Calibration method, reconstruction method, calibration system and reconstruction system

Abstract

The invention provides a calibration method, a reconstruction method, a calibration system and a reconstruction system.The calibration method comprises the steps that a three-dimensional scanning device is controlled to scan a two-dimensional code on a calibration plate, and a real world coordinate set of a first mark graph and a second mark graph in a world coordinate system is obtained; controlling the three-dimensional scanning device to acquire a calibration image comprising the calibration plate, and identifying a first mark graph and a second mark graph on the calibration image to obtain image coordinates of the mark graphs in an image coordinate system; positioning the direction of the calibration plate by using the first mark graph, obtaining the first mark graph and the second mark graph in combination with the direction of the calibration plate, and obtaining real-time world coordinates from the real-world coordinate set; and calibrating the three-dimensional scanning device through the real-time world coordinates and the pixel coordinates of the first mark graph and the second mark graph to obtain calibration parameters of the three-dimensional scanning device. The calibration method provided by the invention is more convenient to operate and has higher calibration precision and reconstruction precision.

Description

A calibration method, a reconstruction method, a calibration system, and a reconstruction system. Technical Field

[0001] This application relates to the field of 3D scanning, and more specifically, to a calibration method, a reconstruction method, a calibration system, a reconstruction system, and a computer-readable storage medium. Background Technology

[0002] Before scanning a target object with a 3D scanner, the scanner usually needs to be calibrated. However, the related technical operations are complex, most users are not professionals in the field and usually do not have professional measuring equipment, and are also unfamiliar with the calibration process of 3D scanners, which may increase the complexity of using 3D scanners.

[0003] Therefore, how to provide a calibration method that is more convenient to operate and has higher calibration accuracy is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a calibration method, a reconstruction method, a calibration system, a reconstruction system, and a computer-readable storage medium, which are easier to operate and have higher calibration and reconstruction accuracy.

[0005] Firstly, a calibration method is provided, applied to a calibration system including a calibration plate and a 3D scanning device. The calibration plate includes a QR code, a first marker graphic, and a second marker graphic. The QR code stores the world coordinates of each marker graphic in a world coordinate system. The method includes: controlling the 3D scanning device to scan the QR code on the calibration plate to obtain a set of real-world coordinates of the first and second marker graphics in a world coordinate system; controlling the 3D scanning device to acquire a calibration image including the calibration plate, identifying the first and second marker graphics on the calibration image, and obtaining the pixel coordinates of the first and second marker graphics in an image coordinate system; using the first marker graphic to determine the orientation of the calibration plate, and obtaining the real-time world coordinates of the first and second marker graphics in the world coordinate system from the set of real-world coordinates in combination with the orientation of the calibration plate; calibrating the 3D scanning device using the real-time world coordinates and pixel coordinates of the first and second marker graphics to obtain the calibration parameters of the 3D scanning device.

[0006] Based on the above technical solution, during the calibration of the 3D scanning device, it is not necessary to measure the real-world coordinates of each marker graphic in the world coordinate system. Instead, the real-world coordinates of each marker graphic can be directly obtained by scanning the QR code that stores the real-world coordinates of each marker graphic in the world coordinate system. Finally, the 3D scanning device is calibrated based on the real-time coordinates of the marker graphic in the world coordinate system and the pixel coordinates of the marker graphic in the image coordinate system, and the calibration parameters of the 3D scanning device are obtained, which has higher calibration accuracy and efficiency.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the method of storing the real-world coordinates of each marker graphic in the QR code includes: using a measuring device to measure each marker graphic on the calibration board in a unified world coordinate system to obtain the real-world coordinates of each marker graphic; processing the real-world coordinates of each marker graphic to generate a QR code, thereby binding and associating the QR code with the real-world coordinates of each calibration graphic.

[0008] Based on the above technical solution, different calibration boards correspond to different QR codes. When the world coordinates of the logo on each calibration board are different in the world coordinate system, different QR codes are generated, ensuring a one-to-one correspondence between each calibration board and each QR code. Therefore, when calibrating a 3D scanning device using calibration boards, the 3D scanning device can capture images of the QR codes on the calibration boards and upload them to calibration software located on a host computer. The calibration software then identifies the QR codes to reconstruct the true world coordinates of the logo in the world coordinate system.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the calibration process of the 3D scanning device further includes: acquiring the set of real-world coordinates of the calibration plate in the world coordinate system; generating and displaying a calibration plate pattern corresponding to the calibration plate based on the set of real-world coordinates of the calibration plate; controlling the 3D scanning device to acquire calibration images including the calibration plate to obtain the relative position between the 3D scanning device and the calibration plate; generating and displaying a real-time attitude 3D model of the 3D scanning device relative to the calibration plate pattern based on the relative position between the 3D scanning device and the calibration plate; moving the 3D scanning device to guide the real-time attitude 3D model and the preset attitude 3D model to overlap, so as to acquire the calibration image acquired by the 3D scanning device in the preset attitude; and calibrating the 3D scanning device using the calibration image acquired in the preset attitude to obtain the calibration parameters of the 3D scanning device.

[0010] Based on the above technical solution, a preset posture 3D model of the scanning device corresponding to the calibration plate pattern is acquired and displayed. When the user uses the scanning device for calibration, the 3D scanning device is controlled to capture a calibration image containing the calibration plate to obtain the relative position between the scanning device and the calibration plate, thereby generating and displaying a real-time posture 3D model of the 3D scanning device relative to the calibration plate pattern. The scanning device is moved to guide the real-time posture 3D model to coincide with the preset posture 3D model, ensuring that the user moves the scanning device to the preset posture to collect an accurate calibration image, thereby improving the calibration accuracy.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, color indicators guide the real-time attitude 3D model and the preset attitude 3D model of the 3D scanning device to overlap, including: when the position overlap between the real-time attitude 3D model and the preset attitude 3D model exceeds a preset overlap rate, the preset attitude 3D model will change color to indicate that the pose of the real-time attitude 3D model meets the requirements.

[0012] In conjunction with the first aspect, some implementations of the first aspect further include: comparing the marker graphics in the calibration image with the calibration graphics on the displayed calibration board pattern to provide feedback on the acquisition status of the marker graphics on the calibration board; adjusting the position of the three-dimensional scanning device according to the acquisition status of the calibration graphics, so that the three-dimensional scanning device acquires a calibration image including marker graphics in different regions.

