CN113960574B - Laser ranging calibration method, device, equipment and storage medium - Google Patents

Abstract

The application discloses a laser ranging calibration method, a device, equipment and a storage medium. The method comprises the following steps: in the transverse movement scanning process of the digital imaging equipment, when a laser ranging module connected with the digital imaging equipment detects a target object, a first picture currently acquired by the digital imaging equipment is stored; determining the vertical edge of the target object in the first picture through an edge detection algorithm; when the laser ranging module detects the target object in the longitudinal movement scanning process of the digital imaging equipment, a second picture currently acquired by the digital imaging equipment is stored; determining the horizontal edge of the target object in the second picture through an edge detection algorithm; according to the vertical edge and the horizontal edge, laser ranging points are determined on an imaging display picture of the digital imaging device, ranging point marks are added for the laser ranging points on the imaging display picture, and laser ranging calibration efficiency is improved.

Description

Laser ranging calibration method, device, equipment and storage medium

Technical Field

The present invention relates to the field of laser ranging technology, and in particular to a laser ranging calibration method, device, equipment and storage medium.

Background Art

Many existing digital imaging devices are equipped with laser ranging modules to achieve ranging functions. Some are built-in, and some are external expansions. Users can choose to install external ranging modules. Digital imaging devices use photoelectric sensors such as CCD (Charge-coupled Device), CMOS (Complementary Metal Oxide Semiconductor), infrared sensors, etc. to convert optical signals into electrical signals, and then display them on the display screen after processing. They include digital night vision devices, infrared night vision devices, digital sights, infrared sights, etc. However, since the ranging module often deviates from the ranging position and needs to be calibrated, ordinary users do not have calibration equipment, and calibration is difficult, especially the external ranging module is extremely inconvenient to operate, which increases the difficulty of user operation. Moreover, if the calibration is not good, it is difficult to obtain an accurate distance, which leads to users mistakenly believing that it is a quality problem of the laser ranging module.

Summary of the invention

In view of this, the purpose of the present invention is to provide a laser range measurement calibration method, device, equipment and medium, which can improve the efficiency of laser range measurement calibration and realize semi-automatic calibration. The specific scheme is as follows:

In a first aspect, the present application discloses a laser ranging calibration method, comprising:

During the lateral movement scanning process of the digital imaging device, when the laser ranging module connected to the digital imaging device detects a target object, saving the first picture currently captured by the digital imaging device;

Determine the vertical edge of the target object in the first picture by using an edge detection algorithm;

During the longitudinal movement scanning process of the digital imaging device, when the laser ranging module detects the target object, saving the second picture currently captured by the digital imaging device;

Determine the horizontal edge of the target object in the second picture by using an edge detection algorithm;

According to the vertical edge and the horizontal edge, a laser ranging point is determined on the imaging display screen of the digital imaging device, and a ranging point mark is added to the laser ranging point on the imaging display screen.

Optionally, after mapping the coordinates of the intersection of the vertical edge and the horizontal edge to the imaging display screen of the digital imaging device to obtain the laser ranging point of the digital imaging device, and adding a ranging point mark for the laser ranging point on the imaging display screen, the method further includes:

Using the digital imaging device to collect an image containing the object to be measured;

When the object to be measured in the image coincides with the distance measuring point mark on the imaging display screen, the detection data of the laser distance measuring module is read, and the distance to the object to be measured is determined according to the detection data.

Optionally, determining a laser ranging point on an imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge includes:

Determine the horizontal coordinate of the vertical edge in the first picture, and determine the vertical coordinate of the horizontal edge in the second picture;

According to the horizontal coordinate and the vertical coordinate, a target coordinate point is determined on the imaging display screen of the digital imaging device, and the target coordinate point is used as a laser ranging point of the digital imaging device.

Optionally, determining a laser ranging point on an imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge includes:

Determining the coordinates of the intersection of the vertical edge and the horizontal edge according to the position of the vertical edge relative to the first picture and the position of the horizontal edge relative to the second picture;

The intersection coordinates are mapped onto an imaging display screen of the digital imaging device to obtain a laser ranging point of the digital imaging device.

Optionally, the lateral movement scanning process and the longitudinal movement scanning process of the digital imaging device are scanning processes for a target scene; the target scene is a scene with the target object as the subject and the sky as the background.

Optionally, during the lateral movement scanning process of the digital imaging device, when a laser ranging module connected to the digital imaging device detects a target object, saving a first picture currently captured by the digital imaging device includes:

In the scanning process in which the digital imaging device takes the sky as the shooting starting point and moves horizontally toward the target object, when the laser ranging module detects the target object, the first picture currently captured by the digital imaging device is saved.

