Height Calibration Method, Device, Equipment and Medium for 3D Laser Line Scan Camera

Abstract

The present invention provides a method, device, computer device and storage medium for height calibration of a 3D laser line scanning camera. The above method includes: adjusting the calibration platform device; vertically placing the calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line scanning camera, obtaining a captured central image of the light stripe and extracting the central coordinates of the light stripe; controlling the stepper motor to move the calibration plane forward by a fixed step length, obtaining multiple target central images of the light stripe captured by the 3D laser line scanning camera and extracting the target central coordinates of the light stripe; setting the height for each target central image of the light stripe to obtain height data; determining the calibration parameter results corresponding to the newly obtained central image of the light stripe based on the target central coordinates of the light stripe and the height data; constructing a calibration look-up table based on the newly obtained central image of the light stripe and the calibration parameter results. The present invention overcomes the problems of distortion and different magnification factors existing in the 3D laser line scanning camera, and improves the measurement accuracy of the 3D laser line scanning camera.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and particularly relates to a method, device, computer device and storage medium for height calibration of a 3D laser line-scanning camera. Background Art

[0002] A Scheimpflug camera is a camera that can increase the depth of field. By adopting the Scheimpflug's law, that is, the imaging plane, the lens plane, and the object plane intersect at a line, a camera that satisfies this imaging method is called a Scheimpflug camera. A 3D laser line-scanning camera is a camera that satisfies the Scheimpflug's law. It uses a laser to emit red light or blue light onto an object, and the photosensitive CMOS images the laser on the object surface, but does not image other positions on the object surface.

[0003] In the prior art, for the complex problems of different vertical magnification and horizontal distortion in the imaging of a 3D laser line-scanning camera, the traditional calibration scheme is to use the method of calculating the internal parameters and external parameters. This processing method is difficult to calculate the correct height in the edge area of the image because there are large distortions and different magnification ratios in the Scheimpflug's law imaging. The distortions and magnification ratios are obvious in the edge area and show no obvious pattern. In order to reduce the distortions and magnification ratios, there are strict requirements for the camera lens design, but it is also impossible to effectively solve the problems of different vertical magnification and horizontal distortion in the imaging of a 3D laser line-scanning camera. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method, device, computer device and storage medium for height calibration of a 3D laser line-scanning camera, aiming to solve the technical problem that the traditional calibration scheme of calculating internal parameters and external parameters in the prior art cannot effectively solve the problems of different vertical magnification and horizontal distortion in the imaging of a 3D laser line-scanning camera.

[0005] To achieve the above purpose, the present invention provides a method for height calibration of a 3D laser line-scanning camera, the method comprising:

[0006] Adjusting a preset calibration platform device so that the laser plane, the lens plane, and the sensor plane corresponding to the 3D laser line-scanning camera intersect at a line;

[0007] Vertically placing a preset calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line-scanning camera, obtaining a light stripe center image captured by the 3D laser line-scanning camera, and extracting the light stripe center coordinates of the light stripe center image;

[0008] Control the preset high-precision linear stepper motor to move the calibration plane forward by a fixed step length, obtain a plurality of target optical stripe center images corresponding to the preset number of steps captured by the 3D laser line scan camera, and extract the target optical stripe center coordinates of each of the target optical stripe center images;

[0009] Construct a specified image based on the target optical stripe centers of each of the target optical stripe center images, and call a preset height setting rule to set the height of the target optical stripe centers in the specified image to obtain the height data of each of the target optical stripe centers;

[0010] Based on the target optical stripe center coordinates and the height data, call a preset linear interpolation algorithm to determine the calibration parameter results corresponding to the newly obtained optical stripe centers; wherein, the number of the newly obtained optical stripe centers includes a plurality;

[0011] Construct a calibration lookup table based on the newly obtained optical stripe centers and the calibration parameter results.

[0012] Optionally, the constructing a specified image based on the target optical stripe centers of each of the target optical stripe center images, and calling a preset height setting rule to set the height of the target optical stripe centers in the specified image to obtain the height data of each of the target optical stripe centers includes:

[0013] Determine a specific optical stripe center corresponding to the image center of the specified image;

[0014] Set the height of the specific optical stripe center to 0;

[0015] Obtain the step length of the stepper motor and use the step length as a height parameter;

[0016] Based on the height parameter, use the height setting rule to set the height of the target optical stripe centers in the specified image to obtain the height data of each of the target optical stripe centers.

[0017] Optionally, the based on the target optical stripe center coordinates and the height data, calling a preset linear interpolation algorithm to determine the calibration parameter results corresponding to the newly obtained optical stripe centers includes:

[0018] Obtain the falling position information of the newly obtained optical stripe centers;

[0019] Based on the falling position information, find the specified coordinate data and specified height data of the specified optical stripe centers adjacent to the newly obtained optical stripe centers;

[0020] Based on the linear interpolation algorithm, calculate and process the specified coordinate data and the specified height data to generate the calibration parameter result corresponding to the newly acquired center of the optical stripe.

[0021] Optionally, constructing a calibration lookup table based on the newly acquired center of the optical stripe and the calibration parameter result includes:

[0022] Establish an index corresponding to the newly acquired center of the optical stripe based on a preset index establishment rule;

[0023] Construct a matching relationship between the index and the calibration parameter result;

[0024] Based on the matching relationship, perform table construction processing on the index and the calibration parameter result in a key-value manner to obtain the calibration lookup table.

[0025] Optionally, after constructing the calibration lookup table based on the newly acquired center of the optical stripe and the calibration parameter result, the method further includes:

[0026] Obtain the depth of field data to be measured; and,

[0027] Obtain the field of view data to be measured;

[0028] Based on the depth of field data to be measured and the field of view data to be measured, optimize the calibration lookup table to obtain a target calibration lookup table;

[0029] Store the target calibration lookup table.

[0030] Optionally, optimizing the calibration lookup table based on the depth of field data to be measured and the field of view data to be measured to obtain a target calibration lookup table includes:

[0031] Obtain a preset depth of field mapping data table;

[0032] Query the specified number of rows corresponding to the depth of field data to be measured from the depth of field mapping data table;

[0033] Based on the specified number of rows and the field of view data to be measured, optimize the calibration lookup table to obtain the target calibration lookup table.