[0013] Based on the above technical solution, the position of the scanning device is adjusted according to the acquisition status of the calibration pattern, so that the scanning device can acquire calibration images including different marker patterns, which is beneficial to improving calibration accuracy.

[0014] Secondly, a reconstruction method based on a three-dimensional scanning device is provided. The method includes: configuring the scanning parameters of the three-dimensional scanning device, including one or more combinations of point distance, light source type, light source intensity, camera exposure time, and gain; controlling the three-dimensional scanning device to scan the target object to obtain the scanning data of the target object; and using the calibration method provided in the first aspect to obtain the calibration parameters of the three-dimensional scanning device to process the scanning data to obtain a three-dimensional model of the target object.

[0015] Based on the above technical solutions, the 3D scanning device can achieve higher accuracy in 3D model reconstruction.

[0016] In conjunction with the second aspect, in some implementations of the second aspect, the method is applied to reconstruction software that includes a parameter configuration area and a 3D model rendering area, wherein: before the 3D scanning device starts scanning, a communication connection is established between the 3D scanning device and the reconstruction software, and the scanning parameters of the 3D scanning device are configured through the parameter configuration area in the reconstruction software interface; when the 3D scanning device starts scanning, the scanning parameter area in the reconstruction software interface is automatically hidden after t seconds to enter full-screen mode, so that the reconstruction software interface only displays the 3D model rendering area; when the 3D scanning device pauses scanning, it exits full-screen mode, and the reconstruction software interface displays both the scanning parameter area and the 3D model rendering area simultaneously.

[0017] In conjunction with the second aspect, in some implementations of the second aspect, during the process of reconstructing the three-dimensional model of the target object, the three-dimensional model is colored to map the scanning distance between the three-dimensional scanning device and the target object; and / or, the interface of the reconstruction software is also provided with a scanning distance indicator bar to indicate the scanning distance between the three-dimensional scanning device and the target object.

[0018] Based on the above technical solutions, the user-friendly operation of the 3D scanning device can be further improved while ensuring the reconstruction accuracy of the 3D scanning device.

[0019] Thirdly, a calibration system is provided for calibrating a 3D scanning device, comprising: a calibration plate including a QR code and a marker graphic, wherein the QR code is used to store the real-world coordinates of the marker graphic in the world coordinate system; and calibration software configured on a host computer, wherein the calibration software is used to calibrate the 3D scanning device according to the method provided in the first aspect to obtain the calibration parameters of the 3D scanning device.

[0020] Fourthly, a reconstruction system is provided for three-dimensional reconstruction of a target object, comprising: a three-dimensional scanning device for scanning the target object to obtain scan data of the target object; and reconstruction software configured on a host computer for controlling the three-dimensional scanning device to obtain the scan data of the target object for reconstruction according to the method provided in the second aspect, thereby obtaining a three-dimensional model of the target object.

[0021] Fifthly, a computer-readable storage medium is provided, which stores program code that, when executed on a computer, causes the computer to perform the methods provided in the first and / or second aspects. Attached Figure Description

[0022] Figure 1 is a schematic diagram of the architecture of a calibration system 100 provided in an embodiment of this application.

[0023] Figure 2 is a schematic diagram of one implementation of a calibration board 110 provided in an embodiment of this application.

[0024] Figure 3 is a schematic diagram of another implementation of a calibration board 110 provided in an embodiment of this application.

[0025] Figure 4 is a schematic diagram of another implementation of a calibration board 110 provided in an embodiment of this application.

[0026] Figure 5 is a schematic diagram of another implementation of a calibration board 110 provided in an embodiment of this application.

[0027] Figure 6 is a schematic diagram of another implementation of a calibration board 110 provided in an embodiment of this application.

[0028] Figure 7 is a schematic diagram of another implementation of a calibration board 110 provided in an embodiment of this application.

[0029] Figure 8 is a schematic diagram of another implementation of a calibration board 110 provided in an embodiment of this application.

[0030] Figure 9 is a schematic diagram of another implementation of a calibration board 110 provided in an embodiment of this application.

[0031] Figure 10 is a schematic diagram of calibration board data information provided in an embodiment of this application.

[0032] Figure 11 is a schematic diagram of one implementation of a three-dimensional scanning device 120 provided in an embodiment of this application.

[0033] Figure 12 is a schematic diagram of another implementation of a three-dimensional scanning device 120 provided in the embodiments of this application.

[0034] Figure 13 is a schematic diagram of another implementation of a three-dimensional scanning device 120 provided in the embodiments of this application.

[0035] Figure 14 is a schematic diagram of another implementation of a three-dimensional scanning device 120 provided in the embodiments of this application.

[0036] Figure 15 is a flowchart illustrating a calibration method 1500 provided in an embodiment of this application.

[0037] Figure 16 is a schematic flowchart of a scanning method 1600 of a three-dimensional scanning device provided in an embodiment of this application.

[0038] Figure 17 is a schematic diagram of a three-dimensional scanning device 1700 provided in an embodiment of this application. Detailed Implementation

[0039] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0040] In the description of the embodiments in this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more.

[0041] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0042] To keep the drawings concise, the figures in this application only schematically show the parts related to the corresponding embodiments, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, some figures only schematically show some structures or components, and there may actually be more or fewer identical or similar structures or components.

[0043] With the rapid development of 3D vision technology, 3D scanning has been widely applied in various fields. A 3D scanner obtains scan data by scanning a target object and then uses the scanner's intrinsic and extrinsic parameters to perform 3D reconstruction to obtain a 3D model of the target object. Before scanning a target object, the scanner usually needs to be calibrated to obtain its intrinsic and extrinsic parameters. In some related technologies, the calibration process requires using specialized measuring instruments to measure the calibration plate multiple times to obtain the world coordinates of each marker point on the calibration plate in the world coordinate system. The intrinsic and extrinsic parameters of the 3D scanner are then obtained using these world coordinates. However, these technologies are complex, and most users of 3D scanners are not professionals in the field. They typically lack the specialized measuring equipment to obtain the world coordinates of the marker points and are unfamiliar with the calibration process, which may lead to inaccurate acquisition of the 3D scanner's intrinsic and extrinsic parameters, increasing the complexity of using the 3D scanner.

