CN106323240B - A kind of image object measurement method and device - Google Patents
A kind of image object measurement method and device Download PDFInfo
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- CN106323240B CN106323240B CN201510377526.6A CN201510377526A CN106323240B CN 106323240 B CN106323240 B CN 106323240B CN 201510377526 A CN201510377526 A CN 201510377526A CN 106323240 B CN106323240 B CN 106323240B
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Abstract
The embodiment of the invention discloses a kind of image object measurement methods, which comprises obtains the image coordinate parameter of ground survey point in image；The view parameter of the ground survey point is obtained according to described image coordinate parameters；Spatial position coordinate of the ground survey point relative to image taking point is obtained according to the view parameter；Horizontal extension is carried out according to the spatial position coordinate of the ground survey point and/or is extended vertically, and the spatial position coordinate of the space measurement point in described image is obtained.The embodiment of the invention also discloses a kind of image object measuring devices.Using the present invention, it can be achieved that the object based on single image measures.
Description
Technical field
The present invention relates to a kind of field of computer technology more particularly to a kind of image object measurement method and devices.
Background technique
Vision measurement technology is built upon a kind of technology on the basis of computer vision research, and how research emphasis is according to bat
Take the photograph geometric parameter and posture information etc. that image determines the position of object in space, and then can calculate object.The prior art
In, there are many classification methods of vision measurement, and shoot that multiple images measure work using same filming apparatus is monocular
Vision measurement may further be divided into the measurement method based on known movement and be based on the measurement side of known object (or marker)
Method.Need to calculate object space and posture, and continuous two using several consecutive images based on the measurement method of known movement
Image is opened to need to keep enough degrees of overlapping；And based on the measurement method of known object (or marker) since it is desired that known object
Or marker, (such as streetscape) cannot be applicable in general scene.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of image object measurement method and device, it can be achieved that based on individual figure
The object of picture measures.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of image object measurement method, the methods
Include:
Obtain the image coordinate parameter of ground survey point in image；
The view parameter of the ground survey point is obtained according to described image coordinate parameters；
Spatial position coordinate of the ground survey point relative to image taking point is obtained according to the view parameter；
Horizontal extension is carried out according to the spatial position coordinate of the ground survey point and/or is extended vertically, and the figure is obtained
The spatial position coordinate of space measurement point as in.
Correspondingly, the embodiment of the invention also provides a kind of image object measuring devices, comprising:
Image coordinate obtains module, for obtaining the image coordinate parameter of ground survey point in image；
View parameter obtains module, and the visual angle for obtaining the ground survey point according to described image coordinate parameters is joined
Number；
Spatial position obtains module, for obtaining the ground survey point relative to image taking according to the view parameter
The spatial position coordinate of point；
Spatial position extension of module, for according to the spatial position coordinate of the ground survey point carry out horizontal extension and/
Or extend vertically, obtain the spatial position coordinate of the space measurement point in described image.
The present embodiment is by being converted to view parameter according to the image coordinate of the ground survey point in image, and then according to view
Spatial position coordinate of the ground survey point relative to image taking point is calculated in angular dimensions, to realize the survey of vision monocular
Amount need to only can be completed according to single image and measure and be not required to object of reference, have the better scope of application.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow diagram of one of embodiment of the present invention image object measurement method；
Fig. 2 is the flow diagram of the image object measurement method in another embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the image object measuring device in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the view parameter acquisition module in the embodiment of the present invention；
Fig. 5 is the exemplary diagram of one of embodiment of the present invention image coordinate system；
Fig. 6 is the exemplary diagram of the visual angle reference system in the embodiment of the present invention；
Fig. 7 is to carry out horizontal extension according to ground survey point in the embodiment of the present invention and/or extend vertically to obtain space survey
The exemplary diagram of amount point coordinate；
Fig. 8 is the exemplary diagram of spatial coordinates of embodiment of the present invention system；
Fig. 9 is the schematic diagram of the vertical subtended angle of camera lens of mobile phone or the photograph of digital camera shooting in the embodiment of the present invention；
Figure 10 is the subtended angle of upper bottom surface in the panorama sketch of cylinder model in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is the flow diagram of one of embodiment of the present invention image object measurement method, as shown, this implementation
Example in image object measurement method process may include:
S101 obtains the image coordinate parameter of ground survey point in image.