[0034] Optionally, storing the target calibration lookup table includes:

[0035] Determine the target storage medium corresponding to the target calibration lookup table;

[0036] Obtain the storage location information corresponding to the target storage medium;

[0037] Based on the storage location information, store the target calibration lookup table into the target storage medium.

[0038] In addition, to achieve the above object, the present invention further provides a height calibration device for a 3D laser line scanning camera, and the height calibration device for the 3D laser line scanning camera includes:

[0039] An adjustment module, configured to perform adjustment processing on a preset calibration platform device so that a laser plane, a lens plane, and a sensor plane corresponding to the 3D laser line scanning camera intersect at a line;

[0040] A first processing module, configured to vertically place a preset calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line scanning camera, obtain a light stripe center image captured by the 3D laser line scanning camera, and extract the light stripe center coordinates of the light stripe center image;

[0041] A second processing module, configured to control a preset high-precision linear stepping motor to move the calibration plane forward by a fixed step length, obtain a plurality of target light stripe center images corresponding to a preset number of stepping times captured by the 3D laser line scanning camera, and extract the target light stripe center coordinates of each of the target light stripe center images;

[0042] A setting module, configured to construct a specified image based on the target light stripe centers of each of the target light stripe center images, and call a preset height setting rule to set the heights of the target light stripe centers in the specified image to obtain the height data of each of the target light stripe centers;

[0043] A determination module, configured to call a preset linear interpolation algorithm based on the target light stripe center coordinates and the height data to determine a calibration parameter result corresponding to a newly obtained light stripe center; wherein, the number of the newly obtained light stripe centers includes a plurality;

[0044] A construction module, configured to construct a calibration lookup table based on the newly obtained light stripe centers and the calibration parameter results.

[0045] To solve the above technical problems, an embodiment of the present application further provides a computer device, which adopts the following technical solutions:

[0046] Perform adjustment processing on a preset calibration platform device so that a laser plane, a lens plane, and a sensor plane corresponding to the 3D laser line scanning camera intersect at a line;

[0047] Vertically place a preset calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line scanning camera, obtain a light stripe center image captured by the 3D laser line scanning camera, and extract the light stripe center coordinates of the light stripe center image;

[0048] Control the preset high-precision linear stepper motor to move the calibration plane forward by a fixed step, obtain a plurality of target optical stripe center images corresponding to the preset number of steps captured by the 3D laser line scan camera, and extract the target optical stripe center coordinates of each of the target optical stripe center images;

[0049] Construct a specified image based on the target optical stripe centers of each of the target optical stripe center images, and call the preset height setting rule to set the height of the target optical stripe centers in the specified image to obtain the height data of each of the target optical stripe centers;

[0050] Based on the target optical stripe center coordinates and the height data, call the preset linear interpolation algorithm to determine the calibration parameter results corresponding to the newly obtained optical stripe centers; wherein, the number of the newly obtained optical stripe centers includes a plurality;

[0051] Construct a calibration lookup table based on the newly obtained optical stripe centers and the calibration parameter results.

[0052] To solve the above technical problems, an embodiment of the present application further provides a computer-readable storage medium, adopting the following technical solutions:

[0053] Adjust the preset calibration platform device so that the laser plane, the lens plane, and the sensor plane corresponding to the 3D laser line scan camera intersect at a line;

[0054] Vertically place the preset calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line scan camera, obtain an optical stripe center image captured by the 3D laser line scan camera, and extract the optical stripe center coordinates of the optical stripe center image;

[0055] Control the preset high-precision linear stepper motor to move the calibration plane forward by a fixed step, obtain a plurality of target optical stripe center images corresponding to the preset number of steps captured by the 3D laser line scan camera, and extract the target optical stripe center coordinates of each of the target optical stripe center images;

[0056] Construct a specified image based on the target optical stripe centers of each of the target optical stripe center images, and call the preset height setting rule to set the height of the target optical stripe centers in the specified image to obtain the height data of each of the target optical stripe centers;

[0057] Based on the target optical stripe center coordinates and the height data, call the preset linear interpolation algorithm to determine the calibration parameter results corresponding to the newly obtained optical stripe centers; wherein, the number of the newly obtained optical stripe centers includes a plurality;

[0058] Construct a calibration look-up table based on the newly obtained center of the optical stripe and the result of the calibration parameters.

[0059] Compared with the prior art, the embodiments of the present application mainly have the following beneficial effects:

[0060] The present invention provides a height calibration method, device, computer device and storage medium for a 3D laser line-scanning camera. The above method includes: adjusting a preset calibration platform device so that the laser plane, lens plane, and sensor plane corresponding to the 3D laser line-scanning camera intersect at a line; vertically placing a preset calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line-scanning camera, obtaining an optical stripe center image captured by the 3D laser line-scanning camera, and extracting the optical stripe center coordinates of the optical stripe center image; controlling a preset high-precision linear stepping motor to move the calibration plane forward by a fixed step length, obtaining a plurality of target optical stripe center images corresponding to a preset number of stepping times captured by the 3D laser line-scanning camera, and extracting the target optical stripe center coordinates of each of the target optical stripe center images; constructing a specified image based on the target optical stripe centers of each of the target optical stripe center images, and invoking a preset height setting rule to set the height of the target optical stripe centers in the specified image to obtain the height data of each of the target optical stripe centers; based on the target optical stripe center coordinates and the height data, invoking a preset linear interpolation algorithm to determine the calibration parameter result corresponding to the newly obtained center of the optical stripe; wherein, the number of the newly obtained centers of the optical stripe includes a plurality; constructing a calibration look-up table based on the newly obtained center of the optical stripe and the result of the calibration parameters. Different from the traditional calibration scheme that calculates the internal parameters and external parameters, the present application can effectively overcome the problems that the traditional calibration scheme cannot effectively solve the problems of different vertical magnification ratios and left-right distortion in the imaging of the 3D laser line-scanning camera by combining the use of a high-precision linear stepping motor and a calibration look-up table. By taking into account the characteristics of different vertical magnification ratios and left-right distortion in the imaging of the 3D laser line-scanning camera in the calibration look-up table, during the imaging process, the 3D laser line-scanning camera can correct the original image in real time according to the calibration look-up table, and eliminate or reduce adverse factors such as different vertical magnification ratios and left-right distortion to the lowest level through the mapping relationship in the look-up table, so as to obtain more accurate and distortion-free image data, and thus effectively improve the measurement accuracy of the 3D laser line-scanning camera. Description of the Drawings

