阅读说明：本技术 坐标校正方法、装置、计算设备及计算机存储介质 (Coordinate correction method, coordinate correction device, computing equipment and computer storage medium ) 是由 王吉 于 2019-06-13 设计创作，主要内容包括：本申请涉及信息处理技术领域,公开了一种坐标校正方法、装置、计算设备及计算机存储介质,本申请的坐标校正方法,包括：计算任意两个通道发射的激光在预先设置的标靶上形成的第一光斑及第二光斑的理论坐标；获取所述第一光斑及第二光斑的实际坐标；根据所述实际坐标和所述理论坐标计算角度误差；根据所述角度误差对获取的点云坐标进行校正。本申请实施方式通过任意两个通道的光斑的理论坐标和实际坐标计算角度误差,通过角度误差对获取的点云坐标进行校正,从而保证了获取的点云坐标的真实性。(The application relates to the technical field of information processing, and discloses a coordinate correction method, a coordinate correction device, a computing device and a computer storage medium, wherein the coordinate correction method comprises the following steps: calculating theoretical coordinates of a first light spot and a second light spot formed on a preset target by lasers emitted by any two channels; acquiring actual coordinates of the first light spot and the second light spot; calculating an angle error according to the actual coordinate and the theoretical coordinate; and correcting the acquired point cloud coordinates according to the angle error. The method and the device calculate the angle error through the theoretical coordinate and the actual coordinate of the light spots of any two channels, and correct the acquired point cloud coordinate through the angle error, so that the authenticity of the acquired point cloud coordinate is guaranteed.)

A coordinate correction method is applied to a solid-state laser radar, and is characterized by comprising the following steps:

calculating theoretical coordinates of a first light spot and a second light spot formed on a preset target by lasers emitted by any two channels;

acquiring actual coordinates of the first light spot and the second light spot;

calculating an angle error according to the actual coordinate and the theoretical coordinate;

and correcting the acquired point cloud coordinates according to the angle error.

The method of claim 1, wherein the calculating theoretical coordinates of a first spot and a second spot formed on a preset target by the laser emitted from any two channels comprises: and calculating theoretical coordinates of the first light spot and the second light spot according to the installation position of the solid-state laser radar and the laser emission angles of any two channels.

The method of claim 1, wherein said calculating an angle error from said actual coordinates and said theoretical coordinates comprises:

according to the actual coordinates A (x) of the first light spot and the second light spot respectively₁，y ₁，z ₁)，B(x ₂，y ₂，z ₂) And theoretical coordinates a' (x) of the first and second light spots₁'，y ₁'，z ₁')，B'(x ₂'，y ₂'，z ₂'), the following equation is determined:

wherein the content of the first and second substances,

the angle errors thetax, thetay, thetaz are calculated according to the equation.

The method of claim 1, wherein the lasers emitted from any two channels are located in the same plane and are symmetrically emitted, and the theoretical coordinates of the lasers are a '(Rtan α, 0, R) and B' (-Rtan α, 0, R), respectively, where R is a distance between the solid state laser radar and the preset target, and α is an angle between the lasers emitted from any two channels and a Z axis; the calculating the angle error according to the actual coordinate and the theoretical coordinate specifically comprises:

according to the actual coordinates A (x) of the first and second light spots₁，y ₁，z ₁)，B(x ₂，y ₂，z ₂) Calculating the angle error

According to the angle error theta z and the actual coordinates A (x) of the first light spot and the second light spot₁，y ₁，z ₁)，B(x ₂，y ₂，z ₂) And calculating an angle error by using theoretical coordinates A '(Rtan alpha, 0, R) and B' (-Rtan alpha, 0, R) of the first light spot and the second light spot Wherein the content of the first and second substances, e＝sinα，f＝-sinα。

the method of any one of claims 1-4, wherein said correcting the acquired point cloud coordinates according to the angular error comprises:

determining a rotation matrix according to the angle error;

and correcting the acquired point cloud coordinates according to the rotation matrix.

The method according to claim 5, wherein the correction of the acquired point cloud coordinates according to the rotation matrix is performed by: correcting the acquired point cloud coordinates according to the following formula:

P' ^T＝Rx·Ry·Rz·P ^T

wherein, P' represents the point cloud coordinate after correction, P represents the acquired point cloud coordinate, and Rx, Ry and Rz respectively represent the rotation matrix of the point cloud coordinate about the X axis, the Y axis and the Z axis.

A coordinate correction device, characterized by comprising:

a first calculation module: the device is used for calculating theoretical coordinates of a first light spot and a second light spot formed on a preset target by laser emitted by any two channels;

an acquisition module: the system is used for acquiring the actual coordinates of the first light spot and the second light spot;

a second calculation module: the angle error is calculated according to the actual coordinate and the theoretical coordinate;

a correction module: and the correction module is used for correcting the acquired point cloud coordinates according to the angle error.

A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is configured to store at least one executable instruction that causes the processor to perform a coordinate correction method as claimed in any one of claims 1-6.

A computer program product, characterized in that the computer program product comprises a computer program stored on a computer storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to carry out a coordinate correction method according to any one of claims 1-6.

A computer storage medium having stored therein at least one executable instruction for causing a processor to perform a coordinate correction method as claimed in any one of claims 1 to 7.