Specifically, described image coordinate parameters may include the abscissa of the ground survey point in the picture and vertical seat
Mark, as shown in Figure 5 using the image upper left corner as origin, X axis is right, under Y-axis, then in image any position image coordinate
It can be expressed as (x, y), wherein x value is 0~W, and y value is the width and height that 0~H, W and H respectively indicate image.At it
In his alternative embodiment the position of ground survey point in the picture can also be indicated using the coordinate parameters of other plane coordinate systems
Coordinate.Preferably, it is that horizontal shooting obtains that the image object measurement method in the embodiment of the present invention, which is particularly suitable for shooting angle,
Image, may include the insignificant image of any lens distortion, such as the photo that digital camera or mobile phone are shot, or logical
The panoramic picture for being handled multiple original photos is crossed, may include again further spherical model panorama sketch, cylindrical body mould
Type panorama sketch or cube model panorama sketch etc..What the ground survey point can be selected for the ground region of user in the picture
Point, or oppositely extending to the point of ground survey determined by ground in the picture according to space measurement point.
It and then in an alternative embodiment, can be by scene markers Scene Labelling technology automatic identification image
Ground region, and then according to determining the ground survey point chosen in image in obtained ground region.
S102 obtains the view parameter of the ground survey point according to described image coordinate parameters.
The view parameter indicates the visual angle from image taking point to measurement point, such as shown in Fig. 6, is original with picture centre
Point, inverse longitude represent horizontal view angle parameter, and longitudinal axis latitude represents vertical angle of view parameter, i.e. the view parameter of some measurement point can
To be made of horizontal view angle parameter and vertical angle of view parameter, in general, longitude and latitude range can be respectively [- 180,180] and
[- 90,90] it spends.In the specific implementation, can be determined describedly according to the width and height of described image coordinate parameters combination image
The view parameter of planar survey point.For example, described image coordinate parameters include the abscissa of the ground survey point in the picture and
Ordinate, then can determine the horizontal view of the ground survey point according to the abscissa and picture traverse of the ground survey point
Angular dimensions, and determined describedly according to the ordinate of the ground survey point, picture altitude and the vertical subtended angle of image taking
The vertical angle of view parameter of planar survey point.
Such as digital camera or the photo of mobile phone, if photo is for level shooting and the vertical subtended angle of known camera lens (such as Fig. 9 institute
Show, be denoted as ± V), image coordinate (xi,yi) arrive latitude and longitude coordinates (xlon,ylat) transformation for mula can be with are as follows:
Wherein W and H respectively indicates the width and height of image.
The for another example panorama sketch of spherical model, image coordinate (xi,yi) arrive latitude and longitude coordinates (xlon,ylat) transformation for mula can be with
Are as follows:
The for another example panorama sketch of cylinder model sets the subtended angle of bottom surface as ± V (example as shown in Figure 10), image coordinate
(xi,yi) arrive latitude and longitude coordinates (xlon,ylat) transformation for mula can be with are as follows:
For another example cube model, four side f=0,1,2,3 can independently calculate, image coordinate (xi,yi) arrive warp
Latitude coordinate (xlon,ylat) transformation for mula can be with are as follows:
By above-mentioned transformation for mula, the visual angle that any measurement point on image can be obtained according to described image coordinate parameters is joined
Number.It should be pointed out that above-mentioned is only exemplary description, there may be other possible calculations for this field, or using not
With the coordinate transform formula under coordinate system, equally may be implemented to obtain the ground survey point according to described image coordinate parameters
View parameter.On the other hand, the above is only the measurement point image coordinate parameter transformations illustratively elaborated in 4 kinds of images to view
The mode of angular dimensions, the practical present invention can apply in the insignificant image of any lens distortion.
S103 obtains the ground survey point according to the view parameter and sits relative to the spatial position of image taking point
Mark.
Specifically, can determine institute according to the view parameter of the ground survey point and the shooting terrain clearance of described image
State spatial position coordinate of the ground survey point relative to image taking point.Such as in three-dimensional coordinate system as shown in Figure 8,
X-direction is the shooting direction of image, and Y direction is the horizontal right direction of image, Z-direction be image vertically upward
Direction can determine spatial position coordinate of the ground survey point relative to image taking point by following calculation:
Wherein xg、yg、zgRespectively coordinate of the ground survey point on X-axis, Y-axis and Z axis, A indicate shooting point away from ground
Height.
