Laser plane calibration method, device, equipment and medium

Abstract

The invention discloses a laser plane calibration method, device, equipment and medium, and the method comprises the steps: dividing a preset depth-of-field range corresponding to laser scanning equipment into a plurality of depth-of-field intervals, and determining the optimal brightness parameter of the laser scanning equipment in each depth-of-field interval; carrying out calibration image acquisition on a calibrator based on the optimal brightness parameter of the laser scanning equipment in the depth-of-field interval so as to obtain a calibration image in each depth-of-field interval; and completing calibration based on the calibration image. Through the technical scheme of the embodiment of the invention, efficient calibration of the laser scanning equipment is realized, and the imaging quality of the laser scanning equipment under different depths of field can be improved, so that the stability and the precision of a final calibration result are improved.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular, to a laser plane calibration method, device, equipment and medium. Background Art

[0002] Laser has the characteristics of high directivity, high monochromaticity and high energy density, etc. These characteristics make laser have significant advantages in the field of calibration. In laser plane calibration, a precise laser plane is generated through a specific optical system for precise measurement and calibration of a laser scanning device.

[0003] Currently, the traditional laser plane calibration method usually uses the same set of brightness parameters for calibration of the laser scanning device within the entire depth of field range of laser calibration. However, the image imaging quality of the traditional laser plane calibration method is different at different depths of field, resulting in the situation that the laser scanning device cannot recognize the fiducial points and thus cannot perform calibration guidance, or the recognition is relatively blurred, and finally the accuracy and stability of the calibration result are poor. Summary of the Invention

[0004] The present invention provides a laser plane calibration method, device, equipment and medium to achieve efficient calibration of a laser scanning device, improve the image imaging quality of the laser scanning device at different depths of field, and thus improve the stability and accuracy of the final calibration result.

[0005] In a first aspect, an embodiment of the present invention provides a laser plane calibration method, including:

[0006] Dividing a preset depth of field range corresponding to a laser scanning device into multiple depth of field intervals, and determining the optimal brightness parameter of the laser scanning device in each of the depth of field intervals;

[0007] Based on the optimal brightness parameter of the laser scanning device in the depth of field interval, collecting calibration images of a calibrator to obtain calibration images in each of the depth of field intervals;

[0008] Completing calibration based on the calibration images.

[0009] In a second aspect, an embodiment of the present invention further provides a laser plane calibration device, including:

[0010] A brightness parameter determination module, configured to divide a preset depth of field range corresponding to a laser scanning device into multiple depth of field intervals, and determine the optimal brightness parameter of the laser scanning device in each of the depth of field intervals;

[0011] A calibration image collection module, configured to collect calibration images of a calibrator based on the optimal brightness parameter of the laser scanning device in the depth of field interval to obtain calibration images in each of the depth of field intervals;

[0012] A calibration module for completing calibration based on the calibration image.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, which is characterized in that the electronic device includes: at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the laser plane calibration method provided by any embodiment of the present invention.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which is characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute the laser plane calibration method provided by any embodiment of the present invention when executed.

[0017] The technical solution of the embodiment of the present invention divides a preset depth-of-field range corresponding to a laser scanning device into multiple depth-of-field intervals, and determines the optimal brightness parameter of the laser scanning device in each of the depth-of-field intervals, so that the brightness parameters in the entire depth-of-field range meet the laser calibration requirements. Based on the optimal brightness parameter of the laser scanning device in the depth-of-field interval, a calibration image is collected for the calibrator to obtain the calibration image in each of the depth-of-field intervals, which can ensure that clear calibration images can be obtained in different depth-of-field intervals, providing a reliable basis for subsequent image processing and analysis. Calibration is completed based on the calibration image. By segmenting the preset depth-of-field range and using different brightness parameters in different depth-of-field intervals, it can be ensured that the laser scanning device has high imaging quality in different depth-of-field intervals, realizing high-precision and efficient calibration of the laser scanning device in the entire preset depth-of-field range.