[0061] To more clearly illustrate the solutions in this application, the following provides a brief introduction to the drawings required for the description of the embodiments of this application. Obviously, the drawings described below are some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0062] Figure 1 is an exemplary system architecture diagram to which this application can be applied;

[0063] Figure 2 is a flowchart of the height calibration method for the 3D laser line scanning camera provided by the embodiments of the present invention;

[0064] Figure 3 is a schematic structural diagram of an embodiment of the height calibration device for the 3D laser line scanning camera according to this application;

[0065] Figure 4 is a basic structural block diagram of the computer device in this embodiment. Detailed implementation manners

[0066] The height calibration method for the 3D laser line scanning camera provided by the embodiments of the present invention is applied to the height calibration device of the 3D laser line scanning camera. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application; the terms used in the description of the present application in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification, claims, and drawings of this application are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification, claims, or drawings of this application are used to distinguish different objects and are not used to describe a specific order.

[0067] Referring to "embodiments" herein means that specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0068] To enable those skilled in the technical field to better understand the solutions of this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the drawings.

[0069] Such as Figure 1As shown, the system architecture 100 may include terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 is used to provide a medium for communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, etc.

[0070] Users can use the terminal devices 101, 102, 103 to interact with the server 105 through the network 104 to receive or send messages, etc. Various communication client applications may be installed on the terminal devices 101, 102, 103, such as web browser applications, shopping applications, search applications, instant messaging tools, email clients, social online platform software, etc.

[0071] The terminal devices 101, 102, 103 may be various electronic devices with a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, e-book readers, MP3 players (Moving Picture Experts Group Audio Layer III), MP4 (Moving Picture Experts Group Audio Layer IV) players, laptop computers, and desktop computers, etc.

[0072] The server 105 may be a server providing various services, such as a background server that supports the pages displayed on the terminal devices 101, 102, 103.

[0073] It should be noted that the height calibration method of the 3D laser line scan camera provided by the embodiments of the present application is generally executed by the server / terminal device. Correspondingly, the height calibration device of the 3D laser line scan camera is generally set in the server / terminal device.

[0074] It should be understood that Figure 1 the numbers of the terminal devices, the network, and the server in

[0075] Continue to refer to Figure 2 , which shows a flowchart of an embodiment of the height calibration method of the 3D laser line scan camera proposed by the present application. The embodiments of the present application may acquire and process relevant data based on artificial intelligence technology.

[0076] The height calibration method of the 3D laser line scan camera provided by the embodiments of the present invention includes the following steps:

[0077] S210. Adjust the preset calibration platform device so that the laser plane, lens plane, and sensor plane corresponding to the 3D laser line-scanning camera intersect at a line.

[0078] In this step, the 3D laser line-scanning camera generates the height information of an object cross-section in one shot and generates 3D information by continuously moving and stitching multiple cross-sections. The calibration system that converts image pixel coordinates into 3D physical coordinates is an essential part of the 3D laser line-scanning camera and directly affects the measurement accuracy and measurement range of the camera. Camera calibration is a process of converting from the world coordinate system to the camera coordinate system (optical 3D imaging system) and then from the camera coordinate system to the image coordinate system. Among them, the image coordinate system is mainly used to describe the object's coordinates from the camera during the imaging process.

[0079] Specifically, the present invention can be applied to the business scenario of calibrating a 3D laser line-scanning camera, and the execution subject of the present invention can specifically be a calibration platform device with a calibration function for the 3D laser line-scanning camera. Among them, by adjusting the calibration platform device so that the laser plane, lens plane, and sensor plane corresponding to the 3D laser line-scanning camera intersect at a line, the 3D laser line-scanning camera can satisfy the Scheimpflug's law and be clearly imaged on the host computer.

[0080] S220. Vertically place the preset calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line-scanning camera, obtain a light stripe center image captured by the 3D laser line-scanning camera, and extract the light stripe center coordinates of the light stripe center image.

[0081] In this step, the above calibration plane can specifically adopt a smooth calibration plane. Among them, in the actual effective effect, the red color in the light stripe center image represents the light stripe center. When using the 3D laser line-scanning camera to capture a light stripe center image, the light stripe center coordinates corresponding to the light stripe center can be extracted synchronously.

[0082] S230. Control the preset high-precision linear stepping motor to move the calibration plane forward by a fixed step length, obtain multiple target light stripe center images corresponding to the preset number of stepping times captured by the 3D laser line-scanning camera, and extract the target light stripe center coordinates of each target light stripe center image.

[0083] In this step, due to the differences in distortion and magnification in the vertical and horizontal directions of the 3D laser line-scanning camera, the traditional algorithms for calculating internal and external parameters cannot solve the problems of different distortion and magnification. However, calibrating the 3D laser line-scanning camera by using a stepper motor and a lookup table can effectively solve the problems that the traditional algorithms for calculating internal and external parameters cannot solve. Among them, the selection of the value of the above fixed step size is not specifically limited and can be set according to the actual requirements of camera calibration tests. In addition, the selection of the value of the above number of stepping times is not specifically limited and can be set according to the actual requirements of camera calibration tests. Exemplarily, if the number of stepping times is N, by controlling the stepper motor to move the calibration plane forward by a fixed step size, N target optical stripe center images obtained by shooting through the 3D laser line-scanning camera can be acquired, and N groups of target optical stripe center coordinates corresponding to each of the target optical stripe center images can be extracted.

[0084] S240, construct a specified image based on the target optical stripe centers of each of the target optical stripe center images, and call a preset height setting rule to set the heights of the target optical stripe centers in the specified image to obtain the height data of each of the target optical stripe centers.

