate system to the camera coordinate system can be optimized using a contour error function model.

[0105] Alternatively, with a fixed radius r of the projection circle, the 3D information of map points and the rotation and translation matrix RT from the world coordinate system to the camera coordinate system can be optimized using a contour error function model.

[0106] Example 3

[0107] This embodiment provides a data processing method apparatus based on contour constraints, such as... Figure 4 As shown, it includes:

[0108] The marker acquisition module is used to acquire texture image data of an object with a marker patch pasted on it. The texture image data includes multiple consecutive image frames, and each image frame includes the marker pattern of the marker patch.

[0109] The marker extraction module is used to extract the 3D contour information of the marker graphic;

[0110] The error model module is used to construct the contour error function model of the marker point graphic, and to optimize the contour 3D information and pose information through the contour error function model;

[0111] The point cloud optimization module is used to stitch together 3D point clouds using optimized pose information.

[0112] In the above scheme, the existing point cloud data can be automatically corrected by defining an error function model, which improves the optimization accuracy of 3D point cloud stitching and makes the 3D point cloud stitching processing more robust.

[0113] Example 4

[0114] Figure 5 An internal structural diagram of a computer device in one embodiment is shown. This computer device can specifically be a terminal or a server. Figure 5 As shown, the computer device includes a processor, memory, and network interface connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement a contour constraint-based data processing method. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to implement the contour constraint-based data processing method. Those skilled in the art will understand that… Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0115] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the following steps:

[0116] Acquire texture image data of an object with a sticker patch, the texture image data including multiple consecutive image frames, each image frame including the sticker pattern of the sticker patch;

[0117] Extract the 3D contour information of the marker point graphic;

[0118] Construct a contour error function model for the marker point graphic, and optimize the 3D contour information and pose information through the contour error function model;

[0119] 3D point cloud stitching is performed using optimized pose information.

[0120] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, causes the processor to perform the following steps:

[0121] Acquire texture image data of an object with a sticker patch, the texture image data including multiple consecutive image frames, each image frame including the sticker pattern of the sticker patch;

[0122] Extract the 3D contour information of the marker point graphic;

[0123] Construct a contour error function model for the marker point graphic, and optimize the 3D contour information and pose information through the contour error function model;

[0124] 3D point cloud stitching is performed using optimized pose information.

[0125] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), and double data rate RAM.

[0126] SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), Rambus Direct RAM (RDRAM), Direct Memory Bus Dynamic RAM (DRDRAM), and Memory Bus Dynamic RAM (RDRAM), etc.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0128] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A data processing method based on contour constraints, characterized in that, Includes the following steps: Acquire texture image data of an object with a sticker patch, the texture image data including multiple consecutive image frames, each image frame including the sticker pattern of the sticker patch; The three-dimensional information of the contour points is obtained by depth interpolation. Construct a contour error function model for the marker point graphic, and optimize the 3D contour information and pose information through the contour error function model; 3D point cloud stitching is performed using optimized pose information; The step of constructing the contour error function model of the marker point graphic includes: Establish the geometric relationship between the camera coordinate system, the image plane coordinate system, and the projection circle plane coordinate system. The origin of the camera coordinate system is the optical center F. c (m1, m2, m3), the light rays emitted from the optical center are mapped onto the image plane coordinate system to form an image frame. The center and contour information of the marker points are extracted from the image frame. The projection plane is the plane on the object surface where the circular contour of the marker patch lies. The projection plane is not parallel to the XY plane of the image plane coordinate system. The assumed optical center F of the camera is obtained. c (m1,m2,m3) and camera intrinsic parameters (f) x ,f y ,c x ,c y ); Based on the marker point graphic in the image frame, obtain the center O (o1,o2,o3), normal n (n1,n2,n3), and radius r of the projection circle in the world coordinate system corresponding to the marker point graphic. Construct the projection circle and the projection circle plane based on the center, normal, and radius of the projection circle. From the light center F c Starting from (m1,m2,m3), a ray F passes through the contour point m(u,v) of the marker figure. c The parametric equation of m(x,y,z) is: x = m1 + v1 * t y = m² + v²*t z = m3 + v3*t (2); The optical center F is obtained by using the rotation and translation matrix from the world coordinate system to the camera coordinate system. c (m1,m2,m3): F c (m1,m2,m3)= R 1 *T (3); Acquire light F c The direction of m, that is, the direction of the outline point m(u,v) of the marker point figure: [v1,v2,v3] T =R*[x1,x2,x3] T (4) in, x1=(u c x ) / f x x2=(v c y ) / f y x3＝1.0(5) Obtain the point-normal equation of the projection plane with center O(o1,o2,o3) of the projection circle: n1*(x o1)+n2*(y o2)+n3*(z o3)=0 (6) Due to light F c The intersection of m and the projection circular plane satisfies both formula (2) and formula (6). The coefficient t can be obtained by simultaneously solving formulas (2) and (6): Based on the obtained coefficient t and formula (2), the ray F can be obtained. c The intersection point P(x,y,z) of m and the projection circular plane; Constructing the contour error function model of the marker point graphic: 。 2. The data processing method based on contour constraints as described in claim 1, characterized in that, The step of optimizing the 3D contour information using the contour error function model includes: With the radius r of the projection circle fixed and the 3D information of the map points fixed, the rotation and translation matrix RT from the world coordinate system to the camera coordinate system is optimized by the contour error function model. The 3D information of the map points includes the center O(o1,o2,o3) of the projection circle and the normal n(n1,n2,n3) of the projection circle.

