Laser beam calibration method, device, equipment and storage medium

Abstract

Embodiments of the present application disclose a laser beam calibration method, device, equipment and storage medium, and belong to the technical field of laser calibration. The method comprises: acquiring a first calibration image and a second calibration image through a camera; acquiring first calibration data based on the first calibration image; acquiring second calibration data based on the second calibration image; and acquiring a laser beam equation of a laser device based on the first calibration data and the second calibration data, wherein the laser beam equation is used to acquire a striking point of the laser device in an image captured by the camera. The present application provides a method for calibrating the laser beam of the laser device based on two calibration data. In the laser calibration process, a large amount of calibration data does not need to be acquired, and the laser calibration is completed through the two calibration data, thereby reducing the calculation amount of the laser calibration, simplifying the process of the laser calibration, and improving the efficiency of the laser calibration.

Description

Technical Field

[0001] This application relates to the field of laser calibration technology, and in particular to a laser beam calibration method, apparatus, equipment and storage medium. Background Technology

[0002] As the number of drones continues to increase, the demand for laser anti-drone systems is also gradually increasing. When tracking and engaging drones, laser anti-drone systems need to use calibration parameters to calculate the coordinates of the laser's impact point in the camera at any distance.

[0003] In related technologies, calibration images are obtained at different distances by changing the distance between the calibration plate and the laser, and multiple calibration data are then obtained from each calibration image. Each distance corresponds to one calibration image, and each calibration image corresponds to one calibration data. These multiple calibration data are then fitted using data interpolation to obtain the aforementioned calibration parameters, thus completing the laser calibration. Furthermore, during the use of the laser anti-drone system, after observing and identifying the drone, the drone's distance is measured. This distance is then combined with the calibration parameters to determine the coordinates of the laser's strike point, and the drone is struck based on these coordinates.

[0004] However, in the aforementioned related technologies, in order to ensure the accuracy of the calibration parameters, it is necessary to obtain as much calibration data as possible to ensure the accuracy of subsequent interpolation fitting. That is, a large amount of calibration data is required to obtain the calibration parameters, and the computational load of laser calibration is large. Summary of the Invention

[0005] This application provides a laser beam calibration method, apparatus, device, and storage medium, which can reduce the computational load of laser calibration. The technical solution is as follows:

[0006] On one hand, embodiments of this application provide a laser beam calibration and detection method, the method comprising:

[0007] A first calibration image and a second calibration image are acquired by a camera; wherein the first calibration image includes a first light spot and the second calibration image includes a second light spot, and the first light spot and the second light spot are light spots formed by a laser beam emitted by a laser on different calibration obstacles;

[0008] First calibration data is obtained based on the first calibration image, the first calibration data including the coordinates of the first spot in the image coordinate system corresponding to the camera; and second calibration data is obtained based on the second calibration image, the second calibration data including the position of the second spot in the image coordinate system;

[0009] Based on the first calibration data and the second calibration data, the laser beam equation of the laser is obtained; wherein, the laser beam equation is used to obtain the point of impact of the laser in the image captured by the camera.

[0010] On the other hand, embodiments of this application provide a laser beam calibration device, the device comprising:

[0011] An image acquisition module is used to acquire a first calibration image and a second calibration image through a camera; wherein the first calibration image includes a first light spot, and the second calibration image includes a second light spot, and the first light spot and the second light spot are light spots formed by a laser beam emitted by a laser on different calibration obstacles;

[0012] The data acquisition module is configured to acquire first calibration data based on the first calibration image, wherein the first calibration data includes the coordinates of the first light spot in the image coordinate system corresponding to the camera; and to acquire second calibration data based on the second calibration image, wherein the second calibration data includes the position of the second light spot in the image coordinate system.

[0013] The equation acquisition module is used to acquire the laser beam equation of the laser based on the first calibration data and the second calibration data; wherein the laser beam equation is used to acquire the impact point of the laser in the image captured by the camera.

[0014] In another aspect, embodiments of this application provide a computer device, which includes a processor and a memory. The memory stores a computer program, which is loaded and executed by the processor to implement the above-described laser beam calibration method.

[0015] In another aspect, embodiments of this application provide a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned laser beam calibration method.

[0016] In another aspect, embodiments of this application provide a computer program product that, when the computer program product is run, causes a computer device to execute the aforementioned laser beam calibration method.