[0018] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 It is a flowchart of a laser plane calibration method provided in Embodiment 1 of the present invention;

[0021] Figure 2 It is a flowchart of a laser plane calibration method provided in Embodiment 2 of the present invention;

[0022] Figure 3 It is a schematic structural diagram of a laser plane calibration device provided in Embodiment 3 of the present invention;

[0023] Figure 4 It is a schematic structural diagram of an electronic device for implementing the laser plane calibration method of the embodiments of the present invention. Detailed implementation manners

[0024] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] It should be noted that the terms "target", "current", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment 1

[0027] Figure 1 This is a flowchart of a laser plane calibration method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of calibrating a laser scanning device. As Figure 1 shown, this method can be executed by a laser plane calibration device, which can be implemented in the form of hardware and / or software, and the laser plane calibration device can be configured in an electronic device. As Figure 1 shown, the method specifically includes the following steps:

[0028] S110. Divide the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals, and determine the optimal brightness parameters of the laser scanning device in each depth of field interval.

[0029] Among them, the laser scanning device can refer to a device that uses laser technology for measurement or image acquisition. For example, the laser scanning device can be a scanner camera. The preset depth of field range can refer to the entire depth of field range of the laser scanning device set in advance. The depth of field interval can refer to multiple small depth of field intervals obtained by further dividing the preset depth of field range. The optimal brightness parameter can refer to the brightness parameter of the laser scanning device set to obtain the best scanning effect (the best imaging clarity) in each depth of field interval. Among them, the brightness parameter can include parameters such as the camera exposure, gain, fill light brightness, and laser line brightness of the laser scanning device.

[0030] Specifically, divide the preset depth of field range into multiple depth of field intervals according to a certain depth of field length or ratio. In each depth of field interval, the optimal brightness parameter of the laser scanning device can be determined through experiments or by checking the device performance. The optimal brightness parameter can keep the scanned image clear, so that the brightness parameters in the entire depth of field range meet the requirements of laser calibration guidance.

[0031] Exemplarily, "divide the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals" in S110 can include: based on the imaging clarity of the laser scanning device within the preset depth of field range, performing a segmented division on the preset depth of field range to obtain multiple depth of field intervals; and / or, based on the preset demarcation depth of field value corresponding to the preset depth of field range, performing a segmented division on the preset depth of field range to obtain multiple depth of field intervals.

[0032] Among them, the imaging clarity can refer to the sharpness of the object edges and the visibility of details in the image collected by the laser scanning device during the scanning process. The preset demarcation depth of field value can refer to the depth of field value preset for dividing the depth of field interval during the laser plane calibration process according to the performance parameters, application scenarios, and empirical data of the laser scanning device.

[0033] Specifically, the laser scanning device can be used to scan the calibrator at different distances within the preset depth of field range and collect corresponding images. For the collected images, perform clarity evaluation. Image processing algorithms can be used to calculate indicators such as the sharpness and contrast of the images, so as to quantify the imaging clarity. According to the clarity evaluation results, determine the demarcation points where the imaging clarity changes significantly. These demarcation points divide the preset depth of field range into multiple depth of field intervals. And / or, according to the preset demarcation depth of field value, the preset depth of field range can be divided into multiple depth of field intervals, and the boundary of each interval is determined by two adjacent demarcation depth of field values. The division is relatively simple and direct, without the need for complex clarity evaluation and calculation processes.

[0034] Exemplarily, the preset depth-of-field range may be 300 to 2600 mm. According to the actual imaging quality of the camera (laser scanning device) at different depths of field, the edge imaging clarity can be mainly viewed. The preset depth-of-field range can be divided into three depth-of-field intervals: near 300 to 1200 mm, middle 1200 to 2000 mm, and far 2000 to 2600 mm.

[0035] Exemplarily, "determining the optimal brightness parameter of the laser scanning device in each depth-of-field interval" in S110 may include: determining the optimal brightness parameter of the laser scanning device in each depth-of-field interval based on the imaging clarity corresponding to the depth-of-field interval and the preset clarity threshold.

[0036] Among them, the preset clarity threshold may refer to the lowest imaging clarity of the laser scanning device preset within the preset depth-of-field range.

