CN106871787A - Large space line scanning imagery method for three-dimensional measurement - Google Patents
Large space line scanning imagery method for three-dimensional measurement Download PDFInfo
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- CN106871787A CN106871787A CN201710242392.6A CN201710242392A CN106871787A CN 106871787 A CN106871787 A CN 106871787A CN 201710242392 A CN201710242392 A CN 201710242392A CN 106871787 A CN106871787 A CN 106871787A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention belongs to large scale space three-dimensional e measurement technology, it is related to a kind of large space line scanning imagery method for three-dimensional measurement.Realized by the measuring system being made up of measurement apparatus, measurement host, target.Its measuring process is as follows：Two measurement apparatus are one group and are arranged on measurand periphery, target is set in measurand；The initial position of each measurement apparatus is adjusted, calibrating parameters obtain measurement apparatus azimuth information, and the rotation of plane tilting mirror obtains scan image using line-scan digital camera simultaneously, processes image zooming-out target and is matched, and obtains the image coordinate value at target center；Calculate angle information of the target central point in measurement apparatus coordinate system；With reference to the azimuth information of measurement apparatus, the 3 d space coordinate value at each target center is calculated by measurement host.
Description
Technical field
The invention belongs to large scale space three-dimensional e measurement technology, it is related to a kind of large space line scanning imagery three-dimensional measurement side
Method.
Background technology
In the field such as Aeronautics and Astronautics and civilian industry, the processing of large parts and assembly precision require more and more higher, existing
There is coordinate measuring technology to be difficult to meet its fast-developing demand, object positioning is equal such as in the deformation of heavy parts and large space
Lack the measurement means of efficiently and accurately.
Machine vision metrology has stronger technical advantage in terms of interior physical dimension measurement on a large scale, is mainly manifested in survey
Amount speed is fast, measuring apparatus are portable, use the aspect such as flexible.But conventional visual e measurement technology in measurement range and precision aspect still
There is limitation, such as measurement distance of monocular or two CCD camera measure system only has more than ten meters, is less than 60 more field range mostly
Degree.In addition to using machine vision metrology technology, the survey of industrial large scale accurate measurement requirement can be met on range and precision
Amount system mainly includes laser tracker, theodolite, total powerstation, IGPS.Laser tracker certainty of measurement is high, distance is remote, but its
Spot measurement can only be carried out and the easy light road blockage effects measurement efficiency of measurement process is relatively low.Theodolite is same with total powerstation
Reflecting target standard configuration is needed to close, it is impossible to while multimetering.Above-mentioned a few class measuring systems can only on certainty of measurement, speed and range
The requirement of the industrial large-scale metrology of part or indirectly satisfaction.
Development of modern industry is provided simultaneously with the efficient of big visual field, high accuracy and multiple spot high speed measurement performance in the urgent need to a kind of
Method for three-dimensional measurement.
The content of the invention
Swept the purpose of the present invention is to propose to a kind of large space line for possessing big visual field, high accuracy and multiple spot high speed measurement performance
Retouch imaging three-dimensional measuring method.Technical solution of the invention is that line scanning imagery three-dimensional measurement is used by measurement apparatus, surveyed
Amount main frame, target constitute measuring system, it is characterized in that, measurement apparatus include line-scan digital camera and plane tilting mirror, line-scan digital camera by
Line scan image sensor, telecentricity F- θ optical lens and image pick-up card composition, plane tilting mirror is by plane mirror and single axle table
Composition, the reflecting surface that the rotation axis of single axle table passes through plane mirror, rotation axis and the line-scan digital camera of single axle table
Imaging surface is parallel while being intersected vertically with the optical axis of line-scan digital camera, being one group by two measurement apparatus is arranged on measurand week
Side, target is set in measurand；The initial position of each measurement apparatus is adjusted, is obtained by measuring control point target calibrating parameters
Measurement apparatus position relationship, the plane tilting mirror in every group of measurement apparatus is rotated and obtains scan image simultaneously, and line-scan digital camera will be scanned