[0044] Based on this, this application proposes a calibration system and calibration method for calibrating a 3D scanning device. The calibration system and calibration method provided in this application are more convenient to operate and have higher calibration accuracy.

[0045] Figure 1 is a schematic diagram of the architecture of a calibration system 100 provided in an embodiment of this application, including a calibration board 110, a 3D scanning device 120, and a host computer 130 configured with calibration software. The calibration board 110 includes multiple marker graphics (also referred to as calibration points) and a QR code storing the real-world coordinate information of the multiple marker graphics. The 3D scanning device 120 includes a projector 121 and a receiving camera 122. The calibration software configured on the host computer 130 is used to calibrate the 3D scanning device 120 to obtain calibration parameters of the 3D scanning device 120.

[0046] The 3D scanning device 120 establishes a communication connection with the calibration software via the host computer 130. The 3D scanning device 120 scans the QR code placed on the calibration plate 110, obtains the real-world coordinates of the marker graphic on the calibration plate 110 in the world coordinate system, and provides this information to the calibration software in the host computer 130. The 3D scanning device 120 is controlled to capture images of the calibration plate 110 placed in the world coordinate system to obtain a calibration image including the marker graphic. This image is then processed by the calibration software in the host computer 130 to obtain the pixel coordinates of the marker graphic in the image coordinate system. Based on the real-world coordinates of the marker graphic in the world coordinate system and the pixel coordinates of the marker graphic in the image coordinate system, the calibration software in the host computer 130 calibrates the 3D scanning device 120 to obtain its calibration parameters.

[0047] To establish a communication connection with the calibration software in the host computer 130, the 3D scanning device 120 also includes a communication module for wired and / or wireless connection with the calibration software in the host computer 130.

[0048] In some embodiments, the communication module includes a wired communication unit, which may be a Type-C connector. The 3D scanning device 120 and the host computer 130 communicate via a Type-C cable to transmit the acquired calibration images to the host computer 130 for processing by the calibration software. In other embodiments, the communication module includes a wireless communication unit, which may be a WiFi unit or a Bluetooth unit. The 3D scanning device 120 and the host computer 130 communicate wirelessly via the WiFi unit or Bluetooth unit to transmit the acquired calibration images to the host computer 130 for processing by the calibration software.

[0049] In some embodiments, as shown in Figures 2 to 9, the calibration plate 110 includes a plurality of first marker graphics 111 and a plurality of second marker graphics 112.

[0050] As an example, the calibration plate 110 has n first marker graphics 111 and m second marker graphics 112. The number n of the first marker graphics 111 and the number m of the second marker graphics 112 in the calibration plate 110 are preset, where n is an integer greater than 3 and m is an integer greater than or equal to 2. As shown in Figure 2, the number n of the first marker graphics 111 is 4 and the number m of the second marker graphics 112 is 206. It should be noted that the calibration plate 110 can be obtained by etching, pasting, or other methods on a substrate to form n first marker graphics 111 and m second marker graphics 112. This embodiment of the application does not limit this.

[0051] In some embodiments, the plurality of second marker graphics 112 in the calibration plate 110 are arranged in multiple rows and columns, and the plurality of first marker graphics 111 are embedded in the plurality of second marker graphics 112 arranged in multiple rows and columns, forming a neat arrangement or a non-neat arrangement.

[0052] In one possible implementation, as shown in Figures 2, 4 to 9, the first mark graphic 111 and the second mark graphic 112 in the calibration plate 110 are arranged in a neat row and column.

[0053] In another possible implementation, as shown in Figure 3, the first mark graphic 111 and the second mark graphic 112 in the calibration plate are arranged in a non-uniform manner, that is, the first mark graphic 111 and the second mark graphic 112 are not arranged in the same row or column.

[0054] In some embodiments, the adjacent logo graphic of any one of the plurality of first logo graphics 111 can be either a first logo graphic 111 or a second logo graphic 112. It is understood that the more rows and columns the plurality of second logo graphics 112 have, the larger the interval between the plurality of first logo graphics 111, but this application embodiment does not impose any limitation on this.

[0055] In some embodiments, the area of ​​the first logo graphic 111 is different from the area of ​​the second logo graphic 112, and / or the shape of the first logo graphic 111 is different from the shape of the second logo graphic 112. The shapes of the first logo graphic 111 and / or the second logo graphic 112 include at least one of the following: circle, square, rectangle, triangle, trapezoid, parallelogram.

[0056] It should be noted that the shapes of the first logo graphic 111 and / or the second logo graphic 112 can also be solid patterns and / or hollow patterns (as an example, a ring), which is not limited here.

[0057] In one possible scenario, the first logo 111 and the second logo 112 have the same shape, but the areas of the first logo 111 and the second logo 112 are different. When the first logo 111 and the second logo 112 have the same shape, the area of ​​the first logo 111 can be larger than the area of ​​the second logo 112, as shown in Figure 2 or Figure 3. The first logo 111 can be a circle with a larger area, and the second logo 112 can be a circle with a smaller area; or as shown in Figure 4, the first logo 111 can be a square with a larger area, and the second logo 112 can be a square with a smaller area.

[0058] When the first logo 111 and the second logo 112 have the same shape, the area of ​​the first logo 111 can also be smaller than the area of ​​the second logo 112. As shown in Figure 5, the first logo 111 can be a circle with a smaller area and the second logo 112 can be a circle with a larger area; or as shown in Figure 6, the first logo 111 can be a square with a smaller area and the second logo 112 can be a square with a larger area.

[0059] It should be noted that the shapes of the first logo graphic 111 and / or the second logo graphic 112 may be any shape, including but not limited to, those in the above embodiments, and are not limited in this application embodiment.

[0060] In another possible scenario, the first logo 111 and the second logo 112 have different shapes. When the first logo 111 and the second logo 112 have different shapes, their areas are the same, as shown in Figure 7. The first logo 111 can be a triangle, and the second logo 112 can be a circle with the same area as the first logo 111.