[0037] Specifically, within each depth-of-field interval, the brightness parameter of the laser scanning device can be gradually adjusted, and the imaging clarity at different brightness parameters can be recorded. By comparing the imaging clarity at different brightnesses with the preset clarity threshold, the lowest brightness parameter at which the imaging clarity in each depth-of-field interval reaches or exceeds the preset clarity threshold is determined. The lowest brightness parameter that reaches or exceeds the preset clarity threshold in each depth-of-field interval is used as the optimal brightness parameter for that interval. Further, these brightness parameters can be recorded and saved for quickly adjusting the brightness of the laser scanning device in actual applications. By optimizing the brightness parameters, it can be ensured that the laser scanning device can obtain clear imaging results in different depth-of-field intervals, which helps to improve the accuracy and reliability of laser plane calibration.

[0038] Exemplarily, determining the optimal brightness parameter of the laser scanning device in each depth-of-field interval based on the imaging clarity corresponding to the depth-of-field interval and the preset clarity threshold may include: determining the candidate brightness parameter required for the imaging clarity corresponding to the laser scanning device in the depth-of-field interval to reach the preset clarity threshold, and determining the optimal brightness parameter according to the candidate brightness parameter.

[0039] Among them, the candidate brightness parameter may refer to the set value of the brightness parameter of the laser scanning device whose imaging clarity reaches or exceeds the preset clarity threshold after preliminary screening.

[0040] Specifically, within each depth-of-field interval, the brightness parameter of the laser scanning device can be gradually adjusted. For each brightness parameter setting, the laser scanning device is used to scan the calibrator, and the imaging results are recorded. Through image processing techniques, the clarity of each imaging result can be evaluated, usually quantified using indicators such as contrast, sharpness, and gray value. Compare the imaging clarity under different brightness parameters with the preset clarity threshold. Select the brightness parameters whose imaging clarity reaches or exceeds the preset clarity threshold as candidate brightness parameters. Conduct multiple tests on each candidate brightness parameter to evaluate its stability at different times and in different environments. The brightness parameter with better stability can be selected as the optimal brightness parameter within the depth-of-field interval. By determining the optimal brightness parameter, it helps to optimize the performance of the laser scanning device and improve the scanning efficiency and accuracy.

[0041] S120. Based on the optimal brightness parameter of the laser scanning device within the depth-of-field interval, perform calibration image acquisition on the calibrator to obtain calibration images within each depth-of-field interval.

[0042] Among them, the calibrator can refer to a reference object specifically used for laser plane calibration. The calibration image can refer to the image containing the calibrator pattern collected by the laser scanning device when performing laser plane calibration using the calibrator.

[0043] Specifically, place the calibrator within the scanning range of the laser scanning device, align the laser with the center position of the calibrator, and ensure the relative position between the calibrator and the scanning device is fixed. According to the optimal brightness parameter of each depth-of-field interval, automatically adjust the brightness parameter setting of the laser scanning device. Start the laser scanning device to scan the calibrator and collect calibration images within each depth-of-field interval, thus ensuring that the calibration images are collected under the optimal brightness parameter and improving the clarity of the calibration images.

[0044] Exemplarily, S120 may include: for each depth-of-field interval, based on the optimal brightness parameter of the laser scanning device within the depth-of-field interval, perform calibration image acquisition on the calibrator according to the preset depth-of-field interval and preset acquisition order to obtain calibration images within the depth-of-field interval; among them, the preset acquisition order includes from near to far or from far to near.

[0045] Among them, the preset depth-of-field interval can refer to the distance difference between adjacent two image acquisition points during the process of calibration image acquisition. The preset acquisition order can refer to the order of calibration image acquisition on the calibrator during the laser plane calibration process, and this order can be from near to far or from far to near.