[0085] In this step, the above specified image can be obtained by stitching the target optical stripe centers in the N target optical stripe center images obtained by shooting through the 3D laser line-scanning camera. Among them, for the specific implementation process of constructing the specified image based on the target optical stripe centers of each of the target optical stripe center images, calling a preset height setting rule to set the heights of the target optical stripe centers in the specified image, and obtaining the height data of each of the target optical stripe centers, this application will further describe the details in subsequent specific embodiments and will not elaborate too much here.

[0086] S250, based on the target optical stripe center coordinates and the height data, call a preset linear interpolation algorithm to determine the calibration parameter results corresponding to the newly acquired optical stripe centers; where the number of the newly acquired optical stripe centers includes multiple.

[0087] In this step, for the specific implementation process of determining the calibration parameter results corresponding to the newly acquired optical stripe centers based on the target optical stripe center coordinates and the height data by calling a preset linear interpolation algorithm, this application will further describe the details in subsequent specific embodiments and will not elaborate too much here.

[0088] S260, construct a calibration lookup table based on the newly acquired optical stripe centers and the calibration parameter results.

[0089] In this step, for the specific implementation process of constructing the calibration lookup table based on the newly obtained optical stripe center and the calibration parameter results, this application will further describe the details in subsequent specific embodiments and will not elaborate too much here.

[0090] In the embodiment of the present invention, by adjusting the preset calibration platform device, the laser plane, the lens plane, and the sensor plane corresponding to the 3D laser line-scanning camera are intersected in a line; then the preset calibration plane is vertically placed perpendicular to the laser plane and located at the depth of field of the 3D laser line-scanning camera, and an optical stripe center image obtained by shooting through the 3D laser line-scanning camera is acquired, and the optical stripe center coordinates of the optical stripe center image are extracted; then the preset high-precision linear stepping motor is controlled to move the calibration plane forward with a fixed step length, and a plurality of target optical stripe center images corresponding to the preset number of stepping times are acquired by shooting through the 3D laser line-scanning camera, and the target optical stripe center coordinates of each target optical stripe center image are extracted; subsequently, a specified image is constructed based on the target optical stripe centers of each target optical stripe center image, and the preset height setting rule is called to set the height of the target optical stripe centers in the specified image, and the height data of each target optical stripe center is obtained; further, based on the target optical stripe center coordinates and the height data, the preset linear interpolation algorithm is called to determine the calibration parameter results corresponding to the newly obtained optical stripe center; wherein, the number of the newly obtained optical stripe centers includes a plurality; finally, a calibration lookup table is constructed based on the newly obtained optical stripe center and the calibration parameter results. Different from the traditional calibration scheme that calculates the internal parameters and external parameters, this application can effectively overcome the problem that the traditional calibration scheme cannot effectively solve the problem that the 3D laser line-scanning camera imaging has different vertical magnification ratios and left-right distortion by combining the use of a high-precision linear stepping motor and a calibration lookup table. By taking into account the characteristics of different vertical magnification ratios and left-right distortion in the 3D laser line-scanning camera imaging in the calibration lookup table, during the imaging process, the 3D laser line-scanning camera can correct the original image in real time according to the calibration lookup table, and eliminate or reduce adverse factors such as different vertical magnification ratios and left-right distortion to the lowest level through the mapping relationship in the lookup table, so as to obtain more accurate and undistorted image data, and thus effectively improve the measurement accuracy of the 3D laser line-scanning camera.

[0091] Optionally, the constructing a specified image based on the target optical stripe centers of each target optical stripe center image, and calling the preset height setting rule to set the height of the target optical stripe centers in the specified image, and obtaining the height data of each target optical stripe center includes:

[0092] Determine a specific optical stripe center corresponding to the image center of the specified image;

[0093] In this step, the specific optical stripe center corresponding to the image center of the specified image refers to the optical stripe center close to the image center of the specified image.

[0094] Set the height of the specific optical stripe center to 0.

[0095] Obtain the step size of the stepper motor and use the step size as the height parameter.

[0096] In this step, the step size of the stepper motor can be obtained by acquiring the motor data of the stepper motor, and then the step size of the stepper motor can be queried from the acquired motor data summary.

[0097] Based on the height parameter, use the height setting rule to set the height of the target optical stripe center in the specified image to obtain the height data of each target optical stripe center.

[0098] In this step, the content of the height setting rule specifically includes: after setting the height of the specific optical stripe center to 0, set the heights above the specific optical stripe center to h, 2h,..., k*h respectively, and set the heights below the specific optical stripe center to -h, -2h,..., -j*h respectively. The height values corresponding from top to bottom in the specified image are k*h,..., 2h, h, 0, -h, -2h,..., -jh.

[0099] In this embodiment, by determining the specific optical stripe center corresponding to the image center of the specified image; then setting the height of the specific optical stripe center to 0; then obtaining the step size of the stepper motor and using the step size as the height parameter; subsequently, based on the height parameter, use the height setting rule to set the height of the target optical stripe center in the specified image to obtain the height data of each target optical stripe center. In this application, by setting the height of the specific optical stripe center corresponding to the image center of the specified image to 0, and obtaining the step size of the stepper motor and using it as the height parameter, and then based on the use of the height setting rule, it is possible to quickly and intelligently set the height of the target optical stripe center in the specified image, so as to obtain the height data of each target optical stripe center, effectively improving the processing efficiency of setting the height of the target optical stripe center in the specified image and ensuring the data accuracy of the obtained height data of the target optical stripe center.

[0100] Optionally, the calling of the preset linear interpolation algorithm based on the target optical stripe center coordinates and the height data to determine the calibration parameter result corresponding to the newly acquired optical stripe center includes:

[0101] Obtain the falling position information of the newly acquired optical stripe center.

[0102] In this step, the above-mentioned falling position information may refer to the position information where the center of the optical stripe newly captured by the 3D laser line-scanning camera falls within the specified image.

[0103] Based on the falling position information, find the specified coordinate data and specified height data of the specified optical stripe center adjacent to the newly obtained optical stripe center.

