Laser plane calibration method and apparatus, and device and medium

Abstract

Disclosed in the present application are a laser plane calibration method and apparatus, and a device and a medium. The method comprises: dividing a preset depth-of-field range corresponding to a laser scanning device into a plurality of depth-of-field intervals, and determining an optimal brightness parameter of the laser scanning device in each depth-of-field interval; on the basis of the optimal brightness parameter of the laser scanning device in each depth-of-field interval, performing calibration image collection on a calibrator, so as to obtain a calibration image in each depth-of-field interval; and completing calibration on the basis of the calibration images. By means of the technical solution of the embodiments of the present application, efficient calibration of a laser scanning device is realized, and the imaging quality of the laser scanning device at different depths of field can be improved, thereby improving the stability and accuracy of a final calibration result.

Description

A laser planar calibration method, apparatus, equipment and medium Cross-reference of related applications

[0001] This application claims priority to Chinese Patent Application No. 2025102290045, filed on February 27, 2025, entitled "A Laser Plane Calibration Method, Apparatus, Device and Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of computer technology, and in particular to a laser plane calibration method, apparatus, device and medium. Background Technology

[0003] Lasers possess characteristics such as high directionality, high monochromaticity, and high energy density, which give them significant advantages in calibration. In laser plane calibration, a precise laser plane is generated using a specific optical system, which is then used for accurate measurement and calibration of laser scanning equipment.

[0004] Currently, traditional laser planar calibration methods typically use the same set of brightness parameters across the entire depth of field for laser scanning equipment calibration. However, traditional laser planar calibration methods result in varying image quality at different depths of field, leading to situations where the laser scanning equipment cannot identify marker points and thus cannot perform calibration guidance, or the identification is blurry, resulting in poor accuracy and stability of the final calibration results. Summary of the Invention

[0005] This application provides a laser plane calibration method, apparatus, device, and medium to achieve efficient calibration of laser scanning equipment, which can improve the image imaging quality of laser scanning equipment at different depths of field, thereby improving the stability and accuracy of the final calibration results.

[0006] In a first aspect, embodiments of this application provide a laser plane calibration method, comprising: dividing a preset depth range corresponding to a laser scanning device into multiple depth ranges, and determining the optimal brightness parameter of the laser scanning device in each depth range; acquiring calibration images of the calibrator based on the optimal brightness parameter of the laser scanning device in each depth range to obtain calibration images in each depth range; and completing calibration based on the calibration images.

[0007] Secondly, embodiments of this application also provide a laser plane calibration device, comprising: a brightness parameter determination module, configured to divide a preset depth-of-field range corresponding to the laser scanning device into multiple depth-of-field intervals, and determine the optimal brightness parameter of the laser scanning device in each depth-of-field interval; a calibration image acquisition module, configured to acquire calibration images of the calibrator based on the optimal brightness parameter of the laser scanning device in the depth-of-field interval, so as to obtain a calibration image in each depth-of-field interval; and a calibration module, configured to complete calibration based on the calibration image.

[0008] Thirdly, embodiments of this application also provide an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to execute the laser plane calibration method provided in any embodiment of this application.

[0009] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer instructions, which enable a processor to execute the laser plane calibration method provided in any embodiment of this application.

[0010] The technical solution of this application divides the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals and determines the optimal brightness parameter of the laser scanning device in each depth of field interval, thereby ensuring that the brightness parameter throughout the entire depth of field range meets the laser calibration requirements. Based on the optimal brightness parameter of the laser scanning device in each depth of field interval, calibration images are acquired to obtain calibration images in each depth of field interval. This ensures that clear calibration images can be obtained in different depth of field intervals, providing a reliable basis for subsequent image processing and analysis. Calibration is completed based on the calibration images. By dividing the preset depth of field range into segments and using different brightness parameters in different depth of field intervals, high imaging quality of the laser scanning device can be guaranteed in different depth of field intervals, achieving high-precision and efficient calibration of the laser scanning device throughout the entire preset depth of field range.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 is a flowchart of a laser plane calibration method according to Embodiment 1 of this application;

