CN106197365A - A kind of optical axis included angle detection method of multiple stage viewing field of camera splicing - Google Patents
A kind of optical axis included angle detection method of multiple stage viewing field of camera splicing Download PDFInfo
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- CN106197365A CN106197365A CN201610566039.9A CN201610566039A CN106197365A CN 106197365 A CN106197365 A CN 106197365A CN 201610566039 A CN201610566039 A CN 201610566039A CN 106197365 A CN106197365 A CN 106197365A
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- optical axis
- theodolite
- camera
- included angle
- reading
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses the optical axis included angle detection method of a kind of multiple stage viewing field of camera splicing, this detection method simply, easily realize, has only to during measurement use the measurement equipment such as theodolite and reading microscope, it is only necessary to repeatedly adjust the scale of theodolite, measuring speed is very fast, and efficiency is high；Additionally, after the equipment of measurement and camera to be measured are fixed, can quickly realize repetitive measurement and calculate meansigma methods, greatly reduce the impact of random error, improve certainty of measurement.
Description
Technical field
The present invention relates to optical technical field, particularly relate to the optical axis included angle detection side of a kind of multiple stage viewing field of camera splicing
Method.
Background technology
Ccd image sensor has that size is little, lightweight, low in energy consumption, noise is low, dynamic range is big, good linearity, spectrum ring
Answer the advantages such as stable, the reliable operation of wide ranges, geometry, since coming out, be widely used in the measurement of object profile, image
The aspects such as fax, intelligent sensing.In recent years, large area array ccd detector is widely developed at aviation field, but along with military
With improving constantly that civilian demand requires, in big visual field, high resolution camera equipment, by material and manufacturing technology level
Limiting, separate unit CCD device can not meet the requirement of the angle of visual field and certainty of measurement.In order to meet wanting of certainty of measurement and wide visual field
Ask, need multiple stage CCD is carried out field stitching.
The splicing of mode predominantly organic tool, optic splice and the camera scanning formula of field stitching.For first two connecting method,
There is different optical axises different visual fields, and the optical axis included angle accurately measuring each point of visual field is spelled at the image with the later stage of demarcating of camera system
Connect and geometric correction has very important effect.
When optical axis included angle detection method conventional in field stitching at present mainly relies on image mosaic, by extracting overlap
Special objective in visual field, then according to the azimuth of two cameras of geometric properties inverse of target, thus obtains two cameras
Optical axis included angle.The usual precision of this kind of method is relatively low, can introduce corresponding error simultaneously, and to find at overlapped fov, to extract
Special objective information, it is achieved get up relatively cumbersome.
Summary of the invention
It is an object of the invention to provide the optical axis included angle detection method of a kind of multiple stage viewing field of camera splicing, can be quick, accurate
Really detect the angle of camera optical axis,
It is an object of the invention to be achieved through the following technical solutions:
A kind of optical axis included angle detection method of multiple stage viewing field of camera splicing, including:
Two theodolite T1 Yu T2 are utilized to detect the optical axis included angle of two camera C1 Yu C2；Its detecting step is as follows:
A, the horizontal limb of regulation theodolite T1 and altitude circle so that cross plugging wire is in horizontally and vertically position anyhow
Put；Recycling theodolite T2 is directed at theodolite T1, the horizontal limb of regulation theodolite T2 and altitude circle so that theodolite T2
Overlap with the cross plugging wire of theodolite T1；Read the scale reading of theodolite T1 and T2 horizontal limb respectively, be designated as D11 and D21；
B, by theodolite T1 optical axis alignment camera C1, regulate theodolite T1 horizontal limb, the ten of camera C1 pair warp and weft instrument T1
Word plugging wire imaging, when the definition of the cross plugging wire picture of camera C1 output reaches predetermined value, writes down theodolite T1 horizontal limb
Reading D12；
C, by theodolite T2 optical axis alignment camera C2, regulate theodolite T2 horizontal limb, the ten of camera C2 pair warp and weft instrument T2
Word plugging wire imaging, when the definition of the cross plugging wire picture of camera C2 output reaches predetermined value, writes down theodolite T2 horizontal limb
Reading D22；
D, set the optical axis A2 angle of optical axis A1 and camera C2 of camera C1 as ∠ D, optical axis A1 and theodolite T1 optical axis included angle
Be ∠ D2 for ∠ D1, optical axis A2 and theodolite T2 optical axis included angle, then ∠ D, ∠ D1, the limit at ∠ D2 place constitute a triangle；
Optical axis A1 and theodolite T1 optical axis included angle ∠ D1 is calculated, by step a and c by reading D11 Yu D12 of step a with b acquisition
Reading D21 Yu D22 obtained calculates optical axis A2 and theodolite T2 optical axis included angle ∠ D2, so try to achieve the optical axis A1 of camera C1 with
The optical axis A2 angle ∠ D of camera C2.