[0046] Specifically, according to the preset depth-of-field interval (i.e., the distance difference between adjacent two image acquisition points), the distance between the laser scanning device and the calibrator is gradually adjusted. According to the preset acquisition sequence (from near to far or from far to near), the laser scanning device is continuously guided to collect calibration images of the calibrator within each depth-of-field interval. During the acquisition process, ensure that the brightness parameters of the laser scanning device always remain at the optimal brightness parameters, that is, independently control parameters such as camera exposure, gain, fill light brightness, and laser line brightness for each depth-of-field interval to ensure the quality of the collected calibration images. By collecting calibration images using different optimal brightness parameters for each depth-of-field interval, the scanning accuracy and reliability of the laser scanning device at different distances can be ensured.

[0047] S130. Complete calibration based on the calibration images.

[0048] Specifically, the collected calibration images can be preprocessed. The preprocessing can include steps such as image denoising, edge detection, and feature extraction. The calibration images within each depth-of-field interval after preprocessing are merged. Using image processing algorithms, according to the feature points in the calibration images, calculate the accurate parameters of the laser scanning device within the target depth-of-field interval, complete the calibration of the laser scanning device, and achieve the accurate calculation of the parameters of the laser scanning device, thereby improving the calibration accuracy.

[0049] The technical solution of the embodiment of the present invention divides the preset depth-of-field range corresponding to the laser scanning device into multiple depth-of-field intervals, and determines the optimal brightness parameters of the laser scanning device within each depth-of-field interval, so that the brightness parameters within the entire depth-of-field range meet the laser calibration requirements. Based on the optimal brightness parameters of the laser scanning device within the depth-of-field interval, calibration images of the calibrator are collected to obtain calibration images within each depth-of-field interval, which can ensure clear calibration images within different depth-of-field intervals and provide a reliable basis for subsequent image processing and analysis. Complete calibration based on the calibration images. By segmentally dividing the preset depth-of-field range and using different brightness parameters within different depth-of-field intervals, it can be ensured that the laser scanning device has high imaging quality within different depth-of-field intervals, and high-precision and efficient calibration of the laser scanning device within the entire preset depth-of-field range is achieved.

[0050] Embodiment 2

[0051] Figure 2 It is a flowchart of a laser plane calibration method provided by Embodiment 2 of the present invention. Based on the above embodiments, this embodiment optimizes the step of "completing calibration based on the calibration images". The explanations of the same or corresponding terms in the above embodiments are not repeated here.

[0052] See Figure 2, another laser plane calibration method provided in this embodiment specifically includes the following steps:

[0053] S210. Divide the preset depth-of-field range corresponding to the laser scanning device into multiple depth-of-field intervals, and determine the optimal brightness parameter of the laser scanning device in each depth-of-field interval.

[0054] S220. Based on the optimal brightness parameter of the laser scanning device in the depth-of-field interval, collect calibration images of the calibrator to obtain calibration images in each depth-of-field interval.

[0055] S230. Determine the light plane parameters corresponding to each depth-of-field interval based on the calibration images corresponding to each depth-of-field interval respectively.

[0056] Among them, the light plane parameters can refer to a set of mathematical parameters that describe the position and direction of the laser plane in three-dimensional space.

[0057] Specifically, preprocessing the calibration images corresponding to each depth-of-field interval may include denoising, enhancing contrast, etc. to improve the image quality. Extract the laser stripes in the calibration images. Usually, high-precision extraction techniques such as the gray centroid method can be used. According to the extracted laser stripe information, use mathematical methods (such as the least squares method) to fit the light plane equation. The light plane equation describes the position and direction of the laser stripes in three-dimensional space. Extract key parameters such as the normal vector and intercept of the light plane from the fitted light plane equation to obtain the light plane parameters corresponding to each depth-of-field interval. Through high-precision image preprocessing and light plane fitting techniques, the light plane parameters corresponding to each depth-of-field interval can be accurately extracted, thereby improving the calibration accuracy.

[0058] Exemplarily, S230 may include: for each depth-of-field interval, perform feature extraction on the calibration image corresponding to the depth-of-field interval to obtain the light plane feature points corresponding to the calibration image, and determine the light plane parameters corresponding to the depth-of-field interval based on the preset fitting algorithm and the light plane feature points.