S104 carries out horizontal extension according to the spatial position coordinate of the ground survey point and/or extends vertically, obtains institute
State the spatial position coordinate of the space measurement point in image.
In the specific implementation, the horizontal extension may include: obtain reference point vertical coordinate, according to the reference point
The image coordinate parameter of space measurement point in same level obtains the view parameter of the space measurement point, and according to described
View parameter obtains horizontal position coordinate of the space measurement point relative to image taking point, and then by the vertical seat of reference point
It is denoted as the vertical coordinate of the space measurement point；
It is described extend vertically may include: obtain reference point view parameter and horizontal coordinate, according to the reference point
The image coordinate parameter of space measurement point in same vertical line obtains the view parameter of the space measurement point, and according to described
The view parameter of space measurement point and the view parameter of reference point obtain the space measurement point relative to the vertical of image taking point
Position coordinates, and then using the horizontal coordinate of reference point as the horizontal coordinate of the space measurement point；
Wherein the reference point is the ground survey point or carries out horizontal extension based on the ground survey point and/or hang down
Straight extension determination obtains the space measurement point of spatial position coordinate.
Such as in panoramic picture shown in Fig. 7, G1, G2 and G3 are to determine that obtaining spatial position sits by S201-S205
Target ground survey point:
The spatial position for extend vertically rear available and G1 measurement point G1 ' in space in same vertical line G1 is sat
Mark obtains the view parameter and horizontal coordinate of G1 first, then joined according to the visual angle that the image coordinate parameter of G1 ' obtains G1 '
Number, and G1 ' is obtained according to the view parameter of the view parameter of the G1 ' and G1 and is sat relative to the upright position of image taking point
Mark, and then using the horizontal coordinate of G1 as the horizontal coordinate of the space measurement point, following formula can be referred to:
Wherein xg、yg、zgRespectively coordinate of the ground survey point G1 on X-axis, Y-axis and Z axis, as shown in Figure 8 three
In dimension space coordinate system, X-direction is the shooting direction of image, and Y direction is the horizontal right direction of image, and Z-direction is
The vertically upward direction of image；A indicates height of the shooting point away from ground, xs、ys、zsThe respectively space of space measurement point G1 '
Position coordinates, ylat,gFor the vertical angle of view parameter of ground survey point, ylat,sFor the vertical angle of view parameter of space measurement point.
After the spatial position coordinate of the spatial position coordinate and G1 that get G1 ', it can the sky put according to the two
Between space length between position, the reference measurement values of the height as objects in images (such as building in Fig. 7).
The space bit of space measurement point G2 ' of the available and G2 in same level after horizontal extension is carried out to G2
Coordinate is set, i.e., obtains the vertical coordinate of G2 first, the view parameter of G2 ' is obtained according to the image coordinate parameter of G2 ', and according to institute
It states view parameter and obtains horizontal position coordinate of the G2 ' relative to image taking point, and then using the vertical coordinate of reference point as institute
The vertical coordinate of space measurement point is stated, following formula can be referred to:
Wherein zgRespectively coordinate of the ground survey point G2 on Z axis, A indicate height of the shooting point away from ground, xs、ys、zs
The respectively spatial position coordinate of space measurement point G2 ', xlon,sAnd ylat,sRespectively the horizontal view angle parameter of space measurement point and
Vertical angle of view parameter.
After the spatial position coordinate of the spatial position coordinate and G2 that get G2 ', it can the sky put according to the two
Between space length between position, the reference measurement values of the length as objects in images (such as zebra stripes in Fig. 7).
G3 is successively once extended vertically, a horizontal extension and again extend vertically rear available sky
Between measurement point G3 ' spatial position coordinate, i.e., after once being extended vertically according to formula 6, obtained sky will be extended for the first time
Between measurement point spatial position coordinate as a reference point horizontal extension carried out according to formula 7, finally horizontal extension is obtained
Space measurement point spatial position coordinate as a reference point with once being extended vertically according to formula 6, can be obtained G3's '
Spatial position coordinate.And so on, using image object measurement method provided in an embodiment of the present invention, can be obtained according to measurement
Any ground survey point carry out it is multiple extend vertically and horizontal extension, to obtain the sky of any space measurement point in image
Between position coordinates, to realize vision monocular, and since measurement and not need to only can be completed according to single image
Object of reference is needed, there is the wider scope of application compared to existing technologies.