[0104] In this step, according to the falling position information of the newly obtained optical stripe center, first determine the specified optical stripe center adjacent to the newly obtained optical stripe center, and then extract the specified coordinate data and specified height data matching the specified optical stripe center.

[0105] Perform calculation processing on the specified coordinate data and the specified height data based on the linear interpolation algorithm to generate the calibration parameter result corresponding to the newly obtained optical stripe center.

[0106] In this step, the above-mentioned linear interpolation algorithm may specifically adopt a two-point interpolation algorithm. The specified coordinate data and the specified height data can be calculated and processed using the two-point interpolation algorithm to obtain the corresponding result, and this obtained result is used as the calibration parameter result corresponding to the newly obtained optical stripe center.

[0107] In this embodiment, by obtaining the falling position information of the newly obtained optical stripe center; then, based on the falling position information, finding the specified coordinate data and specified height data of the specified optical stripe center adjacent to the newly obtained optical stripe center; subsequently, performing calculation processing on the specified coordinate data and the specified height data based on the linear interpolation algorithm to generate the calibration parameter result corresponding to the newly obtained optical stripe center. In this application, by finding the specified coordinate data and specified height data of the specified optical stripe center adjacent to the newly obtained optical stripe center according to the obtained falling position information of the newly obtained optical stripe center, and then performing calculation processing on the specified coordinate data and the specified height data based on the use of the linear interpolation algorithm, it is possible to quickly and accurately generate the calibration parameter result corresponding to the newly obtained optical stripe center, improve the generation efficiency of the calibration parameter result, and ensure the data accuracy of the obtained calibration parameter result.

[0108] Optionally, constructing a calibration lookup table based on the newly obtained optical stripe center and the calibration parameter result includes:

[0109] Establish an index corresponding to the newly obtained optical stripe center based on a preset index establishment rule.

[0110] In this step, the content of the above indexing rule may specifically include: establishing an index for the data that needs to construct the calibration lookup table, establishing a corresponding index for each column, specifically sorting a column from top to bottom as A1, A2,..., An. And each row position corresponds to an index. For the row positions less than or equal to A2, their corresponding indexes are all 2 (each index represents reading the current value and adjacent values), for the row positions less than or equal to A3, and the corresponding index is 3, for the row positions greater than or equal to An, their corresponding index is n. The indexes from 1 to n represent the storage addresses of the calibration lookup table. Store the indexes of each column in the FPGA BlockRAM. When the extreme point of a column (there is only one extreme point in one column) arrives, use the extreme point as the access address of the BlockRAM, output the corresponding index in the next cycle, use the index as the access address of the calibration lookup table, read the corresponding lookup table data, and then calculate the corresponding result according to the two-point interpolation algorithm as the corresponding calibration parameter result.

[0111] Construct a matching relationship between the index and the calibration parameter result.

[0112] In this step, the above matching relationship refers to a one-to-one correspondence between the index and the calibration parameter result.

[0113] Based on the matching relationship, use the key-value method to perform table construction processing on the index and the calibration parameter result to obtain the calibration lookup table.

[0114] In this step, the above key-value method means that by using the index as the key in the calibration lookup table and using the calibration parameter result that has a matching relationship with the index as the key value corresponding to the key in the calibration lookup table, the construction processing of the calibration lookup table is completed.

[0115] In this embodiment, an index corresponding to the newly obtained optical stripe center is established based on a preset indexing rule; then a matching relationship between the index and the calibration parameter result is constructed; subsequently, based on the matching relationship, the key-value method is used to perform table construction processing on the index and the calibration parameter result to obtain the calibration lookup table. Based on the use of the indexing rule and the key-value method in this application, table construction processing is performed on the index and the calibration parameter result with a matching relationship, which can realize quickly and intelligently constructing the corresponding calibration lookup table, improve the construction efficiency of the calibration lookup table, and ensure the accuracy of the constructed calibration lookup table.

[0116] Optionally, after constructing the calibration lookup table based on the newly obtained optical stripe center and the calibration parameter result, the method further includes:

[0117] Obtain the depth of field data to be measured.

[0118] In this step, theoretically, when the storage space is not limited, the more data in the calibration lookup table and the storage of the corresponding index for each column, the higher the accuracy of the Z-axis calibration of the 3D laser line-scanning camera. However, when the FPGA model is selected for the 3D laser line-scanning camera, the upper limit of the number of BlockRams available for the Z-axis calibration of the 3D laser line-scanning camera is determined, which is not only limited by the maximum number of BlockRams but also includes the difficulty of placement and routing during the version compilation process. The algorithm of the 3D laser line-scanning camera is generally implemented through high-level FPGA programming and can be further processed according to the characteristics of the FPGA to improve the measurement accuracy of the 3D laser line-scanning camera. Specifically, when the depth of field or the field of view does not require the full frame, the measurement performance can be improved by increasing the data density of the calibration lookup table, that is, by dynamically loading the FPGA calibration data according to the actual measured depth of field range and field of view range. This can significantly increase the data density of the calibration lookup table and thus improve the measurement accuracy of the 3D laser line-scanning camera. Among them, the above-mentioned depth of field data to be measured refers to the depth of field range data that actually needs to be measured, and the depth of field data to be measured can be determined according to the actual required depth of field range.

[0119] Obtain the field of view data to be measured.

[0120] In this step, the above-mentioned field of view data to be measured refers to the field of view range data that actually needs to be measured, and the field of view data to be measured can be determined according to the actual required field of view range.

[0121] Based on the depth of field data to be measured and the field of view data to be measured, optimize the calibration lookup table to obtain a target calibration lookup table.

[0122] In this step, for the specific implementation process of optimizing the calibration lookup table based on the depth of field data to be measured and the field of view data to be measured to obtain a target calibration lookup table, this application will further describe the details in subsequent specific embodiments and will not elaborate too much here.

[0123] Store the target calibration lookup table.

[0124] In this step, for the specific implementation process of storing the target calibration lookup table, this application will further describe the details in subsequent specific embodiments and will not elaborate too much here.