Image is input into measurement host through image pick-up card, is extracted target and is matched, and obtains the image coordinate value at target center, and
Calculate angle information of the target central point in measurement apparatus coordinate system；With reference to the positional information of measurement apparatus, by measurement host
Calculate the 3 d space coordinate value at each target center；Computational methods are,
To every group of two measurement apparatus numbering, a measurement apparatus and No. two measurement apparatus are designated as respectively, with measurement apparatus
Middle line-scan digital camera optical axis is origin of coordinates O with the intersection point of single axle table rotation axis, and single axle table rotation axis is Z axis, linear array
Camera optical axis are X-axis, and measurement apparatus coordinate system is set up using right hand rule, wherein a measurement apparatus coordinate system is O1X1Y1Z1,
No. two measurement apparatus coordinate systems are O2X2Y2Z2, and using a measurement apparatus coordinate system as global coordinate system, No. two measurement apparatus
Coordinate is tied to the spin matrix of global coordinate systemDisplacement vector T=[tx ty tz] ', is according to following mould
Type calculates coordinate value of the target center point P (x, y, z) under global coordinate system
In formula, X1=cot α1、Y1=tan β1/sinα1、X2=cot α2、Y2=tan β2/sinα2,
Wherein α1It is the throwing of target center point P and coordinate origin line on X/Y plane under a measurement apparatus coordinate system
Shadow to X-axis positive direction angle, by target central point when a measurement apparatus are imaged the rotation angle value of plane mirror and
The determination of initial angle angle value, α2It is the projection of target center point P and origin line on X/Y plane under No. two measurement apparatus coordinate systems
To the angle of X-axis positive direction, by target central point when No. two measurement apparatus are imaged the rotation angle value of plane mirror and just
The determination of beginning angle value,
β1For under a measurement apparatus coordinate system line of target center point P and coordinate origin with its X/Y plane throwing
Angle between shadow, meetsWherein v1It is target image center under a measurement apparatus image coordinate system
The ordinate value of point, v01It is measurement apparatus image coordinate system figure below principal point ordinate value, f1It is a measurement apparatus line
Array camera focal length, Δ y1It is a Pixel Dimensions for measurement apparatus line scan image sensor, f1、Δy1Unit be mm,
β2For the line of target center point P under No. two measurement apparatus coordinate systems and origin and its between the projection of X/Y plane
Angle, meetWherein v2For under No. two measurement apparatus image coordinate systems target image central point it is vertical
Coordinate value, v02It is No. two measurement apparatus image coordinate system figure below principal point ordinate values, f2It is No. two measurement apparatus line-scan digital cameras
Focal length, Δ y2It is No. two Pixel Dimensions of measurement apparatus line scan image sensor, f2、Δy2Unit be mm,
ε1It is pip of the target center point P on a measurement apparatus plane mirror under a measurement apparatus coordinate system
The distance between with coordinate origin, meet ε1=Oc1O1·tanβ1, wherein Oc1O1It is a measurement apparatus line-scan digital camera photocentre
Oc1With coordinate origin O1The distance between,
ε2It is pip of the target center point P on No. two measurement apparatus plane mirrors under No. two measurement apparatus coordinate systems
The distance between with coordinate origin, meet ε2=Oc2O2·tanβ2, wherein Oc2O2It is No. two measurement apparatus line-scan digital camera photocentres
Oc2With coordinate origin O2The distance between.
Parameter calibration is carried out by way of measuring control point target, arranges that control point target number is more than in measurement field
Equal to 7.
The present invention is had the advantage that with beneficial effect：Large space line scanning imagery method for three-dimensional measurement both has tradition
The advantage of vision measurement can rapidly and efficiently carry out multimetering, and both horizontally and vertically have super-resolution simultaneously
Rate and the big angle of visual field, can realize the remote multiple spot three-dimensional coordinate measurement of large space.
Brief description of the drawings
Fig. 1 large space line scanning imagery three-dimension measuring system schematic diagrames：1-number measurement apparatus, 2-No. two measurement dresses
Put, 3-target, 4-measurement host, 101-number measurement apparatus line-scan digital camera, 102-number measurement apparatus plane mirror,
103-number measurement apparatus single axle table, 201-No. two measurement apparatus line-scan digital cameras, 202-No. two measurement apparatus plane reflections
Mirror, 203-No. two measurement apparatus single axle tables.
Fig. 2 large space line scanning imagery method for three-dimensional measurement flow charts.
