Camera calibration method, device and system for standing CT equipment

Abstract

The application discloses a camera calibration method, device and system of a standing CT equipment, the camera is any camera in three depth cameras of the standing CT equipment, the three depth cameras are respectively located in front and both sides of the standing CT equipment; the method comprises the following steps: when detecting a horizontal adjustment event of a first depth camera, outputting a simulation image of a standing detection system, wherein the simulation image at least comprises a first marker; driving the first depth camera to move according to a received control signal, so that a corresponding second marker on a tool can form a preset positional relationship with the first marker; wherein the tool is arranged on the inside of a scanning frame, and a second marker corresponding to each depth camera is arranged on the tool, and each second marker is located in the imaging direction of each depth camera. The application solves the technical problem that subsequent contour recognition is not accurate due to the inaccurate installation position of the depth camera.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical imaging technology, in particular to a camera calibration method, device and system of a standing position CT equipment. BACKGROUND

[0002] Most CT products adopt patient lying position for examination. Due to the influence of gravity, when the human body is in standing position and lying position respectively, due to the difference in body position, the position of the anatomical structure changes, the position and shape of the internal organs of the body also change, and the force of each part of the skeletal muscle system may cause changes in the shape structure. Standing position CT refers to changing the original lying position of the patient for examination to standing or semi-sitting position of the patient, and changing the X-ray penetration movement of the medical equipment (scanner) from the static fixation on the ground and the rotation movement around the patient to the linear movement along the patient axis and the rotation movement around the patient. Standing position CT examination can identify the real state of the human body under load, especially for the spine and lower limbs, and is applied to the differential diagnosis of various diseases such as orthopedics and tumors.

[0003] In the standing scanning device system, the patient stands on the patient support, and the system realizes the patient scanning process by lifting the patient or moving the gantry. Due to the inaccurate installation position of the depth camera, the subsequent contour recognition is not accurate enough.

[0004] In view of the problem that the subsequent contour recognition is not accurate enough due to the inaccurate installation position of the depth camera in the related technology, no effective solution has been proposed at present. SUMMARY

[0005] The main purpose of the present application is to provide a camera calibration method, device and system of a standing position CT equipment, so as to solve the problem that the subsequent contour recognition is not accurate enough due to the inaccurate installation position of the depth camera.

[0006] In order to achieve the above purpose, according to one aspect of the present application, a camera calibration method of a standing position CT equipment is provided.

[0007] The application discloses a camera calibration method of a standing CT device, the camera being any one of three depth cameras of the standing CT device, the three depth cameras being respectively located at the front and two sides of the standing CT device; the method comprises the following steps: when a horizontal adjustment event of a first depth camera is detected, outputting a simulation image of a standing detection system, wherein the simulation image at least comprises a first marker; driving the first depth camera to move according to a received control signal, so that a corresponding second marker on a tool can form a preset positional relationship with the first marker; wherein the tool is arranged inside a scanning frame, and the tool is provided with a second marker corresponding to each depth camera, and each second marker is located in the imaging direction of each depth camera.

[0008] Further, before the simulation image of the standing detection system is outputted, the method further comprises the following steps:

[0009] receiving a configured scanning frame diameter and a safety circle diameter parameter;

[0010] determining a safety area and a non-safety area of the standing detection system according to the scanning frame diameter and the safety circle diameter parameter;

[0011] when a camera safety test event is detected, calling an RGB image and a depth image of the depth camera;

[0012] testing whether the RGB image and the depth image satisfy a safety detection condition, and if yes, confirming that the camera environment calibration is successful.

[0013] Further, after the second marker on the corresponding tool is aligned with the first marker after the depth camera is controlled to move, the method further comprises the following steps:

[0014] calculating the height between four horizontal detection points in a rectangular detection frame of a camera image and adjacent edges of the rectangular detection frame;

[0015] judging whether the height error values between the two heights satisfy a preset height error condition;

[0016] if yes, confirming that the depth camera is in a horizontal state.

