System and method for calibration between coordinate systems of 3D camera and medical imaging apparatus and application thereof

A method for calibration between a coordinate system of a 3D camera and a coordinate system of a medical imaging apparatus, wherein a calibration tool is arranged on a scanning table in the medical imaging apparatus, and the calibration tool is provided with a reference point and markers, the method comprising:

• aligning the reference point with a center of the medical imaging apparatus to serve as an origin of the coordinate system of the medical imaging apparatus;
• calculating positions of the markers in the coordinate system of the medical imaging apparatus according to relative positions of the markers with respect to the reference point;
• capturing images of the markers through the 3D camera and determining positions of the markers in the coordinate system of the 3D camera based on the captured images;
• using the positions of the markers in the coordinate system of the 3D camera as a first data set, and meanwhile using the positions of the markers in the coordinate system of the medical imaging apparatus as a second data set, and calculating a calibration matrix between the coordinate system of the 3D camera and the coordinate system of the medical imaging apparatus based on the first data set and the second data set;
• and
• performing calibration between the coordinate system of the 3D camera and the coordinate system of the medical imaging apparatus using the calibration matrix, wherein laser beams emitted by a laser in the medical imaging apparatus are made to intersect the reference point at the center of the medical imaging apparatus, wherein the calibration tool is further provided with two auxiliary lines intersecting at the reference point, the laser beams comprise a first beam and a second beam, and the two auxiliary lines are made coincide with the first beam and the second beam respectively.