[0017] Compared with the prior art, the technical solution provided in this application can bring the following beneficial effects:

[0018] First calibration data is obtained from a first calibration image, and second calibration data is obtained from a second calibration image. Then, the laser beam equation of the laser is obtained based on the first and second calibration data. The laser beam equation is used to obtain the impact point of the laser in the image captured by the camera. In short, this application provides a method for calibrating the laser beam of a laser based on two calibration data. In the laser calibration process, it is not necessary to acquire a large amount of calibration data. Laser calibration is completed with two calibration data, which reduces the amount of calculation in laser calibration, thereby simplifying the laser calibration process and improving the efficiency of laser calibration. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] Figure 1 This is a schematic diagram of a laser strike system provided in one embodiment of this application;

[0021] Figure 2 This is a flowchart of a laser beam calibration method provided in one embodiment of this application;

[0022] Figure 3 An illustrative diagram of the image coordinate system and the camera coordinate system is shown;

[0023] Figure 4 This is a flowchart of a laser beam calibration method provided in another embodiment of this application;

[0024] Figure 5 This is a block diagram of a laser beam calibration device provided in one embodiment of this application;

[0025] Figure 6 This is a block diagram of a laser beam calibration device provided in another embodiment of this application. Detailed Implementation

[0026] Please refer to Figure 1 The diagram illustrates a laser strike system according to an embodiment of this application. The laser strike system may include a camera 10, a laser 20, and a laser calibration device 30.

[0027] Camera 10 is used to detect whether a target to be attacked exists within a corresponding area. The area corresponding to the camera can be called the camera detection area, and the target to be attacked refers to an item that is not authorized to appear within the camera detection area. For example, the target to be attacked can be a drone, a mosquito, etc., but this embodiment does not limit this. Optionally, the laser strike system uses camera 10 to perform visual detection on the corresponding area to determine whether a target to be attacked exists within the camera detection area.

[0028] Laser 20 is used to emit a laser beam. Exemplarily, laser 20 can be a solid-state laser, gas laser, liquid laser, semiconductor laser, free-electron laser, etc., and this embodiment is not limited thereto. Optionally, when the laser strike system determines that a target is waiting in the camera detection area, it emits a laser beam from the laser to strike the target.

[0029] The laser calibration device 30 is used to perform laser calibration to obtain the laser beam equation. Exemplarily, the laser calibration device 30 can be an electronic device such as a mobile phone, tablet computer, wearable device, backend server, server cluster, or PC (Personal Computer), and this application embodiment is not limited to this. In this application embodiment, the relative position between the camera 10 and the laser 20 remains unchanged. The laser 20 forms a light spot on the calibration obstacle by emitting laser light; the camera 10 acquires a calibration image containing the light spot; the laser calibration device 30 obtains calibration data based on the calibration image, and then obtains the laser beam equation based on the calibration data.

[0030] Optionally, the laser strike system also includes a control device 40. This control device 40 controls the overall laser strike process. Exemplarily, the laser calibration device 30 can be an electronic device such as a mobile phone, tablet, wearable device, backend server, server cluster, or PC (Personal Computer), and this embodiment does not limit this. Optionally, the control device 40 controls the camera 10 to acquire an image of the corresponding area, and determines whether a target to be struck exists in the image through visual detection. If a target is detected in the camera's detection area, the control device 40 determines the strike point of the laser 20 in the image based on the laser beam equation, and controls the laser 20 to emit a laser beam to strike the target based on this strike point. Optionally, the control device 40 and the aforementioned laser calibration device 30 can be the same device or different devices, and this embodiment does not limit this.

[0031] Optionally, since distance measurement is required during both laser calibration and laser strike, the laser strike system also includes a rangefinder 50. This rangefinder 50 is used to acquire the distance value corresponding to the calibration obstacle during laser calibration and to acquire the distance value corresponding to the target to be struck during laser strike. For example, the rangefinder 50 is a laser rangefinder.

[0032] Optionally, to flexibly track and engage targets, the laser strike system also includes a turntable 60. This turntable 60 controls the shooting direction of the camera 10 and the laser beam emission direction of the laser 20. Exemplarily, the turntable 60 is a spherical coordinate turntable. Optionally, the camera 10, laser 20, and rangefinder 50 are all mounted on the turntable 60, and their relative positions remain unchanged during laser calibration and laser strike. Subsequently, the control device 40 controls the rotation of the turntable 60 to change the shooting range of the camera 10 and the laser beam emission direction of the laser 20.

[0033] Alternatively, the various devices in the laser strike system can interact via a network.

[0034] Please refer to Figure 2 The diagram illustrates a flowchart of a laser beam calibration method provided in one embodiment of this application. This method is applied to... Figure 1 The laser calibration system shown includes a laser calibration device 30 and / or a control device 40 (hereinafter collectively referred to as "computer equipment"). The method may include the following steps (201-203):

[0035] Step 201: Acquire the first calibration image and the second calibration image using the camera.