[0017] Further, after the difference between the two heights is judged to satisfy the preset height error condition, the method further comprises the following steps:

[0018] if the height error condition is not satisfied, fine-tuning the depth camera according to the difference between the two heights that do not satisfy the error condition.

[0019] Further, after the step of confirming that the depth camera is in the horizontal state, the method further comprises the following steps:

[0020] receiving a configured installation height and a preset number of the three depth cameras;

[0021] when a camera height calibration event is detected, determining whether a measured height measured by the depth camera is an installation height;

[0022] if yes, confirming that the calibration is successful;

[0023] if the measured height is less than the installation height, confirming that the calibration fails.

[0024] Further, three fourth markers are respectively arranged on the tool for each depth camera, and each of the three fourth markers is located in the imaging direction of each depth camera; after the step of confirming that the calibration is successful, the method further comprises:

[0025] calling position coordinates of the three depth cameras in a theoretical horizontal plane in a preset vertical CT coordinate system;

[0026] when a camera reverse verification event is detected, presenting in the simulation image a third draggable marker corresponding to an actual horizontal position of the three depth cameras in the theoretical horizontal plane;

[0027] dragging the three third markers respectively so that they are respectively aligned with the fourth markers on the corresponding tool;

[0028] determining whether a horizontal error value determined according to the theoretical horizontal position coordinates and the actual horizontal position coordinates satisfies a preset horizontal error condition;

[0029] if yes, confirming that the reverse verification is up to standard.

[0030] To achieve the above-mentioned purpose, according to another aspect of the present application, a camera calibration device of a standing CT device is provided.

[0031] The camera calibration device of the standing CT device according to the present application, the camera being any one of three depth cameras in a standing detection system of the standing CT device, the three depth cameras being respectively located in front of and on both sides of the standing CT device; the camera calibration device comprises:

[0032] a simulation image output module, which outputs a simulation image of the standing detection system when a horizontal adjustment event of the first depth camera is detected, wherein the simulation image at least comprises a first marker;

[0033] a first driving module, configured to drive the first depth camera to move according to a received control signal, so that a corresponding second marker on the tool can form a preset positional relationship with the first marker;

[0034] The fixture is set inside the scanning frame, and three second markers are set on the fixture for each of the three depth cameras. Each second marker is located in the shooting direction of each of the three depth cameras.

[0035] To achieve the above objectives, according to another aspect of the present invention, a camera calibration system for a standing CT scanner is provided.

[0036] The computer-readable storage medium according to the present invention includes a tooling and a camera calibration device for the standing CT device, the calibration device being disposed in the controller of the standing CT device.

[0037] In this embodiment of the invention, a method of calibrating the position of the depth camera of a standing CT device is adopted. When a horizontal adjustment event of the first depth camera is detected, a simulated image of the standing detection system is output, wherein the simulated image includes at least a first marker. The first depth camera is driven to move according to the received control signal, so that the corresponding second marker on the fixture can form a preset positional relationship with the first marker. This achieves the purpose of accurately adjusting the installation position of the depth camera, thereby improving the technical effect of subsequent contour recognition accuracy and solving the technical problem of inaccurate contour recognition caused by insufficient precision of the installation position of the depth camera. Attached Figure Description

[0038] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention, making other features, objects, and advantages of the invention more apparent. The illustrative embodiments of the invention illustrated in the drawings and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0039] Figure 1 This is a flowchart of a camera calibration method for a standing CT scanner according to an embodiment of the present invention;

[0040] Figure 2 This is a diagram illustrating the construction of a vertical CT coordinate system according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the layout of a standing CT scanner according to an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of a standing CT scanner according to an embodiment of the present invention;

[0043] Figure 5 This is a parameter configuration diagram according to an embodiment of the present invention;

[0044] Figure 6 This is a camera safety test diagram according to an embodiment of the present invention;

[0045] Figure 7 is a camera parallel state checking diagram according to an embodiment of the present application;

[0046] Figure 8 is a camera height calibration diagram according to an embodiment of the present application;

[0047] Figure 9 is a camera position reverse check diagram according to an embodiment of the present application;

[0048] Figure 10 is a reverse check alignment operation diagram according to an embodiment of the present application.