[0014] Figure 2 is a flowchart of a laser plane calibration method according to Embodiment 2 of this application;

[0015] Figure 3 is a schematic diagram of a laser planar calibration device according to Embodiment 3 of this application;

[0016] Figure 4 is a schematic diagram of the structure of an electronic device that implements the laser plane calibration method of the present application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0018] It should be noted that the terms "target," "current," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0019] Example 1

[0020] Figure 1 is a flowchart of a laser plane calibration method provided in Embodiment 1 of this application. This embodiment is applicable to the calibration of laser scanning equipment. As shown in Figure 1, this method can be executed by a laser plane calibration device, which can be implemented in hardware and / or software and can be configured in an electronic device. As shown in Figure 1, the method specifically includes the following steps:

[0021] S110. Divide the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals, and determine the optimal brightness parameters of the laser scanning device in each depth of field interval.

[0022] In this context, "laser scanning equipment" refers to a device that uses laser technology for measurement or image acquisition. For example, a laser scanning device can be a scanner camera. "Preset depth of field range" refers to the entire depth of field range of the laser scanning equipment itself, set in advance. "Depth of field intervals" refers to multiple smaller depth of field intervals obtained by further dividing the preset depth of field range. "Optimal brightness parameters" refers to the brightness parameters of the laser scanning equipment set within each depth of field interval to obtain the best scanning effect (best image sharpness). These brightness parameters can include parameters such as camera exposure, gain, fill light brightness, and laser line brightness of the laser scanning equipment.

[0023] Specifically, the preset depth of field range is divided into multiple depth of field intervals according to a certain depth of field length or proportion. Within each depth of field interval, the optimal brightness parameters of the laser scanning equipment can be determined through experimentation or by checking the equipment performance. The optimal brightness parameters ensure that the scanned image remains sharp, thereby ensuring that the brightness parameters across the entire depth of field range meet the requirements for laser calibration and guidance.

[0024] For example, S110, "dividing the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals", may include: dividing the preset depth of field range into segments based on the imaging clarity of the laser scanning device within the preset depth of field range to obtain multiple depth of field intervals; and / or, dividing the preset depth of field range into segments based on the preset boundary depth of field value corresponding to the preset depth of field range to obtain multiple depth of field intervals.

[0025] Imaging sharpness refers to the sharpness of object edges and the visibility of details in the image acquired by the laser scanning device during the scanning process. Preset boundary depth of field values ​​refer to the depth of field values ​​pre-set during laser plane calibration to divide depth of field intervals based on the performance parameters of the laser scanning device, application scenarios, and empirical data.

[0026] Specifically, a laser scanning device can be used to scan the calibrator at different distances within a preset depth of field range and acquire corresponding images. The acquired images are then evaluated for sharpness using image processing algorithms to calculate indicators such as sharpness and contrast, thereby quantifying the image sharpness. Based on the sharpness evaluation results, the boundary points where significant changes in image sharpness occur are determined. These boundary points divide the preset depth of field range into multiple depth-of-field intervals. Alternatively, the preset depth of field range can be divided into multiple depth-of-field intervals based on preset boundary depth-of-field values, with the boundary of each interval determined by two adjacent boundary depth-of-field values. This division is relatively simple and direct, requiring no complex sharpness evaluation and calculation process.

[0027] For example, the preset depth of field range can be 300 to 2600 mm. Based on the actual imaging quality of the camera (laser scanning device) at different depths of field, the edge imaging sharpness can be mainly checked. The preset depth of field range can be divided into three depth of field intervals: near 300 to 1200 mm, middle 1200 to 2000 mm, and far 2000 to 2600 mm.

[0028] For example, "determining the optimal brightness parameter of the laser scanning device in each depth range" in S110 may include: determining the optimal brightness parameter of the laser scanning device in each depth range based on the imaging sharpness corresponding to the depth range and a preset sharpness threshold.