[0125] In this embodiment, by obtaining the depth-of-field data to be measured; and obtaining the field-of-view data to be measured; then, based on the depth-of-field data to be measured and the field-of-view data to be measured, optimizing the calibration look-up table to obtain a target calibration look-up table; and subsequently storing the target calibration look-up table. By using the obtained depth-of-field data to be measured and the field-of-view data to be measured, the present application can optimize the calibration look-up table to obtain a target calibration look-up table, so that in the case where the full frame is not required for the depth of field or the field of view, the calibration look-up table can be optimized by using the depth-of-field data to be measured and the field-of-view data to be measured to increase the data density of the calibration look-up table, thereby effectively improving the measurement performance and measurement accuracy of the 3D laser line-scanning camera.

[0126] Optionally, the optimizing the calibration look-up table based on the depth-of-field data to be measured and the field-of-view data to be measured to obtain a target calibration look-up table includes:

[0127] Obtain a preset depth-of-field mapping data table.

[0128] In this step, the above-mentioned depth-of-field mapping data table is a data table recorded with the mapping relationship between the measured depth-of-field range and the number of rows of the calibration look-up table, which is pre-constructed during the experimental process of the measurement accuracy test of the actual 3D laser line-scanning camera and meets the requirement of improving the measurement accuracy of the 3D laser line-scanning camera.

[0129] Query the specified number of rows corresponding to the depth-of-field data to be measured from the depth-of-field mapping data table.

[0130] In this step, the depth-of-field data to be measured can be used to query the depth-of-field mapping data table, so as to find the specified depth-of-field range that matches the depth-of-field data to be measured from the depth-of-field mapping data table, and then extract the number of rows that has a mapping relationship with the specified depth-of-field range from the depth-of-field mapping data table to obtain the above-mentioned specified number of rows.

[0131] Optimize the calibration look-up table based on the specified number of rows and the field-of-view data to be measured to obtain the target calibration look-up table.

[0132] In this step, the calibration lookup table is optimized by using the specified number of rows corresponding to the visual field data to be measured and the specified number of columns, so as to increase the data density of the target calibration lookup table after optimization, which is conducive to improving the measurement performance and accuracy of the 3D laser line scan camera. Among them, in the actual experiment of measuring the accuracy of the 3D laser line scan camera, based on the requirement of improving the measurement accuracy of the 3D laser line scan camera, the data mapping relationship between the measured visual field range and the number of columns of the calibration lookup table is pre-constructed and stored. Subsequently, by querying this data mapping relationship, the number of columns having a mapping relationship with the visual field data to be measured can be obtained and used as the above-mentioned specified number of columns.

[0133] In this embodiment, a preset depth of field mapping data table is obtained; then the specified number of rows corresponding to the depth of field data to be measured is queried from the depth of field mapping data table; subsequently, the calibration lookup table is optimized based on the specified number of rows and the visual field data to be measured to obtain the target calibration lookup table. By using the depth of field mapping data table to find the specified number of rows corresponding to the depth of field data to be measured, the calibration lookup table can be optimized by using the specified number of rows and the visual field data to be measured to obtain the target calibration lookup table, so that in the case where the depth of field or the visual field does not require the full frame, the calibration lookup table can be optimized by using the depth of field data to be measured and the visual field data to be measured to increase the data density of the calibration lookup table, thereby effectively improving the measurement performance and accuracy of the 3D laser line scan camera.

[0134] Optionally, storing the target calibration lookup table includes:

[0135] Determine the target storage medium corresponding to the target calibration lookup table.

[0136] In this step, there is no specific limitation on the selection of the above-mentioned target storage medium, which can be determined according to the actual business usage requirements. Exemplarily, the target storage medium can adopt any one of a local database, a cloud server, a network disk, a blockchain, etc. Among them, it is preferred to use a blockchain as the above-mentioned target storage medium. By using a blockchain to store and manage the target calibration lookup table, the security and immutability of the target calibration lookup table can be effectively guaranteed.

[0137] Obtain the storage location information corresponding to the target storage medium.

[0138] In this step, the above-mentioned storage location information refers to the location of the target storage medium, for example, it can refer to the communication address of the target storage medium.

[0139] Based on the storage location information, store the target calibration look-up table in the target storage medium.

[0140] In this step, after obtaining the storage location information corresponding to the target storage medium, a communication connection relationship can be established with the target storage medium according to this storage location information, so as to realize storing the target calibration look-up table in the target storage medium.

[0141] In this embodiment, by determining the target storage medium corresponding to the target calibration look-up table; then obtaining the storage location information corresponding to the target storage medium; subsequently, based on the storage location information, store the target calibration look-up table in the target storage medium. After the calibration look-up table is optimized to obtain the target calibration look-up table in this application, the target storage medium corresponding to the target calibration look-up table will also be intelligently used to store the target calibration look-up table, which can effectively ensure the data security and non-tamperability of the target calibration look-up table, and improve the storage intelligence of the target calibration look-up table.

[0142] Further referring to Figure 3 As an implementation of the method shown above Figure 2 In an embodiment of a height calibration device 300 for a 3D laser line-scanning camera provided by the present application, this device embodiment corresponds to Figure 2 the method embodiment shown, and this device can be specifically applied to various electronic devices.

[0143] A height calibration device 300 for a 3D laser line-scanning camera provided by an embodiment of the present invention, the height calibration device 300 for a 3D laser line-scanning camera includes:

[0144] An adjustment module 310, configured to perform adjustment processing on a preset calibration platform device so that the laser plane, the lens plane, and the sensor plane corresponding to the 3D laser line-scanning camera intersect at a line;

[0145] A first processing module 320, configured to vertically place a preset calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line-scanning camera, obtain a light stripe center image captured by the 3D laser line-scanning camera, and extract the light stripe center coordinates of the light stripe center image;

[0146] A second processing module 330, configured to control a preset high-precision linear stepping motor to move the calibration plane forward by a fixed step length, obtain a plurality of target light stripe center images corresponding to a preset number of stepping times captured by the 3D laser line-scanning camera, and extract the target light stripe center coordinates of each of the target light stripe center images;

[0147] A setting module 340, configured to construct a specified image based on the target optical stripe centers of each of the target optical stripe center images, and call a preset height setting rule to set the heights of the target optical stripe centers in the specified image, so as to obtain the height data of each of the target optical stripe centers;

[0148] A determining module 350, configured to call a preset linear interpolation algorithm to determine a calibration parameter result corresponding to a newly acquired optical stripe center based on the target optical stripe center coordinates and the height data; wherein, the number of the newly acquired optical stripe centers includes a plurality;

[0149] A constructing module 360, configured to construct a calibration lookup table based on the newly acquired optical stripe centers and the calibration parameter results.