[0059] Among them, the light plane feature points can refer to the key points in the calibration image that can reflect the intersection position of the laser plane and the calibrator or the shape of the laser stripes. The preset fitting algorithm can refer to an algorithm used to fit the light plane equation according to the light plane feature point data. For example, the preset fitting algorithm can be the least squares method.

[0060] Specifically, preprocess the calibration images corresponding to each depth-of-field interval. The preprocessed images will be more conducive to feature extraction. In the preprocessed calibration images, use feature extraction algorithms (such as edge detection, corner detection, etc.) to detect the feature points of the light plane. The feature points of the light plane can be the points formed by the intersection of the laser stripe and specific structures (such as edges, corners, etc.) on the calibrator. According to the geometric characteristics of the light plane, establish a light plane equation or fitting model. Common fitting models include the plane equation (Ax + By + Cz + D = 0). Use the preset fitting algorithm (such as the least squares method, the iterative closest point algorithm, etc.) and the feature points of the light plane to solve the parameters in the light plane equation, and obtain the light plane parameters corresponding to the depth-of-field interval. During the solution process, it is necessary to ensure the accuracy and convergence of the fitting algorithm. Through high-precision feature extraction and fitting algorithms, the light plane parameters corresponding to each depth-of-field interval can be accurately obtained, improving the calibration accuracy.

[0061] S240. Combine the light plane parameters corresponding to multiple depth-of-field intervals to obtain the calibration result of the laser scanning device within the preset depth of field.

[0062] Among them, the calibration result can refer to the set of precise parameters of the finally obtained laser scanning device. These parameters can describe the geometric relationship between the laser scanning device and the scanning space.

[0063] Specifically, convert the light plane parameters corresponding to multiple depth-of-field intervals to a unified coordinate system to ensure the consistency of the parameters. Use weighted average, least squares fitting or other mathematical methods to fuse the light plane parameters corresponding to multiple depth-of-field intervals. The fused parameters will represent the overall light plane characteristics of the laser scanning device within the preset depth of field, and obtain the calibration result of the laser scanning device within the preset depth of field. By obtaining the global calibration result, the stability and reliability of the laser scanning device under different depth-of-field conditions can be enhanced, and the overall performance of the laser scanning device can be improved.

[0064] The technical solution of the embodiment of the present invention determines the light plane parameters corresponding to each depth-of-field interval respectively based on the calibration images corresponding to each depth-of-field interval. Combine the light plane parameters corresponding to multiple depth-of-field intervals to obtain the calibration result of the laser scanning device within the preset depth of field. By determining the light plane parameters for the calibration images corresponding to each depth-of-field interval and combining the light plane parameters corresponding to multiple depth-of-field intervals, the light plane parameters within multiple depth-of-field intervals can be comprehensively considered, thereby obtaining a more comprehensive and accurate calibration result.

[0065] Embodiment Three

[0066] Figure 3 This is a schematic structural diagram of a laser plane calibration device provided by Embodiment Three of the present invention. As Figure 3As shown in the figure, the device includes: a brightness parameter determination module 310, a calibration image acquisition module 320, and a calibration module 330.

[0067] Among them, the brightness parameter determination module 310 is configured to divide a preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals, and determine the optimal brightness parameter of the laser scanning device in each of the depth of field intervals;

[0068] The calibration image acquisition module 320 is configured to perform calibration image acquisition on the calibrator based on the optimal brightness parameter of the laser scanning device in the depth of field interval, so as to obtain a calibration image in each of the depth of field intervals;

[0069] The calibration module 330 is configured to complete calibration based on the calibration image.

[0070] The technical solution of this embodiment divides the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals, and determines the optimal brightness parameter of the laser scanning device in each of the depth of field intervals, so that the brightness parameters in the entire depth of field range meet the laser calibration requirements. Based on the optimal brightness parameter of the laser scanning device in the depth of field interval, calibration image acquisition is performed on the calibrator to obtain a calibration image in each of the depth of field intervals, which can ensure clear calibration images in different depth of field intervals and provide a reliable basis for subsequent image processing and analysis. Calibration is completed based on the calibration image. By performing segmented division on the preset depth of field range and using different brightness parameters in different depth of field intervals, it can ensure that the laser scanning device has high imaging quality in different depth of field intervals, and realizes high-precision and efficient calibration of the laser scanning device in the entire preset depth of field range.