[0029] The preset sharpness threshold can refer to the minimum imaging sharpness of the laser scanning device within a preset depth of field range.

[0030] Specifically, within each depth of field interval, the brightness parameters of the laser scanning device can be gradually adjusted, and the image sharpness under different brightness parameters can be recorded. By comparing the image sharpness under different brightness levels with a preset sharpness threshold, the lowest brightness parameter that achieves or exceeds the preset sharpness threshold within each depth of field interval is determined. The lowest brightness parameter that achieves or exceeds the preset sharpness threshold within each depth of field interval is taken as the optimal brightness parameter for that interval. Furthermore, these brightness parameters can be recorded and saved for rapid adjustment of the laser scanning device's brightness in practical applications. By optimizing the brightness parameters, it is ensured that the laser scanning device obtains clear imaging results within different depth of field intervals, which helps improve the accuracy and reliability of laser plane calibration.

[0031] For example, determining the optimal brightness parameter of the laser scanning device in each depth range based on the imaging sharpness corresponding to the depth range and the preset sharpness threshold may include: determining the candidate brightness parameters required for the imaging sharpness of the laser scanning device in the depth range to reach the preset sharpness threshold, and determining the candidate brightness parameters as the optimal brightness parameters.

[0032] Among them, the candidate brightness parameter can refer to the brightness parameter setting value of the laser scanning device whose imaging clarity reaches or exceeds the preset clarity threshold after preliminary screening.

[0033] Specifically, within each depth-of-field range, the brightness parameters of the laser scanning device can be gradually adjusted. For each brightness parameter setting, the calibrator is scanned using the laser scanning device, and the imaging results are recorded. Image processing techniques can be used to evaluate the sharpness of each imaging result, typically quantified using indicators such as contrast, sharpness, and grayscale value. The imaging sharpness under different brightness parameters is compared with a preset sharpness threshold. Brightness parameters whose imaging sharpness reaches or exceeds the preset sharpness threshold are selected as candidate brightness parameters. Each candidate brightness parameter is tested multiple times to evaluate its stability under different times and environments. The brightness parameter with better stability can be selected as the optimal brightness parameter within the depth-of-field range. Determining the optimal brightness parameter helps optimize the performance of the laser scanning device, improving scanning efficiency and accuracy.

[0034] S120. Based on the optimal brightness parameters of the laser scanning device within the depth of field range, the calibrator is calibrated by acquiring calibration images to obtain calibration images within each depth of field range.

[0035] Here, a calibrator can refer to a reference object specifically used for laser plane calibration. A calibration image can refer to an image containing the calibrator pattern acquired by a laser scanning device when performing laser plane calibration using a calibrator.

[0036] Specifically, place the calibrator within the scanning range of the laser scanning equipment, ensuring the laser beam is directly aligned with the center of the calibrator and that the relative positions of the calibrator and the scanning equipment are fixed. Automatically adjust the brightness parameters of the laser scanning equipment based on the optimal brightness parameters for each depth of field interval. Start the laser scanning equipment to scan the calibrator and acquire calibration images within each depth of field interval, ensuring that the calibration images are acquired under optimal brightness parameters and improving image clarity.

[0037] For example, S120 may include: for each depth of field interval, based on the optimal brightness parameters of the laser scanning device within the depth of field interval, performing calibration image acquisition on the calibrator according to a preset depth of field interval and a preset acquisition sequence to obtain a calibration image within the depth of field interval; wherein, the preset acquisition sequence includes from near to far or from far to near.

[0038] The preset depth-of-field interval refers to the distance difference between two adjacent image acquisition points during the calibration image acquisition process. The preset acquisition sequence refers to the order in which calibration images are acquired during laser plane calibration; this sequence can be from near to far or from far to near.