Fig. 2 is the flow diagram of the image object measurement method in another embodiment of the present invention, this implementation as shown in the figure
Example in image object measurement method process may include:
S201 determines the ground region in described image by scene markers technology, so that the ground chosen in image is surveyed
Amount point.
Specifically, passing through the ground region in scene markers Scene Labelling technology automatic identification image, user
The point selected in the ground region that identification obtains is as ground survey point, or anti-in the picture according to space measurement point
To extending to the point of ground survey determined by determining ground region.
S202 obtains the image coordinate parameter of ground survey point, the abscissa including the ground survey point in the picture
And ordinate.
S203 determines the horizontal view angle of the ground survey point according to the abscissa of the ground survey point and picture traverse
Parameter.
S204, according to the ordinate of the ground survey point, picture altitude and the vertical subtended angle determination of image taking
The vertical angle of view parameter of ground survey point.
S205 determines the ground according to the shooting terrain clearance of the view parameter of the ground survey point and described image
Spatial position coordinate of the measurement point relative to image taking point.
S206 carries out horizontal extension according to the spatial position coordinate of the ground survey point and/or extends vertically, obtains institute
State the spatial position coordinate of the space measurement point in image.
Using image object measurement method provided in an embodiment of the present invention, any ground survey that can be obtained according to measurement
Point carry out it is multiple extend vertically and horizontal extension, to obtain the spatial position coordinate of any space measurement point in image, from
And vision monocular is realized, and since measurement need to only can be completed according to single image and be not required to object of reference, compare
There is the wider scope of application for the prior art.
Fig. 3 is the structural schematic diagram of the image object measuring device in the embodiment of the present invention, as shown, the present invention is implemented
Example in image object measuring device may include:
Image coordinate obtains module 310, for obtaining the image coordinate parameter of ground survey point in image.
Specifically, described image coordinate parameters may include the abscissa of the ground survey point in the picture and vertical seat
Mark, as shown in Figure 5 using the image upper left corner as origin, X axis is right, under Y-axis, then in image any position image coordinate
It can be expressed as (x, y), wherein x value is 0~W, and y value is the width and height that 0~H, W and H respectively indicate image.At it
In his alternative embodiment the position of ground survey point in the picture can also be indicated using the coordinate parameters of other plane coordinate systems
Coordinate.Preferably, it is that horizontal shooting obtains that the image object measurement method in the embodiment of the present invention, which is particularly suitable for shooting angle,
Image, may include the insignificant image of any lens distortion, such as the photo that digital camera or mobile phone are shot, or logical
The panoramic picture for being handled multiple original photos is crossed, may include again further spherical model panorama sketch, cylindrical body mould
Type panorama sketch or cube model panorama sketch etc..What the ground survey point can be selected for the ground region of user in the picture
Point, or oppositely extending to the point of ground survey determined by ground in the picture according to space measurement point.
View parameter obtains module 320, for obtaining the visual angle of the ground survey point according to described image coordinate parameters
Parameter.
The view parameter indicates the visual angle from image taking point to measurement point, such as shown in Fig. 6, is original with picture centre
Point, inverse longitude represent horizontal view angle parameter, and longitudinal axis latitude represents vertical angle of view parameter, i.e. the view parameter of some measurement point can
To be made of horizontal view angle parameter and vertical angle of view parameter, in general, longitude and latitude range can be respectively [- 180,180] and
[- 90,90] it spends.In the specific implementation, can be determined describedly according to the width and height of described image coordinate parameters combination image
The view parameter of planar survey point.For example, described image coordinate parameters include the abscissa of the ground survey point in the picture and
Ordinate, then can determine the horizontal view of the ground survey point according to the abscissa and picture traverse of the ground survey point
Angular dimensions, and determined describedly according to the ordinate of the ground survey point, picture altitude and the vertical subtended angle of image taking
The vertical angle of view parameter of planar survey point.
Such as digital camera or the photo of mobile phone, if photo is horizontal shooting and the known vertical subtended angle of camera lens (being denoted as ± V),
Image coordinate (xi,yi) arrive latitude and longitude coordinates (xlon,ylat) transformation can refer to formula 1 above.
The transformation of for another example panorama sketch of spherical model, image coordinate (xi, yi) to latitude and longitude coordinates (xlon, ylat) can be joined
Examine formula 2.