[0036] The first calibration image includes a first light spot. The second calibration image includes a second light spot. The first and second light spots are light spots formed by the laser beam emitted by the laser on different calibration obstacles. Optionally, the calibration obstacles can be user-set obstacles, such as calibration boards; or they can be existing obstacles in the environment, such as rocks or buildings.

[0037] In this embodiment of the application, during laser calibration, the computer device acquires a first calibration image and a second calibration image via a camera. Optionally, the computer device controls a laser to emit laser light towards the first calibration obstacle and the second calibration obstacle, respectively; further, the light spot formed by the laser beam on the first calibration obstacle is determined as the first light spot, and the first calibration image is obtained by capturing the first light spot with a camera; similarly, the light spot formed by the laser beam on the second calibration obstacle is determined as the second light spot, and the second calibration image is obtained by capturing the second light spot with a camera. It should be noted that the distance between the first calibration obstacle and the laser is different from the distance between the second calibration obstacle and the laser.

[0038] Optionally, the laser beams corresponding to the first and second light spots can be the same or different, and this application embodiment does not limit this.

[0039] In one possible implementation, the first spot and the second spot are spots formed on different calibration obstacles by the same laser beam emitted by the laser. Optionally, after the laser beam is emitted, the laser beam can simultaneously form spots on the first and second calibration obstacles, and then the computer device can acquire the first and second calibration images through a camera based on the spots on the different calibration obstacles.

[0040] In another possible implementation, the first and second light spots are light spots formed by two laser beams emitted by the laser on different calibration obstacles. Optionally, after the laser emits a laser beam, the laser beam forms a light spot (i.e., the first light spot) on the first calibration obstacle, and then the computer device acquires a first calibration image based on the first light spot using a camera; then, keeping the laser's emission parameters unchanged, the laser beam is emitted again, causing the laser beam to form a light spot (i.e., the second light spot) on the second calibration obstacle, and then the computer device acquires a second calibration image based on the second light spot using a camera.

[0041] Step 202: Obtain first calibration data based on the first calibration image; and obtain second calibration data based on the second calibration image.

[0042] In this embodiment, after acquiring the first calibration image and the second calibration image, the computer device acquires first calibration data based on the first calibration image and second calibration data based on the second calibration image. The first calibration data includes the coordinates of the first light spot in the image coordinate system corresponding to the camera, and the second calibration data includes the position of the second light spot in the image coordinate system. Optionally, after acquiring the first calibration image, the computer device establishes an image coordinate system corresponding to the camera based on the first calibration image, and then determines the coordinates of the first light spot in the image coordinate system to acquire the first calibration data; similarly, after acquiring the second calibration image, the computer device establishes an image coordinate system corresponding to the camera based on the second calibration image, and then determines the coordinates of the second light spot in the image coordinate system to acquire the second calibration data. It should be noted that since the first calibration image and the second calibration image are acquired through the same camera, the image coordinate systems established based on different calibration images can be understood as the same image coordinate system.

[0043] Optionally, the image coordinate system is a two-dimensional Cartesian coordinate system established with the image vertices as the origin and the perpendicularly intersecting image edges as axes. The image coordinate system can also be called a UV coordinate system. For example, as shown... Figure 3 As shown, an image coordinate system is established with the top-left corner vertex of the image as the origin o, the first edge as the u-axis, and the second edge as the v-axis, with the first and second edges intersecting perpendicularly at the origin. It should be noted that... Figure 3The image in the calibration can be either the first calibration image or the second calibration image.

[0044] Optionally, the calibration data also includes distance values ​​corresponding to calibration obstacles, which indicate the distance between the calibration obstacle and the laser. For example, the computer device obtains the distance value corresponding to the first calibration obstacle using a rangefinder, and then combines the coordinates of the first light spot in the image coordinate system with the distance value corresponding to the first calibration obstacle to form first calibration data; similarly, the computer device obtains the distance value corresponding to the second calibration obstacle using a rangefinder, and then combines the coordinates of the second light spot in the image coordinate system with the distance value corresponding to the second calibration obstacle to form second calibration data.

[0045] Step 203: Based on the first calibration data and the second calibration data, obtain the laser beam equation of the laser.