Optionally, during the longitudinal movement scanning process of the digital imaging device, when the laser ranging module detects the target object, saving the second picture currently captured by the digital imaging device includes:

In the scanning process in which the digital imaging device takes the sky as the shooting starting point and moves vertically toward the target object, when the laser ranging module detects the target object, the second picture currently captured by the digital imaging device is saved.

In a second aspect, the present application discloses a laser ranging calibration device, comprising:

A first picture saving module, used for saving a first picture currently captured by the digital imaging device when a laser ranging module connected to the digital imaging device detects a target object during the lateral movement of the digital imaging device;

A vertical edge detection module, used to determine the vertical edge of the target object in the first picture by using an edge detection algorithm;

A second picture saving module, used for saving a second picture currently captured by the digital imaging device when the laser ranging module detects the target object during the longitudinal movement of the digital imaging device;

A horizontal edge detection module, used to determine the horizontal edge of the target object in the second picture by using an edge detection algorithm;

The laser ranging point determination module is used to determine the laser ranging point on the imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge, and add a ranging point mark to the laser ranging point on the imaging display screen.

In a third aspect, the present application discloses an electronic device, including:

Memory, used to store computer programs;

The processor is used to execute the computer program to implement the aforementioned laser ranging calibration method.

In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein the computer program implements the aforementioned laser ranging calibration method when executed by a processor.

In the present application, during the horizontal movement scanning process of the digital imaging device, when the laser ranging module connected to the digital imaging device detects the target object, the first picture currently collected by the digital imaging device is saved; the vertical edge of the target object in the first picture is determined by an edge detection algorithm; during the vertical movement scanning process of the digital imaging device, when the laser ranging module detects the target object, the second picture currently collected by the digital imaging device is saved; the horizontal edge of the target object in the second picture is determined by an edge detection algorithm; according to the vertical edge and the horizontal edge, a laser ranging point is determined on the imaging display screen of the digital imaging device, and a ranging point mark is added for the laser ranging point on the imaging display screen. It can be seen that by acquiring the first picture when the laser ranging module detects the target object during the horizontal movement and scanning of the digital imaging device, and acquiring the second picture when the laser ranging module detects the target object during the horizontal and vertical movement and scanning of the digital imaging device, and then combining the horizontal edge in the first picture and the vertical edge in the second picture, the laser ranging point on the imaging display screen of the digital imaging device is determined to realize laser ranging calibration. That is to say, the user only needs to operate the digital imaging device for horizontal movement and scanning and vertical movement and scanning to realize laser ranging calibration. While ensuring the accuracy of laser calibration, the efficiency of laser ranging calibration is improved, the complexity of laser ranging calibration is simplified, and semi-automatic calibration can be realized.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

FIG1 is a flow chart of a laser ranging calibration method provided by the present application;

FIG2a is a schematic diagram of the position relationship between a specific digital imaging device provided by the present application and a target object before lateral movement scanning;

FIG2b is a schematic diagram of the position relationship between a first image and a target object when a specific digital imaging device provided by the present application saves the first image during a lateral movement scanning process;

FIG3a is a schematic diagram of the position relationship between a specific digital imaging device provided by the present application and a target object before longitudinal movement scanning;

FIG3b is a schematic diagram of the position relationship between a specific digital imaging device provided by the present application and a target object when saving a second image during a lateral movement scanning process;

FIG4 is a schematic diagram of a specific laser ranging point identification after laser ranging calibration provided by the present application;

FIG5 is a schematic diagram of the structure of a laser ranging calibration device provided by the present application;

FIG6 is a structural diagram of an electronic device provided in this application.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

In the prior art, the ranging module often deviates from the ranging position and needs to be calibrated. Ordinary users do not have calibration equipment, and calibration is difficult. In particular, the external ranging module is extremely inconvenient to operate, which increases the difficulty of operation for users. Moreover, if the calibration is not good, it is difficult to obtain an accurate distance, which causes users to mistakenly believe that there is a quality problem with the laser ranging module.

The present application discloses a laser ranging calibration method. Referring to FIG1 , the method may include the following steps:

Step S11: during the lateral movement scanning process of the digital imaging device, when the laser ranging module connected to the digital imaging device detects a target object, the first picture currently captured by the digital imaging device is saved.