[0061] It should be noted that the first logo 111 and the second logo 112 in Figure 7 are merely illustrative examples of the different shape relationships between them, and are not intended to limit the area relationship between them. In the example corresponding to Figure 7, the areas of the first logo 111 and the second logo 112 are the same.

[0062] In another possible implementation, when the shapes of the first logo 111 and the second logo 112 are different, the areas of the first logo 111 and the second logo 112 can also be different. As shown in Figure 8, the first logo 111 can be a triangle with a larger area, and the second logo 112 can be a circle with a smaller area; or as shown in Figure 9, the first logo 111 can be a triangle with a smaller area, and the second logo 112 can be a circle with a larger area.

[0063] It should be noted that the shapes of the first logo graphic 111 and / or the second logo graphic 112 may be any shape, including but not limited to, those in the above embodiments, and are not limited in this application embodiment.

[0064] In some embodiments, a plurality of first marker patterns 111 are arranged near the central region of the calibration plate 110, such as in the region near the intersection of a plurality of diagonals of the calibration plate 110.

[0065] In this embodiment, when multiple first marker graphics are located in the central area of ​​the calibration board, there are fewer restrictions on the size of the calibration board and the camera's field of view. Calibration can be performed even if the camera only captures the central area of ​​the calibration board. This means that when using a 3D scanning device for calibration, it is not necessary to capture the entire area of ​​the calibration board; the captured calibration image only needs to cover all the first marker graphics and some of the second marker graphics. Calibration can be performed using both smaller calibration boards (such as user calibration boards) and larger calibration boards, as well as cameras with small field of view (FOV) and cameras with large FOV, making the calibration system of this embodiment more adaptable.

[0066] In some embodiments, the center points of each of the plurality of first marker patterns 111 in the calibration plate 110 are connected sequentially to form a polygon. The polygon can be a symmetrical polygon or an asymmetrical polygon.

[0067] In one possible implementation, when the polygon is asymmetrical, the distance between the individual first marker graphics 111 within the polygon gives the asymmetrical polygon directionality, thereby clearly distinguishing the relative positions of each first marker graphic 111 on the calibration plate 110, and thus determining the orientation of the calibration plate 110. As an example, as shown in Figures 2 to 9, the center points of each of the four first marker graphics 111 connected sequentially can form an asymmetrical quadrilateral (e.g., a right trapezoid). It should be noted that the shape of the polygon formed by the aforementioned multiple first marker graphics 111 is merely illustrative, and the embodiments of this application do not limit the shape of the polygon.

[0068] During the calibration of the 3D scanning device, the calibration image acquired by the 3D scanning device includes multiple first marker graphics and multiple second marker graphics. The multiple first marker graphics are connected in sequence to form a directional polygon to clearly distinguish the relative positions of each first marker graphic. The relative positions are further used to identify the relative positions of the second marker graphics on the calibration plate to obtain the pixel coordinates of each marker graphic in the image coordinate system and the real-time world coordinates in the world coordinate system, so as to complete the calibration of the 3D scanning device.

[0069] In some embodiments, the real-world coordinates of the marker graphics on the calibration plate 110 are stored on the QR code on the calibration plate 110 in the world coordinate system. The world coordinate information of the multiple marker graphics includes the real-world coordinates of multiple first marker graphics 111 and multiple second marker graphics 112 in the world coordinate system.

[0070] Specifically, during the calibration of the 3D scanning device 120, the 3D scanning device 120 can first scan the QR code so that the calibration software can obtain the real-world coordinates of each first marker graphic 111 and second marker graphic 112 in the calibration board 110 in the world coordinate system; then the 3D scanning device 120 can be used to take a picture of the calibration board 110 and obtain a calibration image including the marker graphics, so that the calibration software can process and obtain the pixel coordinates of the marker graphics in the image coordinate system; then, the 3D scanning device 120 can be calibrated using the real-world coordinates of the marker graphics in the world coordinate system and the pixel coordinates in the image coordinate system to obtain the calibration parameters of the 3D scanning device 120.

[0071] In this embodiment, by pre-storing the real-world coordinates of each marker graphic on the calibration board in the world coordinate system as a QR code, the user does not need to measure the real-world coordinates of each marker graphic on the calibration board in the world coordinate system during the calibration of the 3D scanning device. Instead, the user can directly obtain the real-world coordinates of each marker graphic by scanning the QR code, thereby improving calibration accuracy and efficiency.

[0072] In one possible implementation, the calibration plate 110 includes a base plate and multiple marker graphics. The marker graphics are engraved on the base plate according to the aforementioned arrangement. Each marker graphic is pre-measured using a high-precision measuring device (such as a coordinate measuring machine or precision calipers) in a unified world coordinate system to obtain its true three-dimensional world coordinates. The true three-dimensional world coordinates of each marker graphic are processed to generate a QR code. The QR code is set on the base plate, which can be on the same side or opposite side of the marker graphic, thus binding the QR code to the corresponding calibration plate. Different calibration plates correspond to different QR codes. When the world coordinates of the marker graphics on each calibration plate are different in the world coordinate system, different QR codes are generated, ensuring a one-to-one correspondence between each calibration plate and each QR code. Therefore, when calibrating the 3D scanning device 120 using the calibration plate 110, the 3D scanning device 120 can capture an image of the QR code and upload it to the calibration software located in the host computer 130. The calibration software then identifies the QR code to restore the true world coordinates of the marker graphic in the world coordinate system. For example, as shown in Figure 10, the calibration board contains 42 marker graphics. The data in the box represents the three-dimensional coordinates of a marker graphic. The amount of coordinate information is 42 x 3. Processing the three-dimensional coordinate information yields the QR code shown in the upper right corner. Thus, during calibration, the three-dimensional scanning device can directly scan the QR code to obtain the three-dimensional coordinate information of each marker graphic on the calibration board.