[0046] In this embodiment, after acquiring the first calibration data and the second calibration data, the computer device obtains the laser beam equation of the laser based on the first and second calibration data. Optionally, the laser beam equation is used to characterize the emission trajectory of the laser beam in the camera coordinate system. The camera coordinate system is a three-dimensional Cartesian coordinate system established with the optical center of the camera as the origin and the optical axis as the Z-axis. Optionally, the image coordinate system can also be called the XYZ coordinate system. For example, as shown... Figure 3 As shown, the X-axis of the camera coordinate system is parallel to the u-axis of the image coordinate system, the Y-axis of the camera coordinate system is parallel to the v-axis of the image coordinate system, the Z-axis of the camera coordinate system is perpendicular to the plane where the image is located, and the mapping coordinates of the origin O of the camera coordinate system in the image coordinate system are (u0, v0).

[0047] In this embodiment, the laser beam equation is used to obtain the impact point of the laser in the image captured by the camera. Optionally, after laser calibration, if a target to be hit is detected, the computer device determines the corresponding impact point in the image based on the laser beam equation, and then hits the target based on the impact point.

[0048] In summary, the technical solution provided in this application involves obtaining first calibration data through a first calibration image, obtaining second calibration data through a second calibration image, and then obtaining the laser beam equation of the laser based on the first and second calibration data. The laser beam equation is used to obtain the impact point of the laser in the image captured by the camera. In short, this application provides a method for calibrating the laser beam of a laser based on two calibration data. In the laser calibration process, it is not necessary to obtain a large amount of calibration data. Laser calibration is completed using only two calibration data, which reduces the computational load of laser calibration, thereby simplifying the laser calibration process and improving laser calibration efficiency.

[0049] The following section provides a detailed explanation of how the laser beam equation is obtained.

[0050] In an exemplary embodiment, step 203 above includes the following steps:

[0051] 1. Determine the first three-dimensional coordinates based on the first calibration data; and determine the second three-dimensional coordinates based on the second calibration data.

[0052] In this embodiment, after acquiring the first calibration data and the second calibration data, the computer device determines a first three-dimensional coordinate based on the first calibration data; and determines a second three-dimensional coordinate based on the second calibration data. The first three-dimensional coordinate refers to the three-dimensional coordinate of the first light spot in the camera coordinate system, and the second three-dimensional coordinate refers to the three-dimensional coordinate of the second light spot in the camera coordinate system.

[0053] Optionally, the computer device determines the first three-dimensional coordinates based on the first calibration data, the camera's intrinsic parameter matrix, and the transformation relationship between the image coordinate system and the camera coordinate system; similarly, the computer device determines the second three-dimensional coordinates based on the second calibration data, the camera's intrinsic parameter matrix, and the transformation relationship between the image coordinate system and the camera coordinate system.

[0054] For example, the intrinsic parameter matrix A of the camera is:

[0055]

[0056] Where f is the camera's focal length, s is the camera's pixel size, and (u0, v0) are the mapped coordinates of the origin of the camera coordinate system in the image coordinate system. Optionally, (u0, v0) can be understood as the pixel offset of the origin of the camera coordinate system in the image.

[0057] For example, the transformation relationship between the image coordinate system and the camera coordinate system is as follows:

[0058]

[0059] Where (u,v) are points in the image coordinate system.

[0060] Optionally, the first calibration data includes the coordinates of the first light spot in the image coordinate system and the distance value corresponding to the first calibration obstacle. After acquiring the first calibration data, the computer device determines the distance value corresponding to the first calibration obstacle as the Z value of the first three-dimensional coordinates, substitutes the coordinates of the first light spot in the image coordinate system into the transformation relationship between the image coordinate system and the camera coordinate system, and combines it with the intrinsic parameter matrix A to obtain the first three-dimensional coordinates. Similarly, the second calibration data includes the coordinates of the second light spot in the image coordinate system and the distance value corresponding to the second calibration obstacle. After acquiring the second calibration data, the computer device determines the distance value corresponding to the second calibration obstacle as the Z value of the second three-dimensional coordinates, substitutes the coordinates of the second light spot in the image coordinate system into the transformation relationship between the image coordinate system and the camera coordinate system, and combines it with the intrinsic parameter matrix A to obtain the second three-dimensional coordinates.

[0061] 2. Based on the first three-dimensional coordinates and the second three-dimensional coordinates, obtain the direction vector of the laser beam emitted by the laser.

[0062] In this embodiment of the application, after obtaining the first three-dimensional coordinates and the second three-dimensional coordinates, the computer device obtains the direction vector of the laser beam emitted by the laser based on the first three-dimensional coordinates and the second three-dimensional coordinates. For example, the direction vector... The calculation formula is:

[0063]

[0064] Where (X1,Y1,Z1) are the first three-dimensional coordinates, and (X2,Y2,Z2) are the second three-dimensional coordinates.