[0049] Reference signs

[0050] 1, standing CT device; 2, scan frame; 3, depth camera; 4, tooling; 5, back plate; 6, safety area; 7, non-safety area; 8, scan frame outer ring. DETAILED DESCRIPTION

[0051] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiment of the present application will be described clearly and completely in combination with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, not all. Based on the embodiment in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0052] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0053] In the present application, the terms "up", "down", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0054] And, the above-mentioned partial terms can be used to represent other meanings in addition to the orientation or positional relationship, for example, the term "upper" can also be used to represent a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0055] In addition, the terms "mount", "set", "provided with", "connected", "connected", "sleeved" should be broadly understood. For example, it can be fixedly connected, detachably connected, or integrally configured; it can be mechanically connected or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or components. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0056] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0057] According to an embodiment of the present application, a camera calibration method of a standing CT device 1 is provided, as shown in Figures 1-4 The camera is any one of the three depth cameras 3 of the standing CT device 1, which are respectively located in front and on both sides of the standing CT device 1. The method is executed by the controller of the CT device (hereinafter referred to as "host computer") and includes the following steps S101 and S102.

[0058] S101, when a horizontal adjustment event of the first depth camera 3 is detected, outputting a simulation image of the standing detection system, the simulation image including at least a first marker;

[0059] S102, driving the first depth camera 3 to move according to the received control signal, so that the corresponding second marker on the tool 4 can form a predetermined positional relationship with the first marker. As Figure 3 The upper, lower and left sides of the tool 4 are respectively provided with one second marker (not shown in the figure), which is simultaneously located on the right hand side, left hand side and face front of the mannequin of the tool 4 under the perspective of Figure 2 The upper, lower and left sides of the tool 4 are respectively provided with one second marker (not shown in the figure), which is simultaneously located on the right hand side, left hand side and face front of the mannequin of the tool 4 under the perspective of

[0060] Specifically, the camera horizontal adjustment event refers to Figure 6The "start" button in the figure; the first marker refers to the cross line drawn on the simulation image; the second marker refers to the cross line on the tooling 4; the simulation image refers to the light projected to the camera lens; the shape of the tooling 4 is a human body model, and the second marker is pre-set on the human body model; the preset position relationship refers to the coincidence (alignment) of the first marker and the second marker. When the user clicks the start button, the host computer detects the camera horizontal adjustment event, at which time the host computer calls the preset program for processing, and displays the simulation image with a red "cross line" in the center. The user needs to issue an instruction to control the motion of the depth camera 3 until the "cross line" first marker of the simulation image coincides (aligns) with the corresponding second marker on the tooling 4, and then stops moving. Thus, the installation position adjustment of the camera is initially achieved.

[0061] It should be understood that the back of the tooling 4 is provided with a back plate 5, and the back plate 5 and the tooling 4 are located in the middle of the scanning frame 2, and the back plate 5 is mainly used to support the human body to stand.

[0062] In the embodiment of the present application, the position calibration of the depth camera 3 of the standing CT device 1 is adopted, and when the first depth camera 3 detects a horizontal adjustment event, an analog image of the standing detection system is output, which includes a first marker; according to the received control signal, the first depth camera 3 is driven to move, so that the corresponding second marker on the tooling 4 can form a preset position relationship with the first marker, such as coincidence, or a fixed distance and a relative direction between the two; the purpose of accurately adjusting the installation position of the depth camera 3 is achieved, thereby realizing the technical effect of improving the subsequent contour recognition accuracy, and further solving the technical problem of inaccurate subsequent contour recognition caused by the inaccurate installation position of the depth camera 3.