Fig. 3 large space line scanning imagery three-dimensional measurement model schematics：101-number measurement apparatus line-scan digital camera, 102-
A number measurement apparatus plane mirror, 201-No. two measurement apparatus line-scan digital cameras, 202-No. two measurement apparatus plane mirrors.
Specific embodiment
Specific embodiment of the invention is described below in conjunction with the accompanying drawings, in order to those skilled in the art
Understand the present invention, it should be apparent that the invention is not restricted to the scope of specific embodiment, to the ordinary skill people of the art
For member, as long as various change is in appended claim restriction and the spirit and scope of the present invention for determining, these changes
It is it will be apparent that all utilize the innovation and creation of present inventive concept in the row of protection.
In addition, miscellaneous in order to avoid sinking into the description of this specification, in description in this manual, may pair can be
The portion of techniques details obtained in prior art data has carried out the treatment such as omission, simplification, accommodation, this technology for this area
Be will be understood by for personnel, and this does not interfere with the open adequacy of this specification.
The invention discloses a kind of large space line scanning imagery method for three-dimensional measurement, by by measurement apparatus, measurement host,
The measuring system that target is constituted realizes that each two measurement apparatus are one group can realize certain model with measurement host, target cooperation
The 3 d space coordinate measurement in region is enclosed, measurement range can be extended by way of increasing measurement apparatus group.
As shown in figure 1, a measuring system includes 1, No. two measurement apparatus 2 of a measurement apparatus, target 3 and measurement master
Machine 4, wherein measurement apparatus 1 include line-scan digital camera 101 and plane tilting mirror, line-scan digital camera 101 is by line scan image sensor, remote
Heart F- θ optical lens and image pick-up card are constituted, and plane tilting mirror is made up of plane mirror 102 and single axle table 103, and single shaft turns
The reflecting surface that the rotation axis of platform 103 passes through plane mirror 102, rotation axis and the line-scan digital camera 101 of single axle table 103
Imaging surface is parallel while being intersected vertically with the optical axis of line-scan digital camera 101, No. two measurement apparatus 2 have phase with a measurement apparatus 1
Isostructure.
As shown in Fig. 2 large space line scanning imagery method for three-dimensional measurement measuring process is as follows：
1) measurement apparatus two are one group and are arranged on measurand periphery by arrangement measurement field, and target is set in measurand
Mark；The installation site of each measurement apparatus is adjusted in placement process, it is collected target to be measured, determine measurement apparatus
The initial position of plane tilting mirror.In measurement process, can set suitable according to the illumination condition in measurement field and target imaging contexts
When illumination compensation.
2) parameter calibration is carried out by way of measuring control point target, multiple control points target is arranged in measurement field,
Control point target number is more than or equal to 7, the relative position relation of two measurement apparatus is calculated using the positional information at control point, i.e.,
Spin matrix and displacement vector, set up measurement coordinate system.Parameter calibration can be regarded as the inverse process of three-dimensional measurement, join during demarcation
Control point target is measured simultaneously with the measurement apparatus demarcated, the angle for obtaining dominating pair of vertices in measurement apparatus coordinate system is believed
Breath, then in conjunction with known control dot position information, sets up Nonlinear System of Equations, using Levenberg-Marquardt algorithms
Solution obtains spin matrix and displacement vector.
3) measurement is started, every group of plane tilting mirror of measurement apparatus is rotated and obtain scan image, carried by image procossing simultaneously
Take target and matched, obtain image coordinate value of the target center on each collection image.Plane tilting mirror can do reciprocal fortune
It is dynamic, go journey and backhaul camera to gather image.Single axle table can turn clockwise, and by the precedence of collection, sequentially carry out
Single-frame images is spliced to form width collection image；Single axle table rotate counterclockwise, by the precedence of collection, backward carries out single frames
The width collection image that image mosaic is formed.The angular velocity of rotation of measurement apparatus midplane tilting mirror can be calculated by formula below
Wherein VrAngular speed, F for plane tilting mirrorcLine frequency, R for line-scan digital cameracIt is line scan image sensor longitudinal resolution
Rate, FOV are the angle of visual field of telecentricity F- θ optical lens.