[0065] 3. Based on the first three-dimensional coordinates and direction vector, obtain the laser beam equation.

[0066] In this embodiment of the application, after obtaining the aforementioned direction vector, the computer device obtains the laser beam equation based on the first three-dimensional coordinates and the direction vector.

[0067] Optionally, the computer device obtains an intermediate equation based on the first three-dimensional coordinates and the direction vector; further, it obtains the target coefficient based on the Z value of the first three-dimensional coordinates and the Z-axis projection vector of the direction vector in the camera coordinate system; then, based on the target coefficient, the X and Y values ​​of the first three-dimensional coordinates, and the X-axis and Y-axis projection vectors of the direction vector in the camera coordinate system, it adjusts the intermediate equation to obtain the laser beam equation.

[0068] For example, the intermediate equation is:

[0069]

[0070] Where t is the linear parameter, This is the X-axis projection vector of the direction vector in the camera coordinate system. This is the Y-axis projection vector of the direction vector in the camera coordinate system. This is the Z-axis projection vector of the direction vector in the camera coordinate system. These are the three-dimensional coordinates in the camera coordinate system.

[0071] For example, the formula for calculating the target parameter t0 is:

[0072]

[0073] Optionally, the target parameter t0 is used to correlate the aforementioned linear parameter t with the actual distance. For example, since the intermediate equation is obtained based on the first three-dimensional coordinates, the linear parameter t in the intermediate equation can be understood as the linear distance relative to the first light spot. That is, in actual use, the distance between the target and the first light spot needs to be substituted into the intermediate equation to determine the impact point in the image. Furthermore, by calculating the value t0 of t when Z is 0 and adjusting the intermediate equation based on t0, it is equivalent to shifting the starting point of the laser beam's emission trajectory, represented by the intermediate equation, from the first light spot to the XY plane in the camera coordinate system. That is, in actual use, substituting the distance between the target and the laser into the laser beam equation can determine the impact point in the image, which is more convenient and faster. The specific method for obtaining the impact point is described below and will not be elaborated here.

[0074] For example, the equation of the laser beam is:

[0075]

[0076] in,

[0077] In summary, the technical solution provided in this application determines three-dimensional coordinates through calibration data, then obtains the direction vector of the laser beam based on the three-dimensional coordinates, and obtains the laser beam equation based on the first three-dimensional coordinates and the direction vector. Compared with the interpolation fitting in the aforementioned related technologies, this method requires less computation and improves laser calibration efficiency. Furthermore, the direction vector of the laser beam can be determined using only the first and second three-dimensional coordinates, simplifying the operation and saving time.

[0078] Furthermore, by obtaining intermediate equations using the first three-dimensional coordinates and direction vectors, and adjusting these intermediate equations using target coefficients, the laser beam equation is obtained. This allows the laser beam equation to be correlated with the actual distance, facilitating rapid and convenient determination of the strike point based on the laser beam equation. Additionally, this application provides an explicit laser beam equation, which, compared to the interpolation fitting methods described above, improves the accuracy of laser calibration, thereby enhancing the overall accuracy of laser calibration.

[0079] Please refer to Figure 4 This illustrates a flowchart of a laser beam calibration method provided in another embodiment of this application. The method is applied to... Figure 1 The laser calibration system shown includes a laser calibration device 30 and / or a control device 40 (hereinafter collectively referred to as "computer equipment"). The method may include the following steps (401-407):

[0080] Step 401: Acquire the first calibration image and the second calibration image using the camera.

[0081] Step 402: Obtain first calibration data based on the first calibration image; and obtain second calibration data based on the second calibration image.

[0082] Step 403: Based on the first calibration data and the second calibration data, obtain the laser beam equation of the laser.

[0083] Steps 401 to 403 above and Figure 2 Steps 201-203 in the embodiment are similar; see details below. Figure 2 Examples are not detailed here.

[0084] Step 404: If a target to be struck is detected, acquire a target image containing the target through a camera.

[0085] Optionally, after obtaining the laser beam equation, the computer device strikes the target based on the laser beam.

[0086] Optionally, the computer device performs visual detection using a camera to determine whether a target to be struck exists within the camera's detection area. In this embodiment, if a target to be struck is detected, the computer device acquires a target image containing the target using a camera.

[0087] Step 405: Obtain the camera's intrinsic parameter matrix based on the camera's focal length and pixel size.