The laser emitted by the laser distance measurement module falls on only one point on the object. Therefore, the laser distance measurement calibration process is to determine the coordinate point where the laser falls on the imaging screen in the display screen of the digital imaging device connected to the laser distance measurement module. Therefore, when measuring distance, only when the object to be measured is presented on the coordinate point of the imaging screen by moving the digital imaging device, the distance measured at this time is the most accurate distance.

In this embodiment, during the lateral movement and scanning process of the digital imaging device, when the laser ranging module connected to the digital imaging device detects the target object, that is, when the laser ranging module detects the target object for the first time during the lateral movement process, the picture currently captured by the digital imaging device is saved as the above-mentioned first picture.

Specifically, the lateral movement scanning process of the digital imaging device may be a scanning process for a target scene, and the target scene is a scene with the target as the subject and the sky as the background. That is, in the lateral movement scanning process of the digital imaging device, when the laser ranging module connected to the digital imaging device detects the target, saving the first picture currently captured by the digital imaging device may include: in the scanning process of the digital imaging device taking the sky as the shooting starting point and moving horizontally toward the target, when the laser ranging module detects the target, saving the first picture currently captured by the digital imaging device.

Step S12: Determine the vertical edge of the target object in the first picture by using an edge detection algorithm.

In this embodiment, after acquiring the above-mentioned first picture, edge detection is performed on the above-mentioned first picture using an edge detection algorithm to determine the vertical edge of the above-mentioned target object in the first picture. It can be understood that, for example, FIG2a shows a schematic diagram of the position of the digital imaging device and the target object before the horizontal movement scanning, and FIG2b shows the first picture saved during the horizontal movement scanning of the digital imaging device. The vertical edge of the target object in the first picture is determined by the edge detection algorithm. Since the current digital imaging device is moving horizontally, it can be determined that the laser is currently irradiating the vertical edge of the target object. As shown in FIG2b, it can be determined that the laser is currently irradiating the right edge of the target object. In this embodiment, the above-mentioned edge detection algorithm is not specifically limited.

Step S13: during the longitudinal movement scanning process of the digital imaging device, when the laser ranging module detects the target object, the second picture currently captured by the digital imaging device is saved.

In this embodiment, during the longitudinal movement and scanning of the digital imaging device, when the laser ranging module connected to the digital imaging device detects the target object, that is, when the laser ranging module detects the target object for the first time during the longitudinal movement, the picture currently collected by the digital imaging device is saved as the above-mentioned second picture. In addition, it should be noted that in this embodiment, the digital imaging device can be controlled to move horizontally and scan first, and then the digital imaging device can be controlled to move vertically and scan, or the digital imaging device can be controlled to move vertically and scan first, and then the digital imaging device can be controlled to move horizontally and scan.

Specifically, the longitudinal movement scanning process of the digital imaging device can be a scanning process for a target scene, and the target scene is a scene with a target object as the subject and the sky as the background. That is, in this embodiment, in the longitudinal movement scanning process of the digital imaging device, when the laser ranging module detects the target object, saving the second picture currently collected by the digital imaging device can include: in the scanning process in which the digital imaging device takes the sky as the shooting starting point and moves vertically toward the target object, when the laser ranging module detects the target object, saving the second picture currently collected by the digital imaging device. In this embodiment, the edge detection algorithm is not specifically limited.

Step S14: Determine the horizontal edge of the target object in the second picture by using an edge detection algorithm.

In this embodiment, after acquiring the second picture, edge detection is performed on the second picture using an edge detection algorithm to determine the horizontal edge of the target object in the second picture. It can be understood that, for example, FIG. 3a shows a schematic diagram of the position of the target object before the digital imaging device moves longitudinally for scanning, and FIG. 3b shows the second picture saved during the longitudinal scanning of the digital imaging device. The horizontal edge of the target object in the second picture is determined by the edge detection algorithm. Since the current digital imaging device moves longitudinally, it can be determined that the laser is currently irradiating the horizontal edge of the target object. As shown in FIG. 3b, it can be determined that the laser is currently irradiating the upper edge of the target object.

Step S15: determining a laser ranging point on the imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge, and adding a ranging point mark for the laser ranging point on the imaging display screen.

In this embodiment, after the vertical edge and the horizontal edge are detected, a laser ranging point is determined on the imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge, and a ranging point mark is added to the laser ranging point on the imaging display screen, so that the user can use the digital imaging device to collect an image containing an object to be measured; when the object to be measured in the image coincides with the ranging point mark on the imaging display screen, the detection data of the laser ranging module is read, and the distance to the object to be measured is determined according to the detection data.