[0150] Optionally, the setting module 340 includes:

[0151] A first determining sub-module, configured to determine a specific optical stripe center corresponding to the image center of the specified image;

[0152] A first setting sub-module, configured to set the height of the specific optical stripe center to 0;

[0153] A first obtaining sub-module, configured to obtain the step size of the stepping motor and use the step size as a height parameter;

[0154] A second setting sub-module, configured to, based on the height parameter, use the height setting rule to set the heights of the target optical stripe centers in the specified image, so as to obtain the height data of each of the target optical stripe centers.

[0155] Optionally, the determining module 350 includes:

[0156] A second obtaining sub-module, configured to obtain the falling position information of the newly acquired optical stripe center;

[0157] A searching sub-module, configured to, based on the falling position information, search for specified coordinate data and specified height data of a specified optical stripe center adjacent to the newly acquired optical stripe center;

[0158] A calculating sub-module, configured to perform calculation processing on the specified coordinate data and the specified height data based on the linear interpolation algorithm to generate the calibration parameter result corresponding to the newly acquired optical stripe center.

[0159] Optionally, the constructing module 360 includes:

[0160] An establishing sub-module, configured to establish an index corresponding to the newly acquired optical stripe center based on a preset index establishing rule;

[0161] The first construction sub-module is used to construct the matching relationship between the index and the calibration parameter result;

[0162] The second sub-module is used to perform table construction processing on the index and the calibration parameter result in a key-value manner based on the matching relationship to obtain the calibration lookup table.

[0163] Optionally, the height calibration device 300 of the 3D laser line-scanning camera further includes:

[0164] The first acquisition module is used to acquire the depth-of-field data to be measured;

[0165] The second acquisition module is used to acquire the field-of-view data to be measured;

[0166] The optimization module is used to perform optimization processing on the calibration lookup table based on the depth-of-field data to be measured and the field-of-view data to be measured to obtain the target calibration lookup table;

[0167] The storage module is used to store the target calibration lookup table.

[0168] Optionally, the optimization module includes:

[0169] The third acquisition sub-module is used to acquire a preset depth-of-field mapping data table;

[0170] The query sub-module is used to query the specified number of rows corresponding to the depth-of-field data to be measured from the depth-of-field mapping data table;

[0171] The processing sub-module is used to perform optimization processing on the calibration lookup table based on the specified number of rows and the field-of-view data to be measured to obtain the target calibration lookup table.

[0172] Optionally, the storage module includes:

[0173] The second determination sub-module is used to determine the target storage medium corresponding to the target calibration lookup table;

[0174] The fourth acquisition sub-module is used to acquire the storage location information corresponding to the target storage medium;

[0175] The storage sub-module is used to store the target calibration lookup table into the target storage medium based on the storage location information.

[0176] To solve the above technical problems, an embodiment of the present application also provides a computer device. For details, please refer to Figure 4 , Figure 4 which is the basic structural block diagram of the computer device in this embodiment.

[0177] The computer device 4 includes a memory 41, a processor 42, and a network interface 43 that are communicatively connected to each other via a system bus. It should be noted that only the computer device 4 with components 41-43 is shown in the figure, but it should be understood that it is not required to implement all the shown components, and more or fewer components can be alternatively implemented. Among them, those skilled in the art of this technology can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0178] The computer device can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The computer device can perform human-computer interaction with the user through means such as a keyboard, a mouse, a remote control, a touchpad, or a voice control device.

[0179] The memory 41 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, a hard disk, a multimedia card, a card-type memory (such as an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disc, etc. In some embodiments, the memory 41 can be an internal storage unit of the computer device 4, such as the hard disk or memory of the computer device 4. In other embodiments, the memory 41 can also be an external storage device of the computer device 4, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 4. Of course, the memory 41 can also include both the internal storage unit of the computer device 4 and its external storage device. In this embodiment, the memory 41 is generally used to store the operating system and various application software installed on the computer device 4, such as the program code of the height calibration method of the 3D laser line scanner. In addition, the memory 41 can also be used to temporarily store various types of data that have been output or will be output.

[0180] In some embodiments, the processor 42 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor 42 is generally used to control the overall operation of the computer device 4. In this embodiment, the processor 42 is used to run the program code stored in the memory 41 or process data, such as running the program code of the height calibration method of the 3D laser line scanner camera.

[0181] The network interface 43 may include a wireless network interface or a wired network interface. The network interface 43 is generally used to establish a communication connection between the computer device 4 and other electronic devices.

[0182] The present application also provides another implementation manner, that is, to provide a computer-readable storage medium storing the application program crash handling program, and the application program crash handling program can be executed by at least one processor, so that the at least one processor executes the steps of the height calibration method of the 3D laser line scanner camera as described above.