[0088] Focal length refers to the distance from the rear principal point of the camera lens to the focal point. Pixel refers to the smallest unit of an image. Pixel size indicates the physical size of a pixel. Optionally, the units for focal length and pixel size are millimeters (mm). In this embodiment, the computer device obtains the camera's intrinsic parameter matrix based on the camera's focal length and pixel size. Optionally, the computer device directly obtains the camera's focal length and pixel size from the manufacturer's report. Of course, in other possible implementations, to improve the accuracy of the intrinsic parameter matrix, the computer device can also recalibrate the camera's focal length and pixel size. Furthermore, the camera's intrinsic parameter matrix A is as described above and will not be repeated here. Optionally, (u0, v0) in the intrinsic parameter matrix, similar to the focal length, can be directly obtained by the computer device from the manufacturer's report; of course, to improve accuracy, the computer device can also recalibrate the camera's (u0, v0).

[0089] Step 406: The distance value of the target to be hit obtained by the rangefinder is determined as the straight line parameter.

[0090] In this embodiment of the application, when a target to be struck is detected, the computer device determines the distance value of the target to be struck, obtained through a rangefinder, as a linear parameter. Optionally, the distance value of the target to be struck is used to indicate the distance between the target to be struck and the laser.

[0091] Step 407: Based on the linear parameters, intrinsic parameter matrix, and laser beam equation corresponding to the target to be struck, and combined with the transformation relationship between the image coordinate system and the camera coordinate system, determine the strike point of the laser in the target image.

[0092] In this embodiment, after acquiring the line parameters corresponding to the target to be struck, the computer device determines the strike point of the laser in the target image based on the line parameters, intrinsic parameter matrix, and laser beam equation corresponding to the target to be struck, combined with the transformation relationship between the image coordinate system and the camera coordinate system.

[0093] Optionally, the computer equipment substitutes the linear parameters corresponding to the target into the laser beam equation to obtain the three-dimensional coordinates of the target. Then, it substitutes these three-dimensional coordinates into the transformation relationship between the image coordinate system and the camera coordinate system, and combines this with the intrinsic parameter matrix to obtain the two-dimensional coordinates of the target. These two-dimensional coordinates are the coordinates of the impact point in the target image. Furthermore, the transformation relationship between the image coordinate system and the camera coordinate system has been described above and will not be repeated here.

[0094] Optionally, after determining the aforementioned strike point, the computer device strikes the target based on the strike point of the laser in the target image. For example, if the target is located at the strike point, the computer device emits a laser beam to strike the target; if the target is not located at the strike point, it tracks the target to obtain a new target image, and repeats the process from the step of determining the distance value of the target obtained by the rangefinder as a straight-line parameter until the target is struck.

[0095] In summary, the technical solution provided in this application obtains the intrinsic parameter matrix through the camera's focal length and pixel size, and then determines the impact point of the laser beam in the image through the intrinsic parameter matrix and the laser beam equation. That is, this application provides a laser beam equation suitable for zoom scenarios. Even if different cameras are used in the future, the impact point can still be calculated based on the new intrinsic parameter matrix and the laser beam equation obtained from the previous laser calibration, without the need to recalibrate the laser based on the new camera. This increases the application scenarios of the laser beam equation while reducing the computational load of laser calibration.

[0096] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0097] Please refer to Figure 5 This diagram illustrates a block diagram of a laser beam calibration device according to an embodiment of this application. The device has the function of implementing the aforementioned laser beam calibration method; this function can be implemented in hardware or by hardware executing corresponding software. The device can be the aforementioned computer device or can be installed within a computer device. The device may include: an image acquisition module 510, a data acquisition module 520, and an equation acquisition module 530.

[0098] The image acquisition module 510 is used to acquire a first calibration image and a second calibration image through a camera; wherein the first calibration image includes a first light spot and the second calibration image includes a second light spot, and the first light spot and the second light spot are light spots formed by a laser beam emitted by a laser on different calibration obstacles.

[0099] The data acquisition module 520 is used to acquire first calibration data based on the first calibration image, the first calibration data including the coordinates of the first spot in the image coordinate system corresponding to the camera; and to acquire second calibration data based on the second calibration image, the second calibration data including the position of the second spot in the image coordinate system.

[0100] The equation acquisition module 530 is used to acquire the laser beam equation of the laser based on the first calibration data and the second calibration data; wherein the laser beam equation is used to acquire the impact point of the laser in the image captured by the camera.

[0101] In an exemplary embodiment, such as Figure 6 As shown, the equation acquisition module 530 includes: a coordinate acquisition unit 531, a vector acquisition unit 532, and an equation acquisition unit 533.