[0071] Optionally, the brightness parameter determination module 310 is specifically configured to: perform segmented division on the preset depth of field range based on the imaging clarity of the laser scanning device in the preset depth of field range to obtain multiple depth of field intervals; and / or, perform segmented division on the preset depth of field range based on a preset demarcation depth of field value corresponding to the preset depth of field range to obtain multiple depth of field intervals.

[0072] Optionally, the brightness parameter determination module 310 includes:

[0073] A brightness parameter determination unit, configured to determine the optimal brightness parameter of the laser scanning device in each of the depth of field intervals based on the imaging clarity corresponding to the depth of field interval and a preset clarity threshold.

[0074] Optionally, the brightness parameter determination unit is specifically configured to: determine candidate brightness parameters required for the imaging clarity corresponding to the laser scanning device within the depth of field interval to reach a preset clarity threshold, and determine the candidate brightness parameters as the optimal brightness parameters.

[0075] Optionally, the calibration image acquisition module 320 is specifically configured to: for each of the depth of field intervals, based on the optimal brightness parameter of the laser scanning device within the depth of field interval, perform calibration image acquisition on the calibrator according to a preset depth of field interval and a preset acquisition order, to obtain calibration images within the depth of field interval; wherein the preset acquisition order includes from near to far or from far to near.

[0076] Optionally, the calibration module 330 includes:

[0077] A light plane parameter determination unit, configured to determine the light plane parameters corresponding to each of the depth of field intervals respectively based on the calibration images corresponding to each of the depth of field intervals;

[0078] A calibration result determination unit, configured to merge the light plane parameters corresponding to multiple depth of field intervals to obtain a calibration result of the laser scanning device within the preset depth of field range.

[0079] Optionally, the light plane parameter determination unit is specifically configured to: for each of the depth of field intervals, perform feature extraction on the calibration image corresponding to the depth of field interval to obtain light plane feature points corresponding to the calibration image, and determine the light plane parameters corresponding to the depth of field interval based on a preset fitting algorithm and the light plane feature points.

[0080] The laser plane calibration device provided by an embodiment of the present invention can execute the laser plane calibration method provided by any embodiment of the present invention, and has function modules and beneficial effects corresponding to the execution of the method.

[0081] Figure 4 FIG. shows a schematic structural diagram of an electronic device 12 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as desktop computers, workstations, servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0082] As Figure 4As shown, the electronic device 12 is presented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects different system components (including the system memory 28 and the processing unit 16).

[0083] The bus 18 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0084] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0085] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 34 can be used for reading and writing on a non-removable, non-volatile magnetic medium ( Figure 4 not shown, commonly referred to as a "hard disk drive"). Although Figure 4 not shown in the figure, a disk drive for reading and writing on a removable non-volatile disk (such as a "floppy disk") and an optical disk drive for reading and writing on a removable non-volatile optical disk (such as a CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to the bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0086] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in the system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods in the embodiments described in the present invention.

[0087] The electronic device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 22. Moreover, the electronic device 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the electronic device 12 through the bus 18. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0088] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28. For example, it implements the steps of a laser plane calibration method provided by an embodiment of the present invention. The method includes:

[0089] Dividing a preset depth-of-field range corresponding to the laser scanning device into a plurality of depth-of-field intervals, and determining the optimal brightness parameter of the laser scanning device in each of the depth-of-field intervals;

[0090] Based on the optimal brightness parameter of the laser scanning device in the depth-of-field interval, performing calibration image acquisition on the calibrator to obtain calibration images in each of the depth-of-field intervals;

[0091] Completing calibration based on the calibration images.

[0092] Of course, those skilled in the art can understand that the processor can also implement the technical solutions of the laser plane calibration method provided by any embodiment of the present invention.