[0063] According to the embodiment of the present application, before the simulation image of the standing detection system is output, the host computer can first receive the scanning frame 2 diameter and safety circle diameter parameters configured, and then determine the safety area 6 and the non-safety area 7 (the shaded part in the figure) of the standing detection system according to the scanning frame 2 diameter and the safety circle diameter parameters.

[0064] The user can set the scanning frame 2 diameter (the diameter of the scanning frame outer ring 8) and the safety circle diameter parameter through the interface of the figure. Figure 4 The internal diameter of the scanning frame 2, that is, the maximum diameter of the detection range; in the embodiment, the internal diameter of the scanning frame 2 is mechanically designed to be 1000mm, and in order to reduce errors, the detection range is set to be slightly smaller than the internal diameter of the scanning frame 2. The safety circle diameter, that is, the diameter of the safety area 6 of the patient standing position, is set to be 860mm according to the body type of ordinary people in the embodiment. After the setting is completed, the user clicks next to enter the camera usage environment self-calibration.

[0065] In the embodiment of the present application, before adjusting each depth camera 3, the environment can be adjusted first, that is, when the camera safety test event is detected, the RGB image and the depth image of the depth camera 3 are called; whether the RGB image and the depth image meet the safety detection condition is tested; if yes, it is confirmed that the camera environment calibration is successful.

[0066] Specifically, due to the influence of external environment such as light, the camera needs to verify whether its running environment meets its running condition, and the camera safety test event refers to Figure 5 the“start”button in the figure; after clicking the“start”button, the host calls the RGB image and the depth image of the depth camera 3 for camera self-verification, that is, whether the RGB image and the depth image meet the safety detection condition is tested; if yes, it is prompted as“success”, otherwise, it is prompted as“failure”, which requires the user to debug the light condition of the environment, and if it is prompted as“success”, the“next step”button is clicked to enter the camera position adjustment.

[0067] According to the embodiment of the present application, after the depth camera 3 is controlled to move until the second marker on the corresponding tooling 4 is aligned with the first marker, horizontal calibration is still needed; that is, the heights between the four horizontal detection points in the rectangular detection frame of the camera image and the adjacent sides of the rectangular detection frame are calculated; whether the height error values between any two heights meet the preset height error condition is judged; if yes, it is confirmed that the depth camera 3 is in a horizontal state.

[0068] For details, please refer to Figure 6 After the camera position adjustment is completed, a rectangular frame is drawn in the center of the simulation image, and four points for measuring distances are drawn in the upper, lower, left and right of the rectangular frame. The heights between the horizontal detection points and the adjacent sides of the rectangular detection frame are measured, and the heights between any two heights are compared. After removing the error of the camera itself, if the height difference between the four points is less than 5mm, it is considered that the camera installation position is in a horizontal state. The horizontal state verification of the depth camera 3 is realized.

[0069] According to the embodiment of the present application, after judging whether the difference between any two heights meets the preset height error condition, it further includes: if the height error condition is not met, the depth camera 3 is fine-tuned according to the difference between the two heights that do not meet the error condition.

[0070] Specifically, the horizontal state verification of the depth camera 3 can determine whether the depth camera 3 is in a horizontal state. If not, the host can call a fine-tuning program to fine-tune the depth camera 3 according to the difference between the two heights that do not meet the error condition, and then perform horizontal state verification until the verification is successful. Through the verification, the adjustment of the horizontal state of the depth camera 3 is realized, which can improve the installation position accuracy of the depth camera 3, thereby further improving the contour recognition accuracy.

[0071] In addition, the user can manually control the depth camera 3 to fine-tune when the error condition is not met.

[0072] According to the embodiment of the present application, after the step of confirming that the depth camera 3 is in the horizontal state, the method further comprises: receiving the installation height and the preset number of the three depth cameras 3; when a camera height calibration event is detected, determining whether the measured height detected by the depth camera 3 is the installation height; if yes, confirming that the calibration is successful; if the measured height is less than the installation height, confirming that the calibration fails.