[0102] The coordinate acquisition unit 531 is used to determine a first three-dimensional coordinate based on the first calibration data, wherein the first three-dimensional coordinate refers to the three-dimensional coordinate of the first light spot in the camera coordinate system of the camera; and to determine a second three-dimensional coordinate based on the second calibration data, wherein the second three-dimensional coordinate refers to the three-dimensional coordinate of the second light spot in the camera coordinate system.

[0103] The vector acquisition unit 532 is used to acquire the direction vector of the laser beam emitted by the laser based on the first three-dimensional coordinates and the second three-dimensional coordinates.

[0104] The equation acquisition unit 533 is used to acquire the laser beam equation based on the first three-dimensional coordinates and the direction vector.

[0105] In an exemplary embodiment, the direction vector The calculation formula is:

[0106]

[0107] Where (X1,Y1,Z1) are the first three-dimensional coordinates, and (X2,Y2,Z2) are the second three-dimensional coordinates.

[0108] In an exemplary embodiment, the equation acquisition unit 533 is further configured to:

[0109] Based on the first three-dimensional coordinates and the direction vector, the intermediate equation is obtained;

[0110] Based on the Z value of the first three-dimensional coordinates and the Z-axis projection vector of the direction vector in the camera coordinate system, the target coefficients are obtained;

[0111] Based on the target coefficients, the X and Y values ​​of the first three-dimensional coordinates, and the X-axis and Y-axis projection vectors of the direction vector in the camera coordinate system, the intermediate equations are adjusted to obtain the laser beam equation.

[0112] In an exemplary embodiment, the intermediate equation is:

[0113]

[0114] Where t is the linear parameter, The direction vector is the X-axis projection vector of the direction vector in the camera coordinate system. The direction vector is the Y-axis projection vector of the direction vector in the camera coordinate system. The direction vector is the Z-axis projection vector of the direction vector in the camera coordinate system. These are the three-dimensional coordinates in the camera coordinate system.

[0115] In an exemplary embodiment, the formula for calculating the target parameter t0 is:

[0116]

[0117] In an exemplary embodiment, the laser beam equation is:

[0118]

[0119] in,

[0120] In an exemplary embodiment, such as Figure 6 As shown, the device further includes: a matrix acquisition module 540, a distance detection module 550, and a strike acquisition module 560.

[0121] The image acquisition module 510 is also used to acquire a target image containing the target through the camera when a target to be hit is detected.

[0122] The matrix acquisition module 540 is used to acquire the intrinsic parameter matrix of the camera based on the camera's focal length and pixel size.

[0123] The distance detection module 550 is used to determine the distance value of the target to be hit obtained by the rangefinder as a straight-line parameter.

[0124] The strike acquisition module 560 is used to determine the strike point of the laser in the target image based on the straight line parameters corresponding to the target to be struck, the intrinsic parameter matrix, the laser beam equation, and the transformation relationship between the image coordinate system and the camera coordinate system.

[0125] In an exemplary embodiment, the intrinsic parameter matrix A of the camera is:

[0126]

[0127] Where f is the focal length of the camera, s is the pixel size of the camera, and (u0, v0) are the mapped coordinates of the origin of the camera coordinate system in the image coordinate system.

[0128] In an exemplary embodiment, the transformation relationship between the image coordinate system and the camera coordinate system is as follows:

[0129]

[0130] Where (u,v) are points in the image coordinate system.

[0131] In summary, the technical solution provided in this application involves obtaining first calibration data through a first calibration image, obtaining second calibration data through a second calibration image, and then obtaining the laser beam equation of the laser based on the first and second calibration data. The laser beam equation is used to obtain the impact point of the laser in the image captured by the camera. In short, this application provides a method for calibrating the laser beam of a laser based on two calibration data. In the laser calibration process, it is not necessary to obtain a large amount of calibration data. Laser calibration is completed using only two calibration data, which reduces the computational load of laser calibration, thereby simplifying the laser calibration process and improving laser calibration efficiency.

[0132] In an exemplary embodiment, a computer device is also provided, the computer device including a processor and a memory, the memory storing a computer program, the computer program being loaded and executed by the processor to implement the laser beam calibration method described above.

[0133] In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the laser beam calibration method described above.

[0134] In an exemplary embodiment, a computer program product is also provided, which, when run, causes a computer device to execute the laser beam calibration method described above.

[0135] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the invention.

[0136] It should be understood that "multiple" as used herein refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, the step numbers described herein are merely illustrative of one possible execution order. In some other embodiments, the steps may not be executed in numerical order, such as two steps with different numbers being executed simultaneously, or two steps with different numbers being executed in the reverse order of the illustration. This application does not limit this.