[0039] Specifically, the distance between the laser scanning device and the calibrator is gradually adjusted according to the preset depth-of-field interval (i.e., the distance difference between two adjacent image acquisition points). Following a preset acquisition sequence (from near to far or from far to near), the laser scanning device is continuously guided to acquire calibration images of the calibrator within each depth-of-field interval. During the acquisition process, the brightness parameters of the laser scanning device are ensured to remain at their optimal levels. This involves independently controlling parameters such as camera exposure, gain, supplementary lighting brightness, and laser line brightness for each depth-of-field interval to guarantee the quality of the acquired calibration images. By using different optimal brightness parameters for each depth-of-field interval when acquiring calibration images, the scanning accuracy and reliability of the laser scanning device at different distances can be ensured.

[0040] S130. Complete calibration based on the calibration image.

[0041] Specifically, the acquired calibration images can be preprocessed, including steps such as image denoising, edge detection, and feature extraction. The preprocessed calibration images within each depth-of-field interval are then merged. Using image processing algorithms, based on feature points in the calibration images, the precise parameters of the laser scanning device within the target depth-of-field interval are calculated, completing the calibration of the laser scanning device and achieving accurate calculation of its parameters, thereby improving calibration accuracy.

[0042] The technical solution of this application divides the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals and determines the optimal brightness parameter of the laser scanning device in each depth of field interval, thereby ensuring that the brightness parameter throughout the entire depth of field range meets the laser calibration requirements. Based on the optimal brightness parameter of the laser scanning device in each depth of field interval, calibration images are acquired to obtain calibration images in each depth of field interval. This ensures that clear calibration images can be obtained in different depth of field intervals, providing a reliable basis for subsequent image processing and analysis. Calibration is completed based on the calibration images. By dividing the preset depth of field range into segments and using different brightness parameters in different depth of field intervals, high imaging quality of the laser scanning device can be guaranteed in different depth of field intervals, achieving high-precision and efficient calibration of the laser scanning device throughout the entire preset depth of field range.

[0043] Example 2

[0044] Figure 2 is a flowchart of a laser planar calibration method provided in Embodiment 2 of this application. This embodiment optimizes the step "completing calibration based on the calibration image" based on the above embodiments. The explanations of terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0045] Referring to Figure 2, another laser plane calibration method provided in this embodiment specifically includes the following steps:

[0046] S210. Divide the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals, and determine the optimal brightness parameters of the laser scanning device in each depth of field interval.

[0047] S220: Based on the optimal brightness parameters of the laser scanning device within the depth of field range, the calibrator is calibrated by acquiring calibration images to obtain calibration images within each depth of field range.

[0048] S230. Determine the light plane parameters corresponding to each depth of field interval based on the calibration image corresponding to each depth of field interval.

[0049] Among them, the optical plane parameters can refer to a set of mathematical parameters that describe the position and orientation of the laser plane in three-dimensional space.

[0050] Specifically, preprocessing is performed on the calibration images corresponding to each depth of field interval, including noise reduction and contrast enhancement, to improve image quality. Laser stripes are extracted from the calibration images, typically using high-precision extraction techniques such as the gray-scale centroid method. Based on the extracted laser stripe information, mathematical methods (such as least squares) are used to fit the light plane equation. The light plane equation describes the position and orientation of the laser stripes in three-dimensional space. Key parameters such as the normal vector and intercept of the light plane are extracted from the fitted light plane equation to obtain the light plane parameters corresponding to each depth of field interval. Through high-precision image preprocessing and light plane fitting techniques, the light plane parameters corresponding to each depth of field interval can be accurately extracted, thereby improving calibration accuracy.

[0051] For example, S230 may include: for each depth range, performing feature extraction on the calibration image corresponding to the depth range to obtain the light plane feature points corresponding to the calibration image, and determining the light plane parameters corresponding to the depth range based on a preset fitting algorithm and the light plane feature points.

[0052] In this context, the optical plane feature points refer to key points in the calibration image that reflect the intersection of the laser plane and the calibrator, or the shape of the laser stripes. The preset fitting algorithm refers to an algorithm used to fit the optical plane equation based on the optical plane feature point data. For example, the preset fitting algorithm could be the least squares method.