[0073] Specifically, referring to Figure 7 , the purpose of setting the height of the camera is to detect that all “pixels” in the detection area are in the safe state, and the height measured by the camera is the installation height of the camera, and then it is determined that the calibration is successful; if the height measured by a certain “pixel” is less than the currently set height, it means that an object appears in the area, and the calibration fails; the purpose of setting the camera number is that the three cameras are responsible for different detection areas, and it is necessary to show which area has a dangerous situation (the three camera detection area departments coincide). When the calibration fails, fine-tuning can be performed according to the preset fine-tuning program, or manual horizontal state adjustment can be performed by the user. Through the height calibration and position adjustment, the height positions of the three depth cameras 3 can be kept consistent, and the height positions of the three cameras are more accurate, thereby further improving the contour recognition accuracy.

[0074] According to the embodiment of the present application, three fourth markers are respectively arranged on the tooling 4 corresponding to each depth camera 3, and each three fourth markers are located in the imaging direction of each depth camera 3; after the step of confirming that the calibration is successful, the method further comprises: calling the position coordinates of the three depth cameras 3 in the theoretical horizontal plane in the preset vertical CT coordinate system; when a camera reverse verification event is detected, presenting the draggable third markers corresponding to the actual horizontal positions of the three depth cameras 3 in the theoretical horizontal plane in the simulation image; dragging the three third markers respectively to form a preset positional relationship with the fourth markers on the corresponding tooling 4; determining whether the horizontal error value determined according to the theoretical horizontal position coordinates and the actual horizontal position coordinates meets the preset horizontal error condition; if yes, confirming that the reverse verification meets the standard.

[0075] Specifically, referring to Figure 8 and Figure 9After the height and levelness of the camera are adjusted, the horizontal position of the camera also needs to be adjusted; for this purpose, a camera reverse checking method is also provided, through which the accuracy of the horizontal position of the camera can be checked. Specifically, three red cross lines that can be dragged are drawn on the simulation image, the red cross lines are moved to the corresponding cross lines on the tooling 4 in the camera to be coincident (aligned), the coordinate point calculation value is displayed on the interface, and then the error value is obtained by subtracting the preset theoretical coordinate value, and the error range of the reverse checking should also be less than 5mm, excluding the error range of the camera ranging itself. Through the reverse checking and position adjustment, the horizontal position coordinates of the three depth cameras 3 can be consistent with the theoretical horizontal position coordinates, the horizontal position of the three cameras is more accurate, and the contour recognition accuracy is further improved.

[0076] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be realized by general computing devices, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, and optionally, they can be realized by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, or they can be respectively manufactured into integrated circuit modules, or multiple modules or steps among them can be manufactured into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

[0077] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A camera calibration method for a standing CT scanner, wherein the camera is any one of three depth cameras of the standing CT scanner, the three depth cameras being located respectively in front of and on both sides of the standing CT scanner; characterized in that, The method includes: When a horizontal adjustment event of the first depth camera is detected, a simulated image of the standing detection system is output, wherein the simulated image includes at least a first marker; The first depth camera is driven to move according to the received control signal, so that the corresponding second marker on the tooling can form a preset positional relationship with the first marker. The fixture is set inside the scanning frame, and a second marker is set on the fixture for each depth camera, with each second marker located in the shooting direction of each depth camera. After controlling the depth camera movement until the second marker on the corresponding fixture is aligned with the first marker, the method further includes: Calculate the heights of the four horizontal detection points in the rectangular detection box of the camera image to the adjacent sides of the rectangular detection box; Determine whether the height error between any two heights meets the preset height error condition; If this condition is met, then the depth camera is confirmed to be in a horizontal position. After the step of confirming that the depth camera is horizontal, the method further includes: Receive the installation height and preset number of the three depth cameras as configured; When a camera height calibration event is detected, determine whether the measured height obtained by the depth camera is the installation height; If so, then the calibration was successful; If the measured height is less than the installation height, the calibration is confirmed to have failed. The fixture is equipped with three fourth markers corresponding to each depth camera, with each set of three fourth markers located in the imaging direction of each depth camera; after the step of confirming successful calibration, the following steps are also included: The position coordinates of the three depth cameras in the theoretical horizontal plane of the preset vertical CT coordinate system are retrieved; When a camera reverse verification event is detected, a draggable third marker corresponding to the actual horizontal position of the three depth cameras within the theoretical horizontal plane is displayed in the simulated image. Drag the three third markers respectively to establish a preset positional relationship between them and the fourth markers on the corresponding tooling; Determine whether the horizontal error value determined based on the theoretical and actual horizontal position coordinates meets the preset horizontal error conditions; If the conditions are met, then the reverse verification is confirmed to be successful.