Described reading D11 Yu D12 by step a with b acquisition calculates optical axis A1 and theodolite T1 optical axis included angle ∠ D1,
Calculate optical axis A2 and theodolite T2 optical axis included angle ∠ D2 by reading D21 Yu D22 of step a with c acquisition, and then try to achieve camera
The optical axis A2 angle ∠ D of the optical axis A1 and camera C2 of C1 includes:
Optical axis A1 and theodolite T1 optical axis included angle ∠ D1: ∠ D1 is calculated by reading D11 Yu D12 of step a with b acquisition
=∠ D12-∠ D11；
Optical axis A2 and theodolite T2 optical axis included angle ∠ D2: ∠ D2 is calculated by reading D21 Yu D22 of step a with c acquisition
=∠ D22-∠ D21
Then optical axis A2 angle ∠ D2=180 ° of+∠ D11 of D=180 ° of-∠ D1-∠ of the optical axis A1 and camera C2 of camera C1
+ ∠ D21-∠ D12-∠ D22.
The method also includes:
Repeatedly perform step a～d, it is thus achieved that the optical axis A2 angle ∠ D of the optical axis A1 and camera C2 of multiple camera C1, then
Calculate their meansigma methods, using meansigma methods as the optical axis A2 angle of the optical axis A1 and camera C2 of final camera C1.
During regulation theodolite T1 and T2, utilize reading microscope to observe the change of cross plugging wire；After regulation, utilize
Reading microscope reads the scale reading of theodolite T1 Yu T2.
Included before performing detecting step:
By described theodolite T1 and T2, and camera C1 Yu C2 is both placed in identical platform, at theodolite T1 and T2, with
And under camera C1 Yu C2, place pad, make their center with high.
As seen from the above technical solution provided by the invention, detection method simply, easily realize, during measurement only
Needing to use the measurement equipment such as theodolite and reading microscope, it is only necessary to repeatedly adjust the scale of theodolite, measuring speed is very fast,
Efficiency is high；Additionally, after the equipment of measurement and camera to be measured are fixed, can quickly realize repetitive measurement and calculate meansigma methods, significantly drop
The low impact of random error, improves certainty of measurement.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, required use in embodiment being described below
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for this
From the point of view of the those of ordinary skill in field, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing.
The signal of the optical axis included angle detection method of a kind of multiple stage viewing field of camera splicing that Fig. 1 provides for the embodiment of the present invention
Figure.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on this
Inventive embodiment, the every other enforcement that those of ordinary skill in the art are obtained under not making creative work premise
Example, broadly falls into protection scope of the present invention.
A kind of method of two Angle between two cameras detections in field stitching when the present invention provides camera to debug.The method utilizes
Two theodolite T1 Yu T2 detect the optical axis included angle of two camera C1 Yu C2；Its detecting step is as follows:
A, the horizontal limb of regulation theodolite T1 and altitude circle so that cross plugging wire is in horizontally and vertically position anyhow
Put；Recycling theodolite T2 is directed at theodolite T1, the horizontal limb of regulation theodolite T2 and altitude circle so that theodolite T2
Overlap with the cross plugging wire of theodolite T1；Read the scale reading of theodolite T1 and T2 horizontal limb respectively, be designated as D11 and D21.
The regulation of this step is as shown in Figure 1a；Additionally, during regulation theodolite T1 and T2, all utilize reading microscope to observe
The change of cross plugging wire, postpones until being adjusted to specific bit, stops regulation；And the scale reading of theodolite T1 and T2 horizontal limb
Read also by reading microscope.
B, as shown in Figure 1 b, by theodolite T1 optical axis alignment camera C1, regulates theodolite T1 horizontal limb, and camera C1 is to warp
The cross plugging wire imaging of latitude instrument T1, when the definition of the cross plugging wire picture of camera C1 output reaches predetermined value (it is to say, this
Definition and the sharpness at place are sufficiently high, and concrete can determine according to practical situation), write down theodolite T1 horizontal limb
Reading D12.Same, reading D12 reads also by reading microscope.