4) angle information of the target central point in measurement apparatus coordinate system, including horizontal angle and vertical angle, level are calculated
Angle by the abscissa of target scattergram picture be target central point when measurement apparatus are imaged the rotation angle value of plane tilting mirror and
Initial angle angle value determines that vertical angle is calculated by the ordinate of target scattergram picture；
With reference to the position relationship of the measurement apparatus obtained by parameter calibration, each target center is calculated by measurement host
The 3 d space coordinate value of point.
As shown in figure 3, with the intersection point of line-scan digital camera optical axis in measurement apparatus and single axle table rotation axis as the origin of coordinates
O, single axle table rotation axis is Z axis, line-scan digital camera optical axis is X-axis, and measurement apparatus coordinate system is set up using right hand rule, wherein
A number measurement apparatus coordinate system is O1X1Y1Z1, No. two measurement apparatus coordinate systems are O2X2Y2Z2, and by a measurement apparatus coordinate system
Used as global coordinate system, No. two measurement apparatus coordinates are tied to the spin matrix of global coordinate systemDisplacement is sweared
Amount T=[tx ty tz] ', the coordinate value of target center point P (x, y, z) under global coordinate system according to being calculated such as drag
In formula, X1=cot α1、Y1=tan β1/sinα1、X2=cot α2、Y2=tan β2/sinα2,
Wherein α1For under a coordinate system of measurement apparatus 1 target center point P and coordinate origin line on X/Y plane
The angle of X-axis positive direction is projected to, by the anglec of rotation of target central point plane mirror 102 when a measurement apparatus 1 are imaged
Angle value and the determination of initial angle angle value, α2For under No. two coordinate systems of measurement apparatus 2 target center point P and origin line on X/Y plane
The angle for projecting to X-axis positive direction, by the rotation of target central point plane mirror 202 when No. two measurement apparatus 2 are imaged
Angle value and the determination of initial angle angle value,
β1For under a coordinate system of measurement apparatus 1 line of target center point P and coordinate origin with its in X/Y plane
Angle between projection, meetsWherein v1For in target image under an image coordinate system of measurement apparatus 1
The ordinate value of heart point, v01It is an image coordinate system figure below principal point ordinate value of measurement apparatus 1, f1It is a measurement apparatus
The focal length of 1 line-scan digital camera 101, Δ y1It is a Pixel Dimensions for the line scan image sensor of measurement apparatus 1, f1、Δy1Unit it is equal
It is mm,
β2For under No. two coordinate systems of measurement apparatus 2 line of target center point P and origin with its X/Y plane projection it
Between angle, meetWherein v2It is target image central point under No. two image coordinate systems of measurement apparatus 2
Ordinate value, v02It is No. two image coordinate system figure below principal point ordinate values of measurement apparatus 2, f2It is No. two lines of measurement apparatus 2
The focal length of array camera 201, Δ y2It is No. two Pixel Dimensions of the line scan image sensor of measurement apparatus 2, f2、Δy2Unit be
Mm,
ε1It is pip and coordinate system of the target center point P on plane mirror 102 under a coordinate system of measurement apparatus 1
The distance between origin, meets ε1=Oc1O1·tanβ1, wherein Oc1O1It is the photocentre O of line-scan digital camera 101c1With coordinate origin O1It
Between distance,
ε2It is pip and coordinate system of the target center point P on plane mirror 202 under No. two coordinate systems of measurement apparatus 2
The distance between origin, meets ε2=Oc2O2·tanβ2, wherein Oc2O2It is the photocentre O of line-scan digital camera 201c2With coordinate origin O2It
Between distance.
Embodiment
This specific embodiment is chosen at outdoor, and measurement distance is 70m, and the target to being arranged in large tower carries out three-dimensional seat
Mapping amount.
Arrangement measurement field, two measurement apparatus are arranged on the ground of pylon front, and 20 targets are set on pylon, wherein
10 targets are control point targets known to the locus for pre-setting, and 10 targets are to be measured；Adjust each measurement apparatus
Position makes the target set on pylon to be imaged in measurement apparatus.
Enter line parameter mark by measuring pre-set on pylon 10 control point targets known to relative space position
It is fixed, obtain the relative position relation of two measurement apparatus, i.e. spin matrix R and motion vector T.