The for another example panorama sketch of cylinder model sets the subtended angle of bottom surface as ± V, and image coordinate (xi, yi) arrives longitude and latitude
The transformation for spending coordinate (xlon, ylat) can be with reference formula 3.
For another example the transformation of cube model, image coordinate (xi, yi) to latitude and longitude coordinates (xlon, ylat) can be with reference to public affairs
Formula 4.
By above-mentioned transformation for mula, the visual angle that any measurement point on image can be obtained according to described image coordinate parameters is joined
Number.It should be pointed out that above-mentioned is only exemplary description, there may be other possible calculations for this field, or using not
With the coordinate transform formula under coordinate system, equally may be implemented to obtain the ground survey point according to described image coordinate parameters
View parameter.On the other hand, the above is only the measurement point image coordinate parameter transformations illustratively elaborated in 4 kinds of images to view
The mode of angular dimensions, the practical present invention can apply in the insignificant image of any lens distortion.
In an alternative embodiment, the view parameter obtains module 310 and can further include:
Horizontal view angle acquiring unit 311, for according to the abscissa of the ground survey point and picture traverse determination
The horizontal view angle parameter of ground survey point；
Vertical angle of view acquiring unit 312, for being clapped according to the ordinate of the ground survey point, picture altitude and image
Take the photograph the vertical angle of view parameter that vertical subtended angle determines the ground survey point
Spatial position obtains module 330, for obtaining the ground survey point relative to image according to the view parameter
The spatial position coordinate of shooting point.
Specifically, spatial position acquisition module 330 can be according to the view parameter and described image of the ground survey point
Shooting terrain clearance determine spatial position coordinate of the ground survey point relative to image taking point.Such as in such as Fig. 8 institute
In the three-dimensional coordinate system shown, X-direction is the shooting direction of image, and Y direction is the horizontal right direction of image, Z axis
Direction is the vertically upward direction of image, ground survey point can be determined relative to image taking point by formula 5 above
Spatial position coordinate.
After the spatial position coordinate for getting ground survey point, it can be sat in conjunction with the spatial position of multiple ground survey points
Mark calculates the information such as length, area of target measurement object in image.
Spatial position extension of module 340, for carrying out horizontal extension according to the spatial position coordinate of the ground survey point
And/or extend vertically, obtain the spatial position coordinate of the space measurement point in described image.
In the specific implementation, the horizontal extension include: obtain reference point vertical coordinate, according to the reference point same
The image coordinate parameter of space measurement point on one horizontal plane obtains the view parameter of the space measurement point, and according to the visual angle
Parameter obtains horizontal position coordinate of the space measurement point relative to image taking point, and then the vertical coordinate of reference point is made
For the vertical coordinate of the space measurement point；
It is described extend vertically include: obtain reference point view parameter and horizontal coordinate, according to the reference point same
The image coordinate parameter of space measurement point on one vertical line obtains the view parameter of the space measurement point, and according to the space
The view parameter of measurement point and the view parameter of reference point obtain the upright position of the space measurement point relative to image taking point
Coordinate, and then using the horizontal coordinate of reference point as the horizontal coordinate of the space measurement point；
Wherein the reference point is the ground survey point or carries out horizontal extension based on the ground survey point and/or hang down
Straight extension determination obtains the space measurement point of spatial position coordinate.
Such as in panoramic picture shown in Fig. 7, G1, G2 and G3 are that the acquisition determination of module 330 in spatial position obtains space
The ground survey point of position coordinates:
Spatial position extension of module 340 carries out G1 to extend vertically rear available and G1 space survey in same vertical line
The spatial position coordinate of point G1 ' is measured, i.e., the view parameter and horizontal coordinate of G1 are obtained first, then according to the image coordinate of G1 '
Parameter obtains the view parameter of G1 ', and according to the view parameter according to the view parameter of the G1 ' and G1 obtain G1 ' relative to
The vertical position coordinate of image taking point, and then using the horizontal coordinate of G1 as the horizontal coordinate of the space measurement point, can be with
With reference to formula 6 above.
After the spatial position coordinate of the spatial position coordinate and G1 that get G1 ', image object of the invention measures dress
Setting can be according to the space length between the spatial position of the two points, as objects in images (such as the building in Fig. 7
Object) height reference measurement values.