[0073] In some embodiments, the 3D scanning device 120 includes at least one projector 121 and at least two receiving cameras 122. At least one projector 121 projects a patterned light beam onto the object being measured, and the at least two receiving cameras 122 acquire the light beam reflected back from the object to generate depth data for transmission to a host computer 130. The host computer 130 may also include reconstruction software, which uses the depth data of the object to create a 3D model of the object. It should be understood that the calibration software and reconstruction software in this application can be integrated into one software or set up independently. When using the 3D scanning device 120 for scanning, the 3D scanning device 120 can be calibrated first to ensure the accuracy of its calibration parameters. In this case, the calibration parameters of the 3D scanning device 120 include the intrinsic parameters and distortion of each receiving camera 122, and the extrinsic parameters between each receiving camera 122 and the other receiving camera forming a binocular imaging system. After the calibration of the 3D scanning device 120 is completed, the 3D scanning device 120 is used to scan the object to be measured to obtain depth data, which is then uploaded to the reconstruction software in the host computer 130. The reconstruction software combines the calibration parameters and depth data to obtain the point cloud data of the object to be measured, and then models the point cloud data to obtain the 3D model of the object to be measured.

[0074] In one possible implementation, as shown in Figure 11, when the 3D scanning device 120 includes a projector 121 and two receiving cameras 122, the receiving cameras 122 include a first receiving camera 1221 and a second receiving camera 1222. The first receiving camera 1221 and the second receiving camera 1222 are respectively located on both sides of a projector 121. The projector 121 can project patterned beams such as line structured light, speckle structured light, or stripes onto the calibration plate 110. The first receiving camera 1221 and the second receiving camera 1222 respectively collect the beams reflected back from the calibration plate 110 and generate a calibration image including the marked pattern.

[0075] In another possible implementation, as shown in Figure 12, when the 3D scanning device 120 includes a projector 121 and four receiving cameras 122, the receiving cameras 122 include a first receiving camera 1221, a second receiving camera 1222, a third receiving camera 1223, and a fourth receiving camera 1224. The projector 121 and the two sets of left and right receiving cameras 122 construct an active binocular imaging system with different baselines. In other words, the projector 121, the first receiving camera 1221, and the second receiving camera 1222 form a first group, while the projector 121, the third receiving camera 1223, and the fourth receiving camera 1224 form a second group.

[0076] In another possible implementation, as shown in Figure 13, when the 3D scanning device 120 includes two projectors 121 and four receiving cameras 122, the projectors 121 include a first projector 1211 and a second projector 1212, and the receiving cameras 122 include a first receiving camera 1221, a second receiving camera 1222, a third receiving camera 1223, and a fourth receiving camera 1224. Two receiving cameras 122 are arranged on the left and right sides of each projector 121. The first projector 1211, together with the first and second receiving cameras 1221 and 1222 on the left and right sides, constitutes a first active binocular imaging system. The second projector 1212, together with the third and fourth receiving cameras 1223 and 1224 on the left and right sides, constitutes a second active binocular imaging system. During calibration, the two independent active binocular imaging systems are calibrated sequentially to obtain the calibration parameters corresponding to each active binocular imaging system.

[0077] It should be understood that the baselines between the left and right receiving cameras in the first active binocular imaging system and the second active binocular imaging system are different. The projectors included in each system can project patterned light beams with the same pattern and density, patterned light beams with the same pattern but different densities, or patterned light beams with different patterns. The focal lengths of the left and right receiving cameras in the first active binocular imaging system and the left and right receiving cameras in the second active binocular imaging system can be the same or different. The projectors and left and right receiving cameras in the two active binocular imaging systems can be configured differently to achieve full-range scanning covering near, medium and far distances, and large, medium and small objects. This application embodiment does not limit this.

[0078] In another possible implementation, as shown in Figure 14, when the 3D scanning device 120 includes two projectors 121 and two receiving cameras 122, the projectors 121 include a first projector 1211 and a second projector 1212, and the receiving cameras 122 include a first receiving camera 1221 and a second receiving camera 1222. The two projectors 121 and the two receiving cameras 122 respectively construct two sets of binocular imaging systems. In other words, the first projector 1211, the first receiving camera 1221, and the second receiving camera 1222 constitute a first active binocular imaging system, and the second projector 1212, the first receiving camera 1221, and the second receiving camera 1222 constitute a second active binocular imaging system.

[0079] It should be noted that each imaging system can be calibrated sequentially during calibration, and this application embodiment does not limit this.

[0080] The 3D scanning device 120 may also include an RGB camera for acquiring texture information of the object under test. After obtaining the 3D model of the object under test, the texture information of the object under test acquired by the RGB camera can be used to apply texture mapping to the 3D model to obtain a textured 3D model, thereby enriching the details of the 3D model. When calibrating the projector 121 and the receiving camera 122 in the 3D scanning device 120, the RGB camera can be calibrated simultaneously.

[0081] It should be understood that the aforementioned three-dimensional scanning device 120 may also include other accessories such as an integrated touch screen and / or a detachable power module, which are not limited in this application embodiment.

[0082] The system provided by the embodiments of this application has been described in detail above with reference to Figures 1 to 14. The method provided by the embodiments of this application will be described in detail below with reference to Figures 15 and 16. It should be understood that the description of the method embodiments corresponds to the description of the system embodiments; therefore, any content not described in detail can be referred to the system embodiments above, and for the sake of brevity, will not be repeated here.

[0083] Figure 15 is a flowchart of a calibration method 1500 provided in an embodiment of this application, which is applied to the calibration software of the host computer 130 shown in Figure 1, including: S1510: controlling the three-dimensional scanning device to scan the QR code on the calibration board to obtain the set of real world coordinates of the first mark graphic and the second mark graphic in the world coordinate system.

[0084] During the calibration of the 3D scanning device, the 3D scanning device can be used to scan the QR code on the calibration board so that the calibration software in the host computer can obtain the set of real world coordinates of each first mark graphic 111 and second mark graphic 112 in the world coordinate system.

[0085] Specifically, before the calibration board leaves the factory, each marker graphic is measured in a unified world coordinate system using high-precision measuring equipment to obtain the true three-dimensional world coordinates of each marker graphic. These true three-dimensional world coordinates are then converted into an SN code and a QR code is generated, which is placed on the marker board. Therefore, when using this calibration board to calibrate a 3D scanning device, the 3D scanning device can capture an image of the QR code and upload it to the calibration software located on a host computer. The calibration software then identifies the QR code to reconstruct the true world coordinates of the marker graphic in the world coordinate system.