C, as illustrated in figure 1 c, by theodolite T2 optical axis alignment camera C2, regulates theodolite T2 horizontal limb, and camera C2 is to warp
The cross plugging wire imaging of latitude instrument T2, when the definition of the cross plugging wire picture of camera C2 output reaches predetermined value (it is to say, this
Definition and the sharpness at place are sufficiently high, and concrete can determine according to practical situation), write down theodolite T2 horizontal limb
Reading D22.Same, reading D22 reads also by reading microscope.
D, set the optical axis A2 angle of optical axis A1 and camera C2 of camera C1 as ∠ D, optical axis A1 and theodolite T1 optical axis included angle
Be ∠ D2 for ∠ D1, optical axis A2 and theodolite T2 optical axis included angle, then ∠ D, ∠ D1, the limit at ∠ D2 place constitute a triangle；
Optical axis A1 and theodolite T1 optical axis included angle ∠ D1 is calculated, by step a and c by reading D11 Yu D12 of step a with b acquisition
Reading D21 Yu D22 obtained calculates optical axis A2 and theodolite T2 optical axis included angle ∠ D2, so try to achieve the optical axis A1 of camera C1 with
The optical axis A2 angle ∠ D of camera C2.
Specific as follows:
Optical axis A1 and theodolite T1 optical axis included angle ∠ D1: ∠ D1 is calculated by reading D11 Yu D12 of step a with b acquisition
=∠ D12-∠ D11；
Optical axis A2 and theodolite T2 optical axis included angle ∠ D2: ∠ D2 is calculated by reading D21 Yu D22 of step a with c acquisition
=∠ D22-∠ D21
Then optical axis A2 angle ∠ D2=180 ° of+∠ D11 of D=180 ° of-∠ D1-∠ of the optical axis A1 and camera C2 of camera C1
+ ∠ D21-∠ D12-∠ D22.
Further, it is also possible to repeatedly perform step a～d, it is thus achieved that the optical axis A1 of multiple camera C1 and the optical axis of camera C2
A2 angle ∠ D, then calculate their meansigma methods, using meansigma methods as the optical axis A2 of the optical axis A1 and camera C2 of final camera C1
Angle；To eliminate random error, and avoid artificial misreading.
Furthermore, it is necessary to it is emphasized that before performing detecting step, need described theodolite T1 and T2, and camera
C1 Yu C2 is both placed in identical platform, at theodolite T1 and T2, and places pad under camera C1 Yu C2, makes their center
With high.
Such scheme of the present invention in terms of existing technologies, mainly has the advantage that
1) detection method is simply, easily realize, and has only to use theodolite and reading microscope etc. and measure during measurement
Equipment, it is only necessary to repeatedly adjust the scale of theodolite, measuring speed is very fast, and efficiency is high.
2) certainty of measurement depends primarily on the certainty of measurement of theodolite, and current theodolite technology all comparative maturities, precision is all
The highest, measurement results reliability is high.
3), after measurement equipment and camera to be measured are fixed, can quickly realize repetitive measurement and calculate meansigma methods, be substantially reduced
The impact of random error, improves certainty of measurement.
4) detection can be completed during debuging, obtain the angle of viewing field of camera splicing optical axis in time, to detection product
The most qualified highly beneficial, the equipment overproof for optical axis included angle can give adjustment timely, again detects after adjustment, it is ensured that
Splicing view field optical axis included angle, within claimed range, reduces the disqualification rate of equipment.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope of present disclosure, the change that can readily occur in or replacement,
All should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be as the criterion.
Claims (5)
1. the optical axis included angle detection method of a multiple stage viewing field of camera splicing, it is characterised in that including:
Two theodolite T1 Yu T2 are utilized to detect the optical axis included angle of two camera C1 Yu C2；Its detecting step is as follows:
A, the horizontal limb of regulation theodolite T1 and altitude circle so that cross plugging wire is in horizontally and vertically position anyhow；Again
Utilize theodolite T2 to be directed at theodolite T1, regulate horizontal limb and the altitude circle of theodolite T2 so that theodolite T2 and warp
The cross plugging wire of latitude instrument T1 overlaps；Read the scale reading of theodolite T1 and T2 horizontal limb respectively, be designated as D11 and D21；
B, by theodolite T1 optical axis alignment camera C1, regulate theodolite T1 horizontal limb, the cross of camera C1 pair warp and weft instrument T1 is inserted
Silk imaging, when the definition of the cross plugging wire picture of camera C1 output reaches predetermined value, writes down the reading of theodolite T1 horizontal limb
Number D12；
C, by theodolite T2 optical axis alignment camera C2, regulate theodolite T2 horizontal limb, the cross of camera C2 pair warp and weft instrument T2 is inserted
Silk imaging, when the definition of the cross plugging wire picture of camera C2 output reaches predetermined value, writes down the reading of theodolite T2 horizontal limb
Number D22；
D, the optical axis A2 angle of the optical axis A1 and camera C2 setting camera C1 are ∠ as ∠ D, optical axis A1 and theodolite T1 optical axis included angle
D1, optical axis A2 and theodolite T2 optical axis included angle are ∠ D2, then ∠ D, ∠ D1, the limit at ∠ D2 place constitute a triangle；Pass through
Reading D11 Yu D12 that step a obtains with b calculates optical axis A1 and theodolite T1 optical axis included angle ∠ D1, is obtained with c by step a
Reading D21 Yu D22 calculate optical axis A2 and theodolite T2 optical axis included angle ∠ D2, and then try to achieve optical axis A1 and the camera of camera C1
The optical axis A2 angle ∠ D of C2.