Start process of measurement, the plane tilting mirror of two measurement apparatus is rotated and obtain scan image, carried by image procossing simultaneously
Take target and matched, obtain image coordinate value of the target center on two width collection image.Linear array images in measurement apparatus
Sensor line frequency Fc=200kHz, line scan image sensor longitudinal frame Rc=8192, FOV=90 ° of optical system field of view angle,
Tilting mirror angular velocity of rotationEffective rotating range of plane tilting mirror is 45 ° of i.e. transversal scanning
The angle of visual field is 90 °,
Image coordinate according to target center determines angle information of the target central point in measurement apparatus coordinate system, then
The sky at each target center is calculated by angle information of the measurement host according to target central point under each measurement apparatus coordinate system
Between D coordinates value.
As shown in figure 3, with the intersection point of line-scan digital camera optical axis in measurement apparatus and single axle table rotation axis as the origin of coordinates
O, single axle table rotation axis is Z axis, line-scan digital camera optical axis is X-axis, and measurement apparatus coordinate system is set up using right hand rule, wherein
A number measurement apparatus coordinate system is O1X1Y1Z1, No. two measurement apparatus coordinate systems are O2X2Y2Z2, and by a measurement apparatus coordinate system
Used as global coordinate system, No. two measurement apparatus coordinates are tied to the spin matrix of global coordinate systemDisplacement is sweared
Amount T=[tx ty tz] ', the coordinate value of target center point P (x, y, z) under global coordinate system according to being calculated such as drag
In formula, X1=cot α1、Y1=tan β1sinα1、X2=cot α2、Y2=tan β2/sinα2,
Wherein α1For under a coordinate system of measurement apparatus 1 target center point P and coordinate origin line on X/Y plane
The angle of X-axis positive direction is projected to, by the anglec of rotation of target central point plane mirror 102 when a measurement apparatus 1 are imaged
Angle value and initial angle angle value determine, initial angle angle value when starting rotation equal to plane mirror 102 with move to target center
Two times of sums that angle value is turned over during point imaging are multiplied by two,
α2For target center point P and origin line are projecting to X-axis just on X/Y plane under No. two coordinate systems of measurement apparatus 2
The angle in direction, by the rotation angle value and initial angle of target central point plane mirror 202 when No. two measurement apparatus 2 are imaged
Angle value determines that initial angle angle value when starting rotation equal to plane mirror 202 is turned over when moving to the imaging of target central point
Two times of sums of angle value are multiplied by two,
β1For under a coordinate system of measurement apparatus 1 line of target center point P and coordinate origin with its in X/Y plane
Angle between projection, meetsWherein v1For in target image under an image coordinate system of measurement apparatus 1
The ordinate value of heart point, v01It is an image coordinate system figure below principal point ordinate value of measurement apparatus 1, f1It is line-scan digital camera 101
Focal length, f1=26.07mm, Δ y1It is a Pixel Dimensions for the line scan image sensor of measurement apparatus 1, Δ y1=0.005mm
β2For under No. two coordinate systems of measurement apparatus 2 line of target center point P and origin with its X/Y plane projection it
Between angle, meetWherein v2It is target image central point under No. two image coordinate systems of measurement apparatus 2
Ordinate value, v02It is No. two image coordinate system figure below principal point ordinate values of measurement apparatus 2, f2It is Jiao of line-scan digital camera 201
Away from f2=26.07mm, Δ y2It is No. two Pixel Dimensions of the line scan image sensor of measurement apparatus 2, Δ y2=0.005mm,
ε1It is pip and coordinate system of the target center point P on plane mirror 102 under a coordinate system of measurement apparatus 1
The distance between origin, meets ε1=Oc1O1·tanβ1, wherein Oc1O1It is the photocentre O of line-scan digital camera 101c1With coordinate origin O1It
Between distance,
ε2It is pip and coordinate system of the target center point P on plane mirror 202 under No. two coordinate systems of measurement apparatus 2
The distance between origin, meets ε2=Oc2O2·tanβ2, wherein Oc2O2It is the photocentre O of line-scan digital camera 201c2With coordinate origin O2It
Between distance.