[0086] S1520: Control the three-dimensional scanning device to acquire calibration images including the calibration plate, identify the first and second marker graphics on the calibration images, and obtain the pixel coordinates of the first and second marker graphics in the image coordinate system.

[0087] During the calibration of the 3D scanning device, the calibration image acquired by the 3D scanning device includes multiple first marker graphics and multiple second marker graphics. As an example, multiple first marker graphics are connected sequentially to form a directional polygon to clearly distinguish the relative positions of each first marker graphic. Then, the relative positions are further used to identify the relative positions of the second marker graphics on the calibration plate to obtain the pixel coordinates of each marker graphic in the image coordinate system.

[0088] S1530: Use the first marker graphic to locate the orientation of the calibration plate, and combine the orientation of the calibration plate to obtain the real-time world coordinates of the first and second marker graphics in the world coordinate system from the real-world coordinate set.

[0089] As an example, multiple first marker graphics can be connected in sequence to form a directional polygon to clearly distinguish the relative positions of each first marker graphic. Then, the relative positions are further used to identify the relative positions of second marker graphics on the calibration board, so as to obtain the real-time world coordinates of each marker graphic in the world coordinate system from the real-world coordinate set.

[0090] S1540: Obtain the calibration parameters of the 3D scanning device based on the real-time world coordinates and pixel coordinates of the first and second marker graphics.

[0091] As an example, the 3D scanning device is calibrated using the Zhang Zhengyou calibration algorithm and / or other existing calibration algorithms, using the pixel coordinates of the marker graphic in the calibration image in the image coordinate system and the real-time world coordinates in the world coordinate system, to obtain the calibration parameters of the 3D scanning device and complete the calibration of the 3D scanning device.

[0092] In the calibration process of the 3D scanning device in this application embodiment, the QR code on the back of the calibration plate is first scanned using the 3D scanning device to obtain the set of real-world coordinates of all the marker graphics on the calibration plate in the world coordinate system. Then, a calibration image including multiple first marker graphics and multiple second marker graphics is acquired to obtain the pixel coordinates of the multiple first marker graphics and multiple second marker graphics in the image coordinate system. Since multiple first marker graphics can be connected in sequence to form a directional polygon to clearly distinguish the relative position of each first marker graphics, the relative position of the second marker graphics on the calibration plate is further used to identify the relative position of the second marker graphics on the calibration plate to obtain the real-time world coordinates of each marker graphics in the world coordinate system from the set of real-world coordinates. Finally, the calibration of the 3D scanning device is completed based on the real-time world coordinates and pixel coordinates of the first and second marker graphics.

[0093] Handheld 3D scanning devices are high-precision equipment, and their accuracy can be affected by various environmental factors, such as ambient temperature, humidity, or drops during use. Therefore, to adapt to use in different environments without affecting accuracy, the device needs to be calibrated for different situations to ensure the scanner's accuracy during use. However, past interactive methods based on 2D animations were not very effective in guiding users, making them difficult to understand and thus hindering calibration. Therefore, based on this premise, and in conjunction with the calibration method provided in the above embodiments, this application also provides a full-process scanning method 1600 for a 3D scanning device. It is understood that content not described in detail below can be referred to the description in the above method embodiments, and will not be repeated here.

[0094] Figure 16 is a flowchart of a full-process scanning method 1600 of a three-dimensional scanning device provided in an embodiment of this application, including: S1610, obtaining the set of real-world coordinates of the calibration plate in the world coordinate system, generating and displaying a calibration plate pattern corresponding to the calibration plate according to the set of real-world coordinates of the calibration plate, wherein the calibration plate includes a first mark graphic and a second mark graphic.

[0095] Before calibrating the 3D scanning device, it is necessary to obtain the parameters of the calibration board. As an example, the QR code on the calibration board and the real-world coordinates of each marker graphic on the calibration board in the world coordinate system are pre-stored in the cloud. By scanning the QR code on the calibration board with the 3D scanning device, the calibration software can obtain the set of real-world coordinates of each marker image in the world coordinate system from the cloud, or by entering the serial number of the calibration board in the calibration software, the set of marker points in the calibration board and the set of real-world coordinates of each marker point in the world coordinate system can be retrieved from the cloud, and the calibration board pattern corresponding to the calibration board can be generated and displayed in the calibration software.

[0096] S1620, control the three-dimensional scanning device to acquire calibration images including the calibration plate, obtain the relative position between the three-dimensional scanning device and the calibration plate to generate and display the real-time attitude three-dimensional model of the three-dimensional scanning device relative to the calibration plate pattern, and move the three-dimensional scanning device to guide the real-time attitude three-dimensional model and the preset attitude three-dimensional model to coincide.

[0097] The system acquires and displays a preset 3D model of the scanning device corresponding to the calibration plate pattern. When the user uses the scanning device for calibration, it controls the 3D scanning device to capture a calibration image including the calibration plate to obtain the relative position between the scanning device and the calibration plate, thereby generating and displaying a real-time 3D model of the scanning device relative to the calibration plate pattern. The scanning device is moved to guide the real-time 3D model to coincide with the preset 3D model, ensuring that the user moves the scanning device to the preset pose to acquire accurate calibration images, thus improving calibration accuracy. It should be understood that multiple preset 3D models exist. After acquiring corresponding data in one preset pose, the preset 3D model will move to the next position to continue acquiring the calibration image corresponding to the next pose.

[0098] During the calibration process of the 3D scanning device, when the real-time pose 3D model of the 3D scanning device coincides with the preset pose 3D model, the projection module and receiving camera of the 3D scanning device are controlled to acquire a calibration image including the calibration plate. The first and second marker graphics in the marker graphics on the calibration image are identified to obtain the pixel coordinates of each marker graphic in the image coordinate system. The orientation of the calibration plate is located using the first marker graphic, and the real-time world coordinates corresponding to the marker graphics in the calibration image are obtained from the real-world coordinate set. It should be understood that during the process of guiding the real-time pose 3D model of the 3D scanning device to coincide with the preset pose 3D model, the projection module can be continuously in working state, or it can be in working state only when the real-time pose 3D model of the 3D scanner coincides with the preset pose 3D model; this application does not impose any restrictions here.