The optical axis included angle detection method of a kind of multiple stage viewing field of camera the most according to claim 1 splicing, it is characterised in that institute
State and calculate optical axis A1 and theodolite T1 optical axis included angle ∠ D1, by step a by reading D11 Yu D12 of step a with b acquisition
Reading D21 Yu D22 obtained with c calculates optical axis A2 and theodolite T2 optical axis included angle ∠ D2, and then tries to achieve the optical axis of camera C1
The optical axis A2 angle ∠ D of A1 and camera C2 includes:
Optical axis A1 and theodolite T1 optical axis included angle ∠ D1: ∠ D1=∠ is calculated by reading D11 Yu D12 of step a with b acquisition
D12-∠ D11；
Optical axis A2 and theodolite T2 optical axis included angle ∠ D2: ∠ D2=∠ is calculated by reading D21 Yu D22 of step a with c acquisition
D22-∠ D21
Then optical axis A2 angle ∠ D2=180 ° of+∠ D11+ ∠ of D=180 ° of-∠ D1-∠ of the optical axis A1 and camera C2 of camera C1
D21-∠ D12-∠ D22.
The optical axis included angle detection method of a kind of multiple stage viewing field of camera the most according to claim 1 splicing, it is characterised in that should
Method also includes:
Repeatedly perform step a～d, it is thus achieved that the optical axis A2 angle ∠ D of the optical axis A1 and camera C2 of multiple camera C1, then calculate
Their meansigma methods, using meansigma methods as the optical axis A2 angle of the optical axis A1 and camera C2 of final camera C1.
The optical axis included angle detection method of a kind of multiple stage viewing field of camera the most according to claim 1 splicing, it is characterised in that
During regulation theodolite T1 and T2, utilize reading microscope to observe the change of cross plugging wire；After regulation, utilize reading
Microscope reads the scale reading of theodolite T1 Yu T2.
5. the optical axis included angle detection method spliced according to a kind of multiple stage viewing field of camera described in any one of claim 1-4, it is special
Levy and be, included before performing detecting step:
By described theodolite T1 and T2, and camera C1 Yu C2 is both placed in identical platform, at theodolite T1 and T2, Yi Jixiang
Place pad under machine C1 Yu C2, make their center with high.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106989697A (en) * | 2017-05-24 | 2017-07-28 | 深圳天珑无线科技有限公司 | The acquisition methods and device of a kind of optical axis included angle |
| CN107255821A (en) * | 2017-06-07 | 2017-10-17 | 旗瀚科技有限公司 | A kind of method for splicing simulated laser radar data based on many depth cameras |
| CN109520525A (en) * | 2018-11-29 | 2019-03-26 | 中国科学院长春光学精密机械与物理研究所 | The theodolite light axis consistency method of inspection, device, equipment and readable storage medium storing program for executing |
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| US6310644B1 (en) * | 1997-03-26 | 2001-10-30 | 3Dm Devices Inc. | Camera theodolite system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106989697A (en) * | 2017-05-24 | 2017-07-28 | 深圳天珑无线科技有限公司 | The acquisition methods and device of a kind of optical axis included angle |
| CN107255821A (en) * | 2017-06-07 | 2017-10-17 | 旗瀚科技有限公司 | A kind of method for splicing simulated laser radar data based on many depth cameras |
| CN109520525A (en) * | 2018-11-29 | 2019-03-26 | 中国科学院长春光学精密机械与物理研究所 | The theodolite light axis consistency method of inspection, device, equipment and readable storage medium storing program for executing |
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Application publication date: 20161207 |