[0053] Specifically, the calibration images corresponding to each depth of field interval are preprocessed, making feature extraction easier. In the preprocessed calibration images, feature points on the light plane are detected using feature extraction algorithms (such as edge detection and corner detection). These feature points can be points formed by the intersection of laser stripes and specific structures on the calibrator (such as edges and corners). Based on the geometric characteristics of the light plane, an equation or fitting model is established. Common fitting models include the plane equation (Ax + By + Cz + D = 0). Using a pre-defined fitting algorithm (such as least squares or iterative nearest point algorithm) and the light plane feature points, the parameters in the light plane equation are solved to obtain the light plane parameters corresponding to each depth of field interval. During the solution process, the accuracy and convergence of the fitting algorithm must be ensured. Through high-precision feature extraction and fitting algorithms, the light plane parameters corresponding to each depth of field interval can be accurately obtained, improving calibration accuracy.

[0054] S240. Merge the light plane parameters corresponding to multiple depth ranges to obtain the calibration results of the laser scanning device within the preset depth range.

[0055] The calibration results can refer to the final set of precise parameters of the laser scanning device. These parameters describe the geometric relationship between the laser scanning device and the scanning space.

[0056] Specifically, the light plane parameters corresponding to multiple depth-of-field intervals are transformed to a unified coordinate system to ensure parameter consistency. Weighted averaging, least-squares fitting, or other mathematical methods are then used to fuse the light plane parameters corresponding to multiple depth-of-field intervals. The fused parameters represent the overall light plane characteristics of the laser scanning device within a preset depth-of-field range, yielding the calibration results of the laser scanning device within that range. Obtaining these global calibration results enhances the stability and reliability of the laser scanning device under different depth-of-field conditions, improving its overall performance.

[0057] The technical solution of this application embodiment determines the light plane parameters corresponding to each depth of field interval based on the calibration image corresponding to each depth of field interval. The light plane parameters corresponding to multiple depth of field intervals are then merged to obtain the calibration result of the laser scanning device within a preset depth of field range. By determining the light plane parameters from the calibration image corresponding to each depth of field interval and merging the light plane parameters corresponding to multiple depth of field intervals, the light plane parameters within multiple depth of field intervals can be comprehensively considered, thereby obtaining a more comprehensive and accurate calibration result.

[0058] Example 3

[0059] Figure 3 is a schematic diagram of a laser planar calibration device provided in Embodiment 3 of this application. As shown in Figure 3, the device includes: a brightness parameter determination module 310, a calibration image acquisition module 320, and a calibration module 330.

[0060] The brightness parameter determination module 310 is configured to divide the preset depth range corresponding to the laser scanning device into multiple depth ranges and determine the optimal brightness parameter of the laser scanning device in each depth range.

[0061] The calibration image acquisition module 320 is configured to acquire calibration images of the calibrator based on the optimal brightness parameters of the laser scanning device within the depth of field range, so as to obtain calibration images within each depth of field range.

[0062] The calibration module 330 is configured to perform calibration based on the calibration image.

[0063] The technical solution of this embodiment divides the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals and determines the optimal brightness parameters of the laser scanning device in each depth of field interval, thereby ensuring that the brightness parameters throughout the entire depth of field range meet the laser calibration requirements. Based on the optimal brightness parameters of the laser scanning device in each depth of field interval, calibration images are acquired to obtain calibration images in each depth of field interval. This ensures that clear calibration images are obtained in different depth of field intervals, providing a reliable basis for subsequent image processing and analysis. Calibration is then completed based on the calibration images. By dividing the preset depth of field range into segments and using different brightness parameters in different depth of field intervals, high imaging quality of the laser scanning device can be guaranteed in different depth of field intervals, achieving high-precision and efficient calibration of the laser scanning device throughout the entire preset depth of field range.

