The invention discloses a large-baseline double-view-angle three-dimensional scanning device and method and a storage medium. The device comprises a first scanning unit and a second scanning unit which are arranged on the two sides of a target space, and each scanning unit comprises a
zoom imaging unit with an adjustable
focal length and a
laser illumination unit with an adjustable
divergence half angle. The calibration module is used for establishing a geometrical relationship between the two scanning units and obtaining parameters such as an external parameter matrix R and a translation vector t. The
control unit is configured to realize synchronous triggering of
laser emission and camera
exposure; image frames under different optical parameters are obtained by adjusting the
focal length f and / or the
divergence half angle beta of at least one scanning unit; and inhibiting optical mutual interference between the double view angles by adopting a time-sharing and / or coding mode. And the
processing unit extracts the edge of the annular or approximately annular illumination area from the
image sequence, calculates three-dimensional point clouds of the two view angles based on the
triangulation principle, and performs registration and fusion on the point clouds to obtain three-dimensional
point cloud data of the current cross section. The method is suitable for high-precision three-dimensional shape measurement of long and narrow spaces such as tunnels, underground
pipe galleries and large pipelines, and has the advantages of being large in measurement range, high in shielding resistance, high in
point cloud precision, good in long-term stability and the like. The method mainly solves the problems of geometric
layout of a multi-scanning
unit system level, collaborative
time sequence and
point cloud fusion consistency, and compared with an optical parameter optimization scheme of a single scanning unit, the method has more advantages in the aspects of coverage integrity and long-term stability.