[0099] In some implementations, color indicators are provided for the overlap between the real-time pose 3D model and the preset pose 3D model. As an example, when the overlap between the real-time pose 3D model and the preset pose 3D model exceeds a preset overlap rate (e.g., 95%), the color of the preset pose 3D model changes (e.g., turns green), indicating that the pose of the real-time pose 3D model meets the requirements, that is, the 3D scanning device can be controlled to capture the calibration image.

[0100] In other embodiments, the calibration software can provide two different views of the 3D calibration scene—a top view and an isometric view—based on the relative position between the scanning device and the calibration plate, thus allowing the user to adjust the viewing angle vertically and horizontally. As an example, the isometric view is magnified by default, but users can switch between different views according to their usage habits to improve the user experience.

[0101] S1630: When the 3D scanning device completes the acquisition of calibration images in a preset pose, the 3D scanning device is calibrated using the calibration images acquired in the preset pose to obtain the calibration parameters of the 3D scanning device.

[0102] After acquiring multiple frames of calibration images under different preset postures, the 3D scanning device is calibrated by using the Zhang Zhengyou calibration algorithm or other existing calibration algorithms to calibrate the 3D scanning device by comparing the pixel coordinates of the marker graphics in the image coordinate system with the real-time world coordinates of each marker graphics in the world coordinate system, thereby obtaining the calibration parameters of the 3D scanning device.

[0103] After calibration, the calibration software will comprehensively evaluate the calibration parameters collected in the preset posture and the preset calibration parameters at the factory, and give corresponding score prompts. The higher the score, the better the calibration quality and the higher the accuracy of the corresponding 3D scanning device.

[0104] In some implementations, the marker graphics in the calibration image can be compared with the calibration graphics on the displayed calibration board pattern to provide real-time feedback on the acquisition status of the marker graphics on the calibration board. The position of the scanning device can be adjusted based on the acquisition status of the calibration graphics, allowing the scanning device to acquire calibration images including different marker graphics, which helps improve calibration accuracy. For example, the first and second marker graphics acquired in the calibration image are identified. The calibration board orientation is determined based on the first marker graphic to determine the positions of the first and second marker graphics on the calibration board. The corresponding marker graphics in the calibration board pattern displayed by the calibration software are displayed in green; otherwise, they are displayed in the default gray color. Furthermore, if the calibration board is not detected during the calibration process, or the aligned calibration board does not match, corresponding prompts will be provided.

[0105] It is understood that the above description of how to obtain the calibration parameters of the three-dimensional scanning device from the calibration image is only an illustrative example, and the description in method 1500 can also be referred to, which will not be repeated here.

[0106] S1640 uses a calibrated 3D scanning device to scan the target object in order to perform 3D reconstruction of the target object and obtain a 3D model.

[0107] In some implementations, the host computer 130 may also be configured with reconstruction software. In this case, the 3D scanning device and the reconstruction software constitute a reconstruction system for performing 3D reconstruction of the target object. Specifically, the reconstruction software stores a reconstruction method, which is used to acquire scan data and perform reconstruction processing on the scan data to obtain a 3D model of the target object. The following is an exemplary description of the steps of the reconstruction method.

[0108] Step 1: Start the reconstruction software on the host computer to display the reconstruction software interface. The reconstruction software interface has a scanning parameter area. Configure the scanning parameters for the scanning device (including but not limited to dot pitch, light source type, light source intensity, camera exposure time, and gain) through the scanning parameter area.

[0109] Step 2: The reconstruction software interface also features a 3D model rendering area. Users can click the "Start Scan" button in the reconstruction software or press the start button on the 3D scanning device. After the 3D scanning device starts scanning, the scanning parameter area of ​​the reconstruction software automatically hides after t seconds, entering full-screen mode. The entire host computer (or display screen) only displays the 3D model rendering area, making the scanning interface simpler and improving the user experience.

[0110] Step 3: Once the 3D scanning device is started, it can perform simultaneous scanning and rendering in the 3D model rendering area. That is, when the 3D scanning device scans the target object and obtains its scan data, it uploads this data to the reconstruction software on the host computer. The reconstruction software processes the scan data using the calibration parameters obtained during the calibration process of the 3D scanning device, displaying the 3D model of the target object (such as a point cloud model or mesh model) in the 3D model rendering area. When the user moves the mouse or presses the stop or pause scanning button, the full-screen mode is exited, and the software interface before full-screen mode is restored, displaying the scanning parameter area. Furthermore, when the 3D scanning device also includes an RGB camera, it can also collect the texture information of the target object and then use this texture information to perform texture mapping on the aforementioned 3D model, displaying a textured 3D model in the 3D model rendering area.

[0111] In some implementations, to ensure users scan the target object at an appropriate distance, the 3D model can be colored, with different colors representing different scanning distances. This ensures that the scanning data used to reconstruct the 3D model is acquired within a preset distance range, thereby improving reconstruction quality. For example, each point in the 3D model is assigned a corresponding color based on the scanning distance; for instance, green indicates a suitable distance, red indicates too close, and blue indicates too far. When the 3D model is red or blue, it means the scanning distance at that point is outside the preset range. The color of the 3D model provides a clear and real-time indication for the user to adjust the scanning distance between the scanning device and the target object. The reconstruction software interface also includes a current scanning distance indicator bar to show the current scanning distance between the scanning device and the target object.

[0112] Additionally, a scanning distance indicator light (which could be a ring light or a dot light, for example) can be installed on the 3D scanning device to indicate whether the current scanning distance between the 3D scanning device and the target object is appropriate. For example, green indicates a suitable distance, red indicates too close, and blue indicates too far.

[0113] In some implementations, the calibration software and reconstruction software can be configured as a single software. In other words, one software can handle both calibration and reconstruction modes. As an example, the calibration mode is first activated to obtain the calibration parameters of the 3D scanning device, then the reconstruction mode is activated to scan the target object to obtain scan data, and the scan data is processed in conjunction with the calibration parameters to obtain a 3D model of the target object.