[0064] Optionally, the brightness parameter determination module 310 is specifically configured to: divide the preset depth of field into segments based on the imaging clarity of the laser scanning device within the preset depth of field range to obtain multiple depth of field intervals; and / or, divide the preset depth of field into segments based on the preset boundary depth of field value corresponding to the preset depth of field range to obtain multiple depth of field intervals.

[0065] Optionally, the brightness parameter determination module 310 includes:

[0066] The brightness parameter determination unit is configured to determine the optimal brightness parameters of the laser scanning device in each depth range based on the imaging sharpness corresponding to the depth range and a preset sharpness threshold.

[0067] Optionally, the brightness parameter determination unit is specifically configured to: determine the candidate brightness parameters required for the laser scanning device to achieve a preset brightness threshold within the depth of field range, and determine the optimal brightness parameters based on the candidate brightness parameters.

[0068] Optionally, the calibration image acquisition module 320 is specifically configured to: for each depth of field interval, based on the optimal brightness parameters of the laser scanning device within the depth of field interval, acquire calibration images of the calibrator according to a preset depth of field interval and a preset acquisition sequence, thereby obtaining calibration images within the depth of field interval; wherein, the preset acquisition sequence includes from near to far or from far to near.

[0069] Optionally, the calibration module 330 includes:

[0070] The light plane parameter determination unit is configured to determine the light plane parameters corresponding to each depth of field interval based on the calibration image corresponding to each depth of field interval;

[0071] The calibration result determination unit is configured to merge the light plane parameters corresponding to multiple depth ranges to obtain the calibration result of the laser scanning device within a preset depth range.

[0072] Optionally, the light plane parameter determination unit is specifically configured to: for each depth range, extract features from the calibration image corresponding to the depth range to obtain light plane feature points corresponding to the calibration image, and determine the light plane parameters corresponding to the depth range based on a preset fitting algorithm and the light plane feature points.

[0073] The laser plane calibration device provided in this application embodiment can execute the laser plane calibration method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the execution method.

[0074] Figure 4 shows a schematic diagram of the structure of an electronic device 12 that can be used to implement embodiments of this application. The electronic device is intended to represent various forms of digital computers, such as desktop computers, workbenches, servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0075] As shown in Figure 4, the electronic device 12 is presented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0076] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0077] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0078] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (not shown in FIG4, commonly referred to as "hard disk drives"). Although not shown in FIG4, disk drives for reading and writing to removable non-volatile disks (e.g., "floppy disks") and optical disk drives for reading and writing to removable non-volatile optical disks (e.g., CD-ROMs, DVD-ROMs, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0079] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of this application.

[0080] Electronic device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 12, and / or with any device that enables electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0081] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the steps of a laser plane calibration method provided in this embodiment, the method including:

[0082] The preset depth of field range corresponding to the laser scanning device is divided into multiple depth of field intervals, and the optimal brightness parameters of the laser scanning device in each depth of field interval are determined.

[0083] Based on the optimal brightness parameters of the laser scanning device within the depth of field range, calibration images are acquired for the calibrator to obtain calibration images within each depth of field range.

[0084] Calibration is performed based on the calibration image.

[0085] Of course, those skilled in the art will understand that the processor can also implement the technical solutions of the laser plane calibration method provided in any embodiment of this application.

[0086] This embodiment provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements the laser plane calibration method steps provided in any embodiment of this application. The method includes:

[0087] The preset depth of field range corresponding to the laser scanning device is divided into multiple depth of field intervals, and the optimal brightness parameters of the laser scanning device in each depth of field interval are determined.

[0088] Based on the optimal brightness parameters of the laser scanning device within the depth of field range, calibration images are acquired for the calibrator to obtain calibration images within each depth of field range.

[0089] Calibration is performed based on the calibration image.