[0183] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general-purpose hardware online platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation manner. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to enable a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0184] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0185] Obviously, the embodiments described above are only a part of the embodiments of this application, rather than all the embodiments. The preferred embodiments of this application are shown in the accompanying drawings, but they do not limit the patent scope of this application. This application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosed content of this application more thorough and comprehensive. Although this application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements on some of the technical features. Any equivalent structure made by using the content of the specification and drawings of this application, directly or indirectly applied in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A height calibration method for a 3D laser line scan camera, characterized in that Including: Adjust the preset calibration platform device so that the laser plane, lens plane, and sensor plane corresponding to the 3D laser line scanning camera intersect at a line; Vertically place the preset calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line scanning camera, obtain a light stripe center image captured by the 3D laser line scanning camera, and extract the light stripe center coordinates of the light stripe center image; Control the preset high-precision linear stepping motor to move the calibration plane forward by a fixed step, obtain multiple target light stripe center images corresponding to the preset number of stepping times captured by the 3D laser line scanning camera, and extract the target light stripe center coordinates of each target light stripe center image; Construct a specified image based on the target light stripe centers of each target light stripe center image, and call the preset height setting rule to set the height of the target light stripe centers in the specified image to obtain the height data of each target light stripe center; Based on the target light stripe center coordinates and the height data, call the preset linear interpolation algorithm to determine the calibration parameter result corresponding to the newly obtained light stripe center; where the number of the newly obtained light stripe centers includes multiple; Construct a calibration lookup table based on the newly obtained light stripe center and the calibration parameter result; Among them, constructing a specified image based on the target light stripe centers of each target light stripe center image, and calling the preset height setting rule to set the height of the target light stripe centers in the specified image to obtain the height data of each target light stripe center, includes: Determine the specific light stripe center corresponding to the image center of the specified image; Set the height of the specific light stripe center to 0; Obtain the step size of the stepping motor and use the step size as the height parameter; Based on the height parameter, use the height setting rule to set the height of the target light stripe centers in the specified image to obtain the height data of each target light stripe center; Among them, the rule content of the height setting rule specifically includes: after setting the height of the specific light stripe center to 0, set the heights above the specific light stripe center to h, 2h,..., k*h respectively, and the heights below the specific light stripe center to -h, -2h,..., -j*h respectively. The height values corresponding from top to bottom in the specified image are k*h,..., 2h, h, 0, -h, -2h,..., -jh.

2. The method according to claim 1, wherein The calling the preset linear interpolation algorithm based on the target light stripe center coordinates and the height data to determine the calibration parameter result corresponding to the newly obtained light stripe center includes: Obtain the falling position information of the newly obtained light stripe center; Based on the falling position information, find the specified coordinate data and specified height data of the specified light stripe center adjacent to the newly obtained light stripe center; Perform calculation processing on the specified coordinate data and the specified height data based on the linear interpolation algorithm to generate the calibration parameter result corresponding to the newly obtained light stripe center.

3. The method according to claim 1, characterized in that Constructing a calibration look-up table based on the newly obtained center of the optical stripe and the result of the calibration parameters, includes: Establishing an index corresponding to the newly obtained center of the optical stripe based on a preset index establishment rule; Constructing a matching relationship between the index and the result of the calibration parameters; Based on the matching relationship, performing a table construction process on the index and the result of the calibration parameters in a key-value manner to obtain the calibration look-up table.

4. The method according to claim 1, characterized in that After constructing the calibration look-up table based on the newly obtained center of the optical stripe and the result of the calibration parameters, the method further includes: Obtaining the depth of field data to be measured; and, Obtaining the field of view data to be measured; Based on the depth of field data to be measured and the field of view data to be measured, performing an optimization process on the calibration look-up table to obtain a target calibration look-up table; Storing the target calibration look-up table.

5. The method according to claim 4, wherein Based on the depth of field data to be measured and the field of view data to be measured, performing an optimization process on the calibration look-up table to obtain a target calibration look-up table, includes: Obtaining a preset depth of field mapping data table; Querying a specified number of rows corresponding to the depth of field data to be measured from the depth of field mapping data table; Based on the specified number of rows and the field of view data to be measured, performing an optimization process on the calibration look-up table to obtain the target calibration look-up table.

6. The method according to claim 4, characterized in that Storing the target calibration look-up table, includes: Determining a target storage medium corresponding to the target calibration look-up table; Obtaining storage location information corresponding to the target storage medium; Based on the storage location information, storing the target calibration look-up table into the target storage medium.

7. A height calibration device for a 3D laser line scanning camera, characterized in that, Includes: An adjustment module, configured to perform an adjustment process on a preset calibration platform device to make the laser plane, the lens plane, and the sensor plane corresponding to the 3D laser line scan camera intersect at a line; A first processing module, configured to vertically place a preset calibration plane perpendicular to the laser plane and at the depth of field of the 3D laser line scan camera, obtain an optical stripe center image captured by the 3D laser line scan camera, and extract the optical stripe center coordinates of the optical stripe center image; A second processing module, configured to control a preset high-precision linear stepping motor to move the calibration plane forward by a fixed step length, obtain a plurality of target optical stripe center images corresponding to a preset number of stepping times captured by the 3D laser line scan camera, and extract the target optical stripe center coordinates of each of the target optical stripe center images; A setting module, configured to construct a specified image based on the target optical stripe centers of each of the target optical stripe center images, and call a preset height setting rule to set the heights of the target optical stripe centers in the specified image to obtain the height data of each of the target optical stripe centers; A determination module, configured to, based on the target optical stripe center coordinates and the height data, call a preset linear interpolation algorithm to determine the calibration parameter results corresponding to the newly obtained center of the optical stripe; wherein, the number of the newly obtained centers of the optical stripe includes a plurality; A construction module, configured to construct a calibration look-up table based on the newly obtained center of the optical stripe and the calibration parameter results; Wherein, the setting module, includes: The first determination sub-module is configured to determine a specific optical stripe center corresponding to the image center of the specified image; The first setting sub-module is configured to set the height of the specific optical stripe center to 0; The first acquisition sub-module is configured to acquire the step size of the stepper motor and use the step size as a height parameter; The second setting sub-module is configured to, based on the height parameter, use the height setting rule to perform height setting on the target optical stripe centers in the specified image to obtain the height data of each of the target optical stripe centers; Wherein, the rule content of the height setting rule specifically includes: after setting the height of the specific optical stripe center to 0, setting the heights above the specific optical stripe center to h, 2h,..., k*h respectively, and setting the heights below the specific optical stripe center to -h, -2h,..., -j*h respectively. The height values corresponding from top to bottom in the specified image are k*h,..., 2h, h, 0, -h, -2h,..., -jh.

8. A computer device, characterized in that, It includes a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the steps of the height calibration method of the 3D laser line scan camera according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, the steps of the height calibration method of the 3D laser line scan camera according to any one of claims 1 to 6 are implemented.

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