In this embodiment, the step of determining the laser ranging point on the imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge may include: determining the horizontal coordinate of the vertical edge on the first screen, and determining the vertical coordinate of the horizontal edge on the second screen; determining the target coordinate point on the imaging display screen of the digital imaging device according to the horizontal coordinate and the vertical coordinate, and using the target coordinate point as the laser ranging point of the digital imaging device. For example, as shown in FIG4 , the target coordinate point determined by the horizontal coordinate of the vertical edge on the first screen and the vertical coordinate of the horizontal edge on the second screen is used as the laser ranging point of the digital imaging device.

In this embodiment, the laser ranging point is determined on the imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge, which may include: determining the intersection coordinates of the vertical edge and the horizontal edge according to the position of the vertical edge relative to the first screen and the position of the horizontal edge relative to the second screen; and mapping the intersection coordinates to the imaging display screen of the digital imaging device to obtain the laser ranging point of the digital imaging device. That is, in this embodiment, the vertical edge and the horizontal edge may be mapped to the same screen according to the position of the vertical edge relative to the first screen and the position of the horizontal edge relative to the second screen to obtain the intersection coordinates of the vertical edge and the horizontal edge, and then the intersection coordinates may be mapped to the imaging display screen of the digital imaging device to obtain the laser ranging point of the digital imaging device.

That is to say, in this embodiment, a target object within the distance measurement range can be selected first. The target object is usually a building, and the background is required to be open, preferably the sky. After selecting the scene, use the digital imaging device to scan the target object horizontally. If the imaging device is originally the sky, slowly move horizontally. During the movement, the target object gradually appears until it passes through the entire screen. Then use the imaging device to scan the target object vertically. After the whole process is completed, the device automatically calculates the distance measurement position and automatically calibrates.

It is understandable that the laser rangefinder is actually a beam of laser, and the laser falls on a point within the entire imaging screen. The calibration process is to find the point in the screen that coincides with the excitation point position, and mark it after finding it. In this way, the user only needs to overlap the marked point with the position to be measured next time to get the desired distance. In this embodiment, when the sky background is used, the ranging exceeds the range and no ranging data can be obtained. During the horizontal movement process, when the target reaches the laser position, the ranging value is obtained. At this time, the system automatically saves the current screen, and the system uses an algorithm to identify the left and right edges of the target. The edge coordinates are obtained to obtain the X coordinate of the ranging laser position. Repeat the operation, move vertically, and when the ranging value changes, save the current screen, identify the upper and lower edges of the target through the algorithm, and obtain the Y coordinate of the ranging laser position. After having the X and Y coordinates, you can mark and save them on the coordinates. In this embodiment, the above-mentioned laser ranging calibration method can be applied to the processing module of a digital imaging device.

As can be seen from the above, in this embodiment, during the horizontal movement and scanning of the digital imaging device, when the laser ranging module connected to the digital imaging device detects the target object, the first picture currently collected by the digital imaging device is saved; the vertical edge of the target object in the first picture is determined by the edge detection algorithm; during the vertical movement and scanning of the digital imaging device, when the laser ranging module detects the target object, the second picture currently collected by the digital imaging device is saved; the horizontal edge of the target object in the second picture is determined by the edge detection algorithm; according to the vertical edge and the horizontal edge, the laser ranging point is determined on the imaging display screen of the digital imaging device, and a ranging point mark is added for the laser ranging point on the imaging display screen. It can be seen that by acquiring the first picture when the laser ranging module detects the target object during the horizontal movement and scanning of the digital imaging device, and acquiring the second picture when the laser ranging module detects the target object during the horizontal and vertical movement and scanning of the digital imaging device, and then combining the horizontal edge in the first picture and the vertical edge in the second picture, the laser ranging point on the imaging display screen of the digital imaging device is determined to realize laser ranging calibration. That is to say, the user only needs to operate the digital imaging device for horizontal movement and scanning and vertical movement and scanning to realize laser ranging calibration. While ensuring the accuracy of laser calibration, the efficiency of laser ranging calibration is improved, the complexity of laser ranging calibration is simplified, and semi-automatic calibration can be realized.