[0093] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the steps of the laser plane calibration method provided by any embodiment of the present invention. The method includes:

[0094] Dividing a preset depth-of-field range corresponding to the laser scanning device into a plurality of depth-of-field intervals, and determining the optimal brightness parameter of the laser scanning device in each of the depth-of-field intervals;

[0095] Based on the optimal brightness parameter of the laser scanning device in the depth-of-field interval, performing calibration image acquisition on the calibrator to obtain calibration images in each of the depth-of-field intervals;

[0096] Calibration is completed based on the calibrated image.

[0097] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0098] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0099] The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0100] The computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0101] Those of ordinary skill in the art should understand that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Optionally, they can be implemented with program codes executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0102] Note that the above is only a preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A laser plane calibration method, characterized in that: include: Dividing a preset depth of field range corresponding to the laser scanning device into a plurality of depth of field intervals, and determining an optimal brightness parameter of the laser scanning device in each of the depth of field intervals; Based on the optimal brightness parameter of the laser scanning device in the depth of field interval, the calibrator is calibrated to acquire a calibration image in each depth of field interval; Calibration is completed based on the calibration image.

2. The method according to claim 1, characterized in that The preset depth of field range corresponding to the laser scanning device is divided into a plurality of depth of field intervals, including: Based on the imaging clarity of the laser scanning device within the preset depth of field range, the preset depth of field range is divided into sections to obtain a plurality of depth of field intervals; and / or, Based on the preset boundary depth of field value corresponding to the preset depth of field range, the preset depth of field range is divided into sections to obtain a plurality of depth of field intervals.

3. The method according to claim 1, characterized in that Determining the optimal brightness parameter of the laser scanning device in each of the depth of field intervals includes: Based on the imaging clarity corresponding to the depth of field interval and a preset clarity threshold, the optimal brightness parameter of the laser scanning device in each of the depth of field intervals is determined.

4. The method according to claim 3, characterized in that The determining of the optimal brightness parameter of the laser scanning device in each depth of field interval based on the imaging clarity corresponding to the depth of field interval and a preset clarity threshold value includes: Determine candidate brightness parameters required for the imaging clarity corresponding to the laser scanning device in the depth of field interval to reach a preset clarity threshold, and determine the optimal brightness parameters based on the candidate brightness parameters.

5. The method according to claim 1, characterized in that The step of collecting calibration images for the calibrator based on the optimal brightness parameter of the laser scanning device in the depth of field interval to obtain a calibration image in each depth of field interval includes: For each of the depth of field intervals, based on the optimal brightness parameters of the laser scanning device in the depth of field interval, the calibrator is calibrated to acquire the image according to a preset depth of field interval and a preset acquisition sequence to obtain a calibration image in the depth of field interval; wherein the preset acquisition sequence includes from near to far or from far to near.

6. The method according to claim 1, characterized in that The completing calibration based on the calibration image includes: Determine the light plane parameter corresponding to each depth of field interval based on the calibration image corresponding to each depth of field interval; The light plane parameters corresponding to the multiple depth of field intervals are combined to obtain the calibration result of the laser scanning device within the preset depth of field range.

7. The method according to claim 6, characterized in that The determining the light plane parameter corresponding to each of the depth of field intervals based on the calibration image corresponding to each of the depth of field intervals respectively includes: For each of the depth of field intervals, feature extraction is performed on a calibration image corresponding to the depth of field interval to obtain light plane feature points corresponding to the calibration image, and light plane parameters corresponding to the depth of field interval are determined based on a preset fitting algorithm and the light plane feature points.

8. A laser plane calibration device, characterized in that: include: A brightness parameter determination module, used to divide a preset depth of field range corresponding to the laser scanning device into a plurality of depth of field intervals, and determine an optimal brightness parameter of the laser scanning device in each of the depth of field intervals; A calibration image acquisition module, used to acquire calibration images for the calibrator based on the optimal brightness parameter of the laser scanning device in the depth of field interval, so as to obtain a calibration image in each of the depth of field intervals; A calibration module is used to complete calibration based on the calibration image.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the laser plane calibration method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the laser plane calibration method according to any one of claims 1 to 7 when executed.

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