[0090] The computer storage medium in this application embodiment can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0091] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0092] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0093] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0094] Those skilled in the art will understand that the modules or steps described above in this application can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0095] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the appended claims. Industrial applicability

[0096] The technical solution of this application divides the preset depth of field range corresponding to the laser scanning device into multiple depth of field intervals and determines the optimal brightness parameter of the laser scanning device in each depth of field interval, thereby ensuring that the brightness parameter throughout the entire depth of field range meets the laser calibration requirements. Based on the optimal brightness parameter of the laser scanning device in each depth of field interval, calibration images are acquired to obtain calibration images in each depth of field interval. This ensures that clear calibration images can be obtained in different depth of field intervals, providing a reliable basis for subsequent image processing and analysis. Calibration is completed based on the calibration images. By dividing the preset depth of field range into segments and using different brightness parameters in different depth of field intervals, high imaging quality of the laser scanning device can be guaranteed in different depth of field intervals, achieving high-precision and efficient calibration of the laser scanning device throughout the entire preset depth of field range.

Claims

1. A laser plane calibration method, comprising: The preset depth of field range corresponding to the laser scanning device is divided into multiple depth of field intervals, and the optimal brightness parameter of the laser scanning device in each depth of field interval is determined. Based on the optimal brightness parameters of the laser scanning device within the depth of field range, calibration images are acquired for the calibrator to obtain calibration images within each depth of field range. The calibration is completed based on the calibration image.

2. The method according to claim 1, wherein, The process of dividing the preset depth-of-field range corresponding to the laser scanning device into multiple depth-of-field intervals includes: Based on the imaging clarity of the laser scanning device within a preset depth of field range, the preset depth of field range is divided into segments to obtain multiple depth of field intervals; and / or, Based on the preset boundary depth values ​​corresponding to the preset depth range, the preset depth range is divided into segments to obtain multiple depth ranges.

3. The method according to claim 1 or 2, wherein, Determining the optimal brightness parameters of the laser scanning device within each depth-of-field interval includes: Based on the imaging sharpness corresponding to the depth of field interval and the preset sharpness threshold, the optimal brightness parameters of the laser scanning device in each depth of field interval are determined.

4. The method according to claim 3, wherein, The step of determining the optimal brightness parameters of the laser scanning device in each depth-of-field interval based on the imaging sharpness corresponding to the depth-of-field interval and a preset sharpness threshold includes: The candidate brightness parameters required for the laser scanning device to achieve a preset brightness threshold within the depth of field range are determined, and the optimal brightness parameters are determined based on the candidate brightness parameters.

5. The method according to any one of claims 1-4, wherein, The calibration image acquisition based on the optimal brightness parameters of the laser scanning device within the depth of field range to obtain a calibration image within each depth of field range includes: For each depth of field interval, based on the optimal brightness parameters of the laser scanning device within the depth of field interval, calibration images are acquired by the calibrator according to a preset depth of field interval and a preset acquisition sequence to obtain calibration images within the depth of field interval; wherein, the preset acquisition sequence includes from near to far or from far to near.

6. The method according to any one of claims 1-5, wherein, The calibration based on the calibration image includes: The light plane parameters corresponding to each depth of field interval are determined based on the calibration image corresponding to each depth of field interval. By merging the light plane parameters corresponding to multiple depth-of-field intervals, the calibration result of the laser scanning device within the preset depth-of-field range is obtained.

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

8. A laser plane calibration device, comprising: The brightness parameter determination module is configured to divide the preset depth range corresponding to the laser scanning device into multiple depth ranges, and determine the optimal brightness parameter of the laser scanning device in each depth range. The calibration image acquisition module is configured to acquire calibration images of the calibrator based on the optimal brightness parameters of the laser scanning device within the depth of field range, so as to obtain a calibration image within each depth of field range. The calibration module is configured to perform calibration based on the calibration image.

9. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the laser plane calibration method according to any one of claims 1-7.

10. A computer-readable storage medium storing computer instructions, said computer instructions being configured to cause a processor to execute and implement the laser plane calibration method of any one of claims 1-7.

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