Correspondingly, the embodiment of the present application also discloses a laser ranging calibration device, as shown in FIG5 , the device includes:

A first picture saving module 11 is used to save a first picture currently captured by the digital imaging device when a laser ranging module connected to the digital imaging device detects a target object during the lateral movement of the digital imaging device;

A vertical edge detection module 12, configured to determine the vertical edge of the target object in the first picture by using an edge detection algorithm;

A second picture saving module 13 is used to save a second picture currently captured by the digital imaging device when the laser ranging module detects the target object during the longitudinal movement of the digital imaging device;

A horizontal edge detection module 14, configured to determine the horizontal edge of the target object in the second picture by using an edge detection algorithm;

The laser ranging point determination module 15 is used to determine the laser ranging point on the imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge, and add a ranging point mark for the laser ranging point on the imaging display screen.

As can be seen from the above, in this embodiment, during the horizontal movement and scanning of the digital imaging device, when the laser ranging module connected to the digital imaging device detects the target object, the first picture currently collected by the digital imaging device is saved; the vertical edge of the target object in the first picture is determined by the edge detection algorithm; during the vertical movement and scanning of the digital imaging device, when the laser ranging module detects the target object, the second picture currently collected by the digital imaging device is saved; the horizontal edge of the target object in the second picture is determined by the edge detection algorithm; according to the vertical edge and the horizontal edge, the laser ranging point is determined on the imaging display screen of the digital imaging device, and a ranging point mark is added for the laser ranging point on the imaging display screen. It can be seen that by acquiring the first picture when the laser ranging module detects the target object during the horizontal movement and scanning of the digital imaging device, and acquiring the second picture when the laser ranging module detects the target object during the horizontal and vertical movement and scanning of the digital imaging device, and then combining the horizontal edge in the first picture and the vertical edge in the second picture, the laser ranging point on the imaging display screen of the digital imaging device is determined to realize laser ranging calibration. That is to say, the user only needs to operate the digital imaging device for horizontal movement and scanning and vertical movement and scanning to realize laser ranging calibration. While ensuring the accuracy of laser calibration, the efficiency of laser ranging calibration is improved, the complexity of laser ranging calibration is simplified, and semi-automatic calibration can be realized.

In some specific embodiments, the laser ranging point determination module 15 may specifically include:

a coordinate determination unit, configured to determine the horizontal coordinate of the vertical edge in the first picture, and determine the vertical coordinate of the horizontal edge in the second picture;

The laser ranging point determination unit is used to determine a target coordinate point on the imaging display screen of the digital imaging device according to the horizontal coordinate and the vertical coordinate, and use the target coordinate point as the laser ranging point of the digital imaging device.

In some specific embodiments, the laser ranging point determination module 15 may specifically include:

an intersection coordinate determining unit, configured to determine the intersection coordinates of the vertical edge and the horizontal edge according to the position of the vertical edge relative to the first picture and the position of the horizontal edge relative to the second picture;

The laser ranging point determination unit is used to map the intersection coordinates onto the imaging display screen of the digital imaging device to obtain the laser ranging point of the digital imaging device.

In some specific embodiments, the lateral movement scanning process and the longitudinal movement scanning process of the digital imaging device are scanning processes for a target scene; the target scene is a scene with the target object as the subject and the sky as the background.

In some specific embodiments, the first picture saving module 11 can also be specifically used to save the first picture currently captured by the digital imaging device when the laser ranging module detects the target object during the scanning process in which the digital imaging device takes the sky as the shooting starting point and moves horizontally toward the target object.

In some specific embodiments, the second picture saving module 13 can also be specifically used to save the second picture currently captured by the digital imaging device when the laser ranging module detects the target object during the scanning process in which the digital imaging device takes the sky as the shooting starting point and moves vertically toward the target object.

Furthermore, an embodiment of the present application also discloses an electronic device, as shown in FIG6 . The content in the figure cannot be regarded as any limitation on the scope of use of the present application.

FIG6 is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input/output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the laser ranging calibration method disclosed in any of the aforementioned embodiments.

In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon include an operating system 221, a computer program 222, and data 223 including images captured by a digital imaging device, etc. The storage method can be temporary storage or permanent storage.

The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, so as to realize the operation and processing of the massive data 223 in the memory 22 by the processor 21, and it can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the laser ranging calibration method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

Furthermore, an embodiment of the present application also discloses a computer storage medium, in which computer executable instructions are stored. When the computer executable instructions are loaded and executed by a processor, the steps of the laser ranging calibration method disclosed in any of the aforementioned embodiments are implemented.