2. The camera calibration method according to claim 1, characterized in that, Before outputting the simulated image from the standing detection system, the following steps are also included: Receive the configured scanning frame diameter and safety ring diameter parameters; Determine the safe and unsafe zones of the standing detection system based on the scanning frame diameter and safety ring diameter parameters; When a camera security test event is detected, retrieve the RGB image and depth image from the depth camera; Test whether the RGB image and depth image meet the safety detection conditions. If they do, the camera environment calibration is confirmed to be successful.

3. The camera calibration method according to claim 2, characterized in that, After determining whether the difference between any two heights meets the preset height error condition, the process also includes: If the height error condition is not met, the depth camera is fine-tuned based on the difference between the two heights that do not meet the error condition.

4. A camera calibration device for a standing CT scanner, characterized in that, The camera is any one of three depth cameras in the standing detection system of a standing CT scanner, and the three depth cameras are respectively located in front of and on both sides of the standing CT scanner; the camera calibration device includes: The simulated image output module outputs a simulated image of the standing detection system when a horizontal adjustment event of the first depth camera is detected, wherein the simulated image includes at least a first marker. The first driving module is used to drive the first depth camera to move according to the received control signal, so that the corresponding second marker on the tooling can form a preset positional relationship with the first marker. The fixture is set inside the scanning frame, and three second markers are set on the fixture for each of the three depth cameras, with each second marker located in the shooting direction of each of the three depth cameras; Calculate the heights of the four horizontal detection points in the rectangular detection box of the camera image to the adjacent sides of the rectangular detection box; Determine whether the height error between any two heights meets the preset height error condition; If this condition is met, then the depth camera is confirmed to be in a horizontal position. Receive the installation height and preset number of the three depth cameras as configured; When a camera height calibration event is detected, determine whether the measured height obtained by the depth camera is the installation height; If so, then the calibration was successful; If the measured height is less than the installation height, the calibration is confirmed to have failed. The fixture is equipped with three fourth markers corresponding to each depth camera, with each set of three fourth markers located in the imaging direction of each depth camera; after the step of confirming successful calibration, the following steps are also included: The position coordinates of the three depth cameras in the theoretical horizontal plane of the preset vertical CT coordinate system are retrieved; When a camera reverse verification event is detected, a draggable third marker corresponding to the actual horizontal position of the three depth cameras within the theoretical horizontal plane is displayed in the simulated image. Drag the three third markers respectively to establish a preset positional relationship between them and the fourth markers on the corresponding tooling; Determine whether the horizontal error value determined based on the theoretical and actual horizontal position coordinates meets the preset horizontal error conditions; If the conditions are met, then the reverse verification is confirmed to be successful.

5. A camera calibration system for a standing CT scanner, characterized in that, The device includes tooling and a camera calibration device for the standing CT equipment as described in claim 4, wherein the calibration device is located in the controller of the standing CT equipment.

Images