Claims (2)
1. large space line scanning imagery method for three-dimensional measurement, line scanning imagery three-dimensional measurement use by measurement apparatus, measurement host,
The measuring system that target is constituted, it is characterized in that, measurement apparatus include line-scan digital camera and plane tilting mirror, and line-scan digital camera is by linear array images
Sensor, telecentricity F- θ optical lens and image pick-up card composition, plane tilting mirror are made up of plane mirror and single axle table, single
The reflecting surface that the rotation axis of axle turntable passes through plane mirror, the rotation axis of single axle table is put down with the imaging surface of line-scan digital camera
Row intersects vertically with the optical axis of line-scan digital camera simultaneously, and being one group by two measurement apparatus is arranged on measurand periphery, tested
Object sets target；The initial position of each measurement apparatus is adjusted, measurement apparatus are obtained by measuring control point target calibrating parameters
Position relationship, the plane tilting mirror in every group of measurement apparatus rotates and obtains scan image simultaneously, and line-scan digital camera is by scan image through figure
As capture card is input into measurement host, extract target and matched, obtain the image coordinate value at target center, and calculate target
Angle information of the central point in measurement apparatus coordinate system；With reference to the positional information of measurement apparatus, calculated often by measurement host
The 3 d space coordinate value at individual target center；Computational methods are,
To every group of two measurement apparatus numbering, a measurement apparatus and No. two measurement apparatus are designated as respectively, with measurement apparatus center line
Array camera optical axis is origin of coordinates O with the intersection point of single axle table rotation axis, and single axle table rotation axis is Z axis, line-scan digital camera
Optical axis is X-axis, and measurement apparatus coordinate system is set up using right hand rule, wherein a measurement apparatus coordinate system is O1X1Y1Z1, No. two
Measurement apparatus coordinate system is O2X2Y2Z2, and using a measurement apparatus coordinate system as global coordinate system, No. two measurement apparatus coordinates
It is tied to the spin matrix of global coordinate systemDisplacement vector T=[tx ty tz] ', is according to such as drag meter
Calculate coordinate value of the target center point P (x, y, z) under global coordinate system
In formula, X1=cot α1、Y1=tan β1/sinα1、X2=cot α2、Y2=tan β2/sinα2,
Wherein α1For target center point P and coordinate origin line project to X on X/Y plane under a measurement apparatus coordinate system
The angle of axle positive direction, by the rotation angle value and initial angle of target central point plane mirror when a measurement apparatus are imaged
Angle value determination, α2For target center point P and origin line are projecting to X-axis just on X/Y plane under No. two measurement apparatus coordinate systems
The angle in direction, by the rotation angle value and initial angle angle value of target central point plane mirror when No. two measurement apparatus are imaged
It is determined that,
β1For under a measurement apparatus coordinate system line of target center point P and coordinate origin with its X/Y plane projection it
Between angle, meetWherein v1It is target image central point under a measurement apparatus image coordinate system
Ordinate value, v01It is measurement apparatus image coordinate system figure below principal point ordinate value, f1It is a measurement apparatus linear array phase
Machine focal length, Δ y1It is a Pixel Dimensions for measurement apparatus line scan image sensor, f1、Δy1Unit be mm,
β2It is the line and its folder between the projection of X/Y plane of target center point P and origin under No. two measurement apparatus coordinate systems
Angle, meetsWherein v2It is the ordinate of target image central point under No. two measurement apparatus image coordinate systems
Value, v02It is No. two measurement apparatus image coordinate system figure below principal point ordinate values, f2It is No. two measurement apparatus line-scan digital camera focal lengths,
Δy2It is No. two Pixel Dimensions of measurement apparatus line scan image sensor, f2、Δy2Unit be mm,
ε1It is pip of the target center point P on a measurement apparatus plane mirror under a measurement apparatus coordinate system and seat
The distance between mark system origin, meets ε1=Oc1O1·tanβ1, wherein Oc1O1It is a measurement apparatus line-scan digital camera photocentre Oc1With
Coordinate origin O1The distance between,
ε2It is pip of the target center point P on No. two measurement apparatus plane mirrors under No. two measurement apparatus coordinate systems and seat
The distance between mark system origin, meets ε2=Oc2O2·tanβ2, wherein Oc2O2It is No. two measurement apparatus line-scan digital camera photocentre Oc2With
Coordinate origin O2The distance between.
2. large space line scanning imagery method for three-dimensional measurement according to claim 1, it is characterised in that：By measuring control
The mode of point target carries out parameter calibration, arranges that control point target number is more than or equal to 7 in measurement field.
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