[0114] The methods provided by the embodiments of this application have been described in detail above with reference to Figures 15 and 16. The devices provided by the embodiments of this application will be described in detail below with reference to Figure 17. It should be understood that the descriptions of the device embodiments correspond to the descriptions of the apparatus embodiments and / or method embodiments. Therefore, any content not described in detail can be referred to the method embodiments above, and for the sake of brevity, will not be repeated here.

[0115] Figure 17 is a schematic diagram of a three-dimensional scanning device 1700 provided in an embodiment of this application.

[0116] As shown in Figure 17, the 3D scanning device 1700 includes a memory 1710, a processor 1720, and a computer program stored in the memory 1710 and executable on the processor 1720. When the processor 1720 executes the computer program, it implements the method provided in the above embodiments.

[0117] This application also provides a computer-readable storage medium storing computer program code. When the computer program code is run on the computer-readable storage medium, the computer-readable storage medium performs the methods provided in the above embodiments and Figures 15 and 16.

[0118] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0119] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0123] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A calibration method, characterized in that, An application is made in a calibration system including a calibration plate and a 3D scanning device. The calibration plate includes a QR code, a first marker graphic, and a second marker graphic. The QR code stores the world coordinates of each marker graphic in a world coordinate system. The method includes: controlling the 3D scanning device to scan the QR code on the calibration plate to obtain a set of real-world coordinates of the first and second marker graphics in a world coordinate system; controlling the 3D scanning device to acquire a calibration image including the calibration plate, identifying the first and second marker graphics on the calibration image, and obtaining the pixel coordinates of the first and second marker graphics in an image coordinate system; using the first marker graphic to locate the orientation of the calibration plate, and combining the orientation of the calibration plate to obtain the real-time world coordinates of the first and second marker graphics in the world coordinate system from the set of real-world coordinates; calibrating the 3D scanning device using the real-time world coordinates and pixel coordinates of the first and second marker graphics to obtain the calibration parameters of the 3D scanning device.

2. The method according to claim 1, characterized in that, The method of storing the real-world coordinates of each of the logo graphics in the QR code includes: measuring each of the logo graphics on the calibration board using a measuring device in a unified world coordinate system to obtain the real-world coordinates of each logo graphics; processing the real-world coordinates of each logo graphics to generate the QR code, thereby binding and associating the QR code with the real-world coordinates of each calibration graphic.

3. The method according to claim 1, characterized in that, The calibration process for the 3D scanning device further includes: acquiring the set of real-world coordinates of the calibration plate in the world coordinate system; generating and displaying a calibration plate pattern corresponding to the calibration plate based on the set of real-world coordinates of the calibration plate; controlling the 3D scanning device to acquire a calibration image including the calibration plate to obtain the relative position between the 3D scanning device and the calibration plate; generating and displaying a real-time attitude 3D model of the 3D scanning device relative to the calibration plate pattern based on the relative position between the 3D scanning device and the calibration plate; moving the 3D scanning device to guide the real-time attitude 3D model and the preset attitude 3D model to overlap to obtain a calibration image acquired by the 3D scanning device under the preset attitude; and calibrating the 3D scanning device using the calibration image acquired under the preset attitude to obtain the calibration parameters of the 3D scanning device.

4. The method according to claim 3, characterized in that, The method of guiding the real-time pose 3D model and the preset pose 3D model of the 3D scanning device to overlap by color indication includes: when the position of the real-time pose 3D model overlaps with the position of the preset pose 3D model by more than a preset overlap rate, the preset pose 3D model will change color to indicate that the pose of the real-time pose 3D model meets the requirements.

5. The method according to claim 3 or 4, characterized in that, Also includes: The marker graphic in the calibration image is compared with the calibration graphic on the displayed calibration board pattern to provide feedback on the acquisition status of the marker graphic on the calibration board. The position of the 3D scanning device is adjusted according to the acquisition status of the calibration graphic, so that the 3D scanning device acquires calibration images including marker graphics of different regions.

6. A reconstruction method based on a three-dimensional scanning device, characterized in that, The method includes: configuring the scanning parameters of the three-dimensional scanning device, the scanning parameters including one or more combinations of point distance, light source type, light source intensity, camera exposure time and gain; controlling the three-dimensional scanning device to scan the target object to obtain the scanning data of the target object; and using the calibration method as described in any one of claims 1 to 5 to obtain the calibration parameters of the three-dimensional scanning device to process the scanning data to obtain a three-dimensional model of the target object.

7. The reconstruction method according to claim 6, characterized in that, The method is applied to reconstruction software that includes a parameter configuration area and a 3D model rendering area, wherein: before the 3D scanning device starts scanning, a communication connection is established between the 3D scanning device and the reconstruction software, and the scanning parameters of the 3D scanning device are configured through the parameter configuration area in the reconstruction software interface; when the 3D scanning device starts scanning, the scanning parameter area in the reconstruction software interface is automatically hidden after t seconds to enter full-screen mode, so that the reconstruction software interface only displays the 3D model rendering area; when the 3D scanning device pauses scanning, it exits full-screen mode, and the reconstruction software interface simultaneously displays the scanning parameter area and the 3D model rendering area.

8. The reconstruction method according to claim 7, characterized in that, During the reconstruction of the three-dimensional model of the target object, the three-dimensional model is colored to map the scanning distance between the three-dimensional scanning device and the target object; and / or, the interface of the reconstruction software is further provided with a scanning distance indicator bar to indicate the scanning distance between the three-dimensional scanning device and the target object.

9. A calibration system for calibrating a three-dimensional scanning device, characterized in that, include: A calibration board, comprising a QR code and a marker graphic, wherein the QR code is used to store the real-world coordinates of the marker graphic in a world coordinate system; and calibration software configured on a host computer, used to calibrate the three-dimensional scanning device according to any one of claims 1-5, to obtain the calibration parameters of the three-dimensional scanning device.

10. A reconstruction system for performing three-dimensional reconstruction of a target object, characterized in that, include: A three-dimensional scanning device is used to scan the target object to obtain scan data of the target object; reconstruction software configured on a host computer is used to control the three-dimensional scanning device to obtain the scan data of the target object for reconstruction according to any one of claims 6-8 to obtain a three-dimensional model of the target object.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program code that, when executed on a computer, causes the computer to perform the method as described in any one of claims 1 to 8.

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