In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

The laser ranging calibration method, device, equipment and medium provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims (10)

1. A laser ranging calibration method, comprising:

In the transverse movement scanning process of the digital imaging equipment, when a laser ranging module connected with the digital imaging equipment detects a target object, a first picture currently acquired by the digital imaging equipment is stored;

Determining the vertical edge of the target object in the first picture through an edge detection algorithm;

When the laser ranging module detects the target object in the longitudinal movement scanning process of the digital imaging equipment, a second picture currently acquired by the digital imaging equipment is stored;

Determining the horizontal edge of the target object in the second picture through an edge detection algorithm;

Determining laser ranging points on an imaging display picture of the digital imaging equipment according to the vertical edge and the horizontal edge, and adding ranging point marks for the laser ranging points on the imaging display picture;

wherein after adding a ranging point identifier for the laser ranging point on the imaging display screen, the method further comprises:

acquiring an image containing an object to be measured by using the digital imaging device;

And when the object to be measured in the image is overlapped with the ranging point mark on the imaging display screen, reading the detection data of the laser ranging module, and determining the distance between the object to be measured and the laser ranging module according to the detection data.

2. The laser ranging calibration method according to claim 1, wherein an intersection point coordinate of the vertical edge and the horizontal edge is mapped to an imaging display screen of the digital imaging device to obtain a laser ranging point of the digital imaging device.

3. The laser ranging calibration method according to claim 1, wherein determining a laser ranging point on an imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge comprises:

determining an abscissa of the vertical edge on the first picture, and determining an ordinate of the horizontal edge on the second picture;

And determining a target coordinate point on an imaging display picture of the digital imaging equipment according to the abscissa and the ordinate, and taking the target coordinate point as a laser ranging point of the digital imaging equipment.

4. The laser ranging calibration method according to claim 1, wherein determining a laser ranging point on an imaging display screen of the digital imaging device according to the vertical edge and the horizontal edge comprises:

Determining the intersection point coordinates of the vertical edge and the horizontal edge according to the position of the vertical edge relative to the first picture and the position of the horizontal edge relative to the second picture;

and mapping the intersection point coordinates to an imaging display picture of the digital imaging equipment to obtain laser ranging points of the digital imaging equipment.

5. The laser ranging calibration method according to any one of claims 1 to 4, wherein the lateral movement scanning process and the longitudinal movement scanning process of the digital imaging device are scanning processes for a target scene; the target scene is a scene taking the target object as a theme and taking the sky as a background.

6. The method according to claim 5, wherein storing the first image currently acquired by the digital imaging device when the laser ranging module connected to the digital imaging device detects the target object during the scanning process of the lateral movement of the digital imaging device, comprises:

And in the scanning process that the digital imaging device takes the sky as a shooting starting point and transversely and horizontally moves towards the target object, when the laser ranging module detects the target object, a first picture currently acquired by the digital imaging device is stored.

7. The method according to claim 5, wherein storing the second image currently acquired by the digital imaging device when the laser ranging module detects the target object during the scanning process of the digital imaging device, comprises:

And in the scanning process that the digital imaging device takes the sky as a shooting starting point and moves vertically and longitudinally towards the target object, when the laser ranging module detects the target object, a second picture currently acquired by the digital imaging device is stored.

8. A laser ranging calibration device, comprising:

the first picture saving module is used for saving a first picture currently acquired by the digital imaging equipment when the laser ranging module connected with the digital imaging equipment detects a target object in the transverse moving process of the digital imaging equipment;

the vertical edge detection module is used for determining the vertical edge of the target object in the first picture through an edge detection algorithm;

The second picture saving module is used for saving a second picture currently acquired by the digital imaging equipment when the laser ranging module detects the target object in the process of longitudinally moving the digital imaging equipment;

the horizontal edge detection module is used for determining the horizontal edge of the target object in the second picture through an edge detection algorithm;

The laser ranging point determining module is used for determining laser ranging points on an imaging display picture of the digital imaging equipment according to the vertical edge and the horizontal edge, and adding ranging point marks for the laser ranging points on the imaging display picture;

wherein after adding a ranging point identifier for the laser ranging point on the imaging display screen, the method further comprises:

acquiring an image containing an object to be measured by using the digital imaging device;

And when the object to be measured in the image is overlapped with the ranging point mark on the imaging display screen, reading the detection data of the laser ranging module, and determining the distance between the object to be measured and the laser ranging module according to the detection data.

9. An electronic device, comprising:

A memory for storing a computer program;

A processor for executing the computer program to implement the laser ranging calibration method of any of claims 1 to 7.

10. A computer-readable storage medium storing a computer program; wherein the computer program when executed by a processor implements the laser ranging calibration method according to any of claims 1 to 7.