Field calibration method for hand-held line-structured light optical 3D scanner

The invention belongs to the field of vision measurement and in particular to a field calibration method for a hand-held line-structured light optical 3D scanner. The method comprises a step 1: obtaining the distortion matrixes M1L and M1R of the left camera and the right camera respectively; a step 2: calibrating the external parameter matrix of the right camera relative to the left camera; a step 3 of measuring the coordinates Xwp, Ywp, and Zwp of a point P in A world coordinate system. The method utilizes a structural feature that the binocular measurement system of the hand-held scanner shares the same camera with the structural light measurement system. The binocular measurement system provides a standard for a structural light plane, and achieves structural light plane calibration without the use of any other high-precision calibration equipment. The method is simple and fast in calibration process, ensures the accuracy of the measurement, is suitable for field calibration of hand-held line-structured l