3. The data processing method based on contour constraints as described in claim 1, characterized in that, The step of optimizing the 3D contour information using the contour error function model includes: With the radius r of the projection circle fixed, the 3D information of the map points and the rotation and translation matrix RT from the world coordinate system to the camera coordinate system are optimized through the contour error function model. The 3D information of the map points includes the center O(o1,o2,o3) of the projection circle and the normal n(n1,n2,n3) of the projection circle.

4. The data processing method based on contour constraints as described in claim 1, characterized in that, The step of optimizing the 3D contour information using the contour error function model includes: The radius r of the fixed projection circle is optimized by the contour error function model, the 3D information of the map points and the rotation and translation matrix RT from the world coordinate system to the camera coordinate system. The 3D information of the map points includes the center O(o1,o2,o3) of the projection circle and the normal n(n1,n2,n3) of the projection circle.

5. The data processing method based on contour constraints as described in claim 1, characterized in that, Texture image data of an object with affixed marker patches is acquired using a handheld 3D scanner.

6. A data processing device based on contour constraints, characterized in that, The apparatus for applying the contour constraint-based data processing method according to any one of claims 1-5, the apparatus comprising: The marker acquisition module is used to acquire texture image data of an object with a marker patch pasted on it. The texture image data includes multiple consecutive image frames, and each image frame includes the marker pattern of the marker patch. The marker point extraction module is used to obtain the three-dimensional information of contour points through depth interpolation. The error model module is used to construct the contour error function model of the marker point graphic, and to optimize the contour 3D information and pose information through the contour error function model; The point cloud optimization module is used to stitch together 3D point clouds using optimized pose information. The error model module is also used for: Establish the geometric relationship between the camera coordinate system, the image plane coordinate system, and the projection circle plane coordinate system. The origin of the camera coordinate system is the optical center F. c (m1,m2,m3), the light rays emitted from the optical center are mapped onto the image plane coordinate system to form an image frame. The center and outline information of the marker point are extracted from the image frame. The projection circular plane is the plane on the object surface where the outline of the marker point patch is located. The projection circular plane is not parallel to the XY plane of the image plane coordinate system. Obtain the hypothetical optical center F of the camera c (m1,m2,m3) and camera intrinsic parameters (f) x ,f y ,c x ,c y ); Based on the marker point graphic in the image frame, obtain the center O (o1,o2,o3), normal n (n1,n2,n3), and radius r of the projection circle in the world coordinate system corresponding to the marker point graphic. Construct the projection circle and the projection circle plane based on the center, normal, and radius of the projection circle. From the light center F c Starting from (m1,m2,m3), a ray F passes through the contour point m(u,v) of the marker figure. c The parametric equation of m(x,y,z) is: x = m1 + v1 * t y = m² + v²*t z = m3 + v3*t (2); The optical center F is obtained by using the rotation and translation matrix from the world coordinate system to the camera coordinate system. c (m1,m2,m3): F c (m1,m2,m3)= R 1 *T (3); Acquire light F c The direction of m, that is, the direction of the outline point m(u,v) of the marker point figure: [v1,v2,v3] T =R*[x1,x2,x3] T (4) in, x1=(u c x ) / f x x2=(v c y ) / f y x3＝1.0(5) Obtain the point-normal equation of the projection plane with center O(o1,o2,o3) of the projection circle: n1*(x o1)+n2*(y o2)+n3*(z o3)=0 (6) Due to light F c The intersection of m and the projection circular plane satisfies both formula (2) and formula (6). The coefficient t can be obtained by simultaneously solving formulas (2) and (6): Based on the obtained coefficient t and formula (2), the ray F can be obtained. c The intersection point P(x,y,z) of m and the projection circular plane; Constructing the contour error function model of the marker point graphic: 。 7. A computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the steps of the method as claimed in any one of claims 1 to 5.

8. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method as claimed in any one of claims 1 to 5.

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