[0137] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A laser beam calibration method, characterized in that, The method includes: A first calibration image and a second calibration image are acquired by a camera; wherein the first calibration image includes a first light spot and the second calibration image includes a second light spot, and the first light spot and the second light spot are light spots formed by a laser beam emitted by a laser on different calibration obstacles; First calibration data is obtained based on the first calibration image, the first calibration data including the coordinates of the first spot in the image coordinate system corresponding to the camera; and second calibration data is obtained based on the second calibration image, the second calibration data including the position of the second spot in the image coordinate system; Based on the first calibration data and the second calibration data, the laser beam equation of the laser is obtained; wherein, the laser beam equation is used to obtain the point of impact of the laser in the image captured by the camera.

2. The method according to claim 1, characterized in that, The step of obtaining the laser beam equation of the laser based on the first calibration data and the second calibration data includes: Based on the first calibration data, a first three-dimensional coordinate is determined, wherein the first three-dimensional coordinate refers to the three-dimensional coordinate of the first light spot in the camera coordinate system of the camera; and based on the second calibration data, a second three-dimensional coordinate is determined, wherein the second three-dimensional coordinate refers to the three-dimensional coordinate of the second light spot in the camera coordinate system; Based on the first three-dimensional coordinates and the second three-dimensional coordinates, the direction vector of the laser beam emitted by the laser is obtained; The laser beam equation is obtained based on the first three-dimensional coordinates and the direction vector.

3. The method according to claim 2, characterized in that, The direction vector The calculation formula is: Where (X1,Y1,Z1) are the first three-dimensional coordinates, and (X2,Y2,Z2) are the second three-dimensional coordinates.

4. The method according to claim 3, characterized in that, The step of obtaining the laser beam equation based on the first three-dimensional coordinates and the direction vector includes: Based on the first three-dimensional coordinates and the direction vector, the intermediate equation is obtained; Based on the Z value of the first three-dimensional coordinates and the Z-axis projection vector of the direction vector in the camera coordinate system, the target coefficients are obtained; Based on the target coefficients, the X and Y values ​​of the first three-dimensional coordinates, and the X-axis and Y-axis projection vectors of the direction vector in the camera coordinate system, the intermediate equations are adjusted to obtain the laser beam equation.

5. The method according to claim 4, characterized in that, The intermediate equation is: Where t is the linear parameter, The direction vector is the X-axis projection vector of the direction vector in the camera coordinate system. The direction vector is the Y-axis projection vector of the direction vector in the camera coordinate system. The direction vector is the Z-axis projection vector of the direction vector in the camera coordinate system. These are the three-dimensional coordinates in the camera coordinate system; The formula for calculating the target parameter t0 is: The equation of the laser beam is: in, 6. The method according to any one of claims 1 to 5, characterized in that, After obtaining the laser beam equation of the laser based on the first calibration data and the second calibration data, the process further includes: Upon detecting a target to be struck, the camera acquires a target image containing the target. Based on the camera's focal length and pixel size, obtain the camera's intrinsic parameter matrix; The distance value of the target to be struck, obtained by the rangefinder, is determined as a straight-line parameter; Based on the linear parameters corresponding to the target to be struck, the intrinsic parameter matrix, and the laser beam equation, combined with the transformation relationship between the image coordinate system and the camera coordinate system, the strike point of the laser in the target image is determined.

7. The method according to claim 6, characterized in that, The intrinsic parameter matrix A of the camera is: Where f is the focal length of the camera, s is the pixel size of the camera, and (u0, v0) are the mapped coordinates of the origin of the camera coordinate system in the image coordinate system. The transformation relationship between the image coordinate system and the camera coordinate system is as follows: Where (u,v) are points in the image coordinate system.

8. A laser beam calibration device, characterized in that, The device includes: An image acquisition module is used to acquire a first calibration image and a second calibration image through a camera; wherein the first calibration image includes a first light spot, and the second calibration image includes a second light spot, and the first light spot and the second light spot are light spots formed by a laser beam emitted by a laser on different calibration obstacles; The data acquisition module is configured to acquire first calibration data based on the first calibration image, wherein the first calibration data includes the coordinates of the first spot in the image coordinate system corresponding to the camera; and to acquire second calibration data based on the second calibration image, wherein the second calibration data includes the position of the second spot in the image coordinate system. The equation acquisition module is used to acquire the laser beam equation of the laser based on the first calibration data and the second calibration data; wherein the laser beam equation is used to acquire the impact point of the laser in the image captured by the camera.

9. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing a computer program that is loaded and executed by the processor to implement the method as claimed in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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