Spatial position extension of module 340 is to space of the available and G2 in same level after G2 progress horizontal extension
The spatial position coordinate of measurement point G2 ' obtains the vertical coordinate of G2 first, obtain G2 ' according to the image coordinate parameter of G2 '
View parameter, and horizontal position coordinate of the G2 ' relative to image taking point is obtained according to the view parameter, and then will refer to
Vertical coordinate of the vertical coordinate of point as the space measurement point, can refer to formula 7 above.
After the spatial position coordinate of the spatial position coordinate and G2 that get G2 ', image object of the invention measures dress
Setting can be according to the space length between the spatial position of the two points, as objects in images (such as the zebra in Fig. 7
Line) length reference measurement values.
Spatial position extension of module 340 successively once extends vertically G3, a horizontal extension and again
The spatial position coordinate for extending vertically rear available space measurement point G3 ', i.e., after once being extended vertically according to formula 6,
Obtained space measurement point spatial position coordinate as a reference point will be extended for the first time one sub-level is carried out according to formula 7 and prolonged
It stretches, the space measurement point for finally obtaining horizontal extension spatial position coordinate as a reference point according to formula 6 with carrying out once
It extends vertically, the spatial position coordinate of G3 ' can be obtained.And so on, spatial position extension of module 340 can be according to measuring
To any ground survey point carry out it is multiple extend vertically and horizontal extension, to obtain any space measurement point in image
Spatial position coordinate.
And then in an alternative embodiment, image object measuring device of the invention further can also include:
Ground region determining module 350, for determining the ground region in described image by scene markers technology.It is i.e. logical
The ground region in scene markers Scene Labelling technology automatic identification image is crossed, user is in the ground area that identification obtains
The point selected in domain is as ground survey point, or according to space measurement point oppositely extending to determining ground in the picture
The point of ground survey determined by region.Described image coordinate obtaining module 310 is also used to according to the ground region determining module
Determine the ground survey point chosen in image in obtained ground region.
Elaboration through the foregoing embodiment, the present invention is by being converted to visual angle according to the image coordinate of the measurement point in image
Parameter, and then spatial position seat of any measurement point relative to image taking point in available image is calculated according to view parameter
Mark need to only can be completed according to single image to realize vision monocular and measure and be not required to object of reference, have more preferable
The scope of application.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (12)
1. a kind of image object measurement method, which is characterized in that the described method includes:
Obtain the image coordinate parameter of ground survey point in image；
The view parameter of the ground survey point is obtained according to described image coordinate parameters；
Spatial position coordinate of the ground survey point relative to image taking point is obtained according to the view parameter；
Horizontal extension is carried out according to the spatial position coordinate of the ground survey point and/or is extended vertically, and is obtained in described image
Space measurement point spatial position coordinate；Wherein the horizontal extension includes:
The vertical coordinate for obtaining reference point, according to the image coordinate of the space measurement point with the reference point in same level
Parameter obtains the view parameter of the space measurement point, and obtains the space measurement point relative to image according to the view parameter
The horizontal position coordinate of shooting point, and then using the vertical coordinate of reference point as the vertical coordinate of the space measurement point；
Described extend vertically include:
The view parameter and horizontal coordinate for obtaining reference point, according to the space measurement point with the reference point in same vertical line
Image coordinate parameter obtain the view parameter of the space measurement point, and according to the view parameter of the space measurement point and reference
The view parameter of point obtains the vertical position coordinate of the space measurement point relative to image taking point, and then by the level of reference point
Horizontal coordinate of the coordinate as the space measurement point；
The reference point is the ground survey point or carries out horizontal extension based on the ground survey point and/or extend vertically really
Surely the space measurement point of spatial position coordinate is obtained.
2. image object measurement method as described in claim 1, which is characterized in that the shooting angle of described image is horizontal claps
It takes the photograph.
3. image object measurement method as described in claim 1, which is characterized in that described image coordinate parameters include describedly
The abscissa and ordinate of planar survey point in the picture；
The view parameter for obtaining the ground survey point according to described image coordinate parameters includes:
The horizontal view angle parameter of the ground survey point is determined according to the abscissa of the ground survey point and picture traverse；
The ground survey point is determined according to the ordinate of the ground survey point, picture altitude and the vertical subtended angle of image taking
Vertical angle of view parameter.
4. image object measurement method as described in claim 1, which is characterized in that described to obtain institute according to the view parameter
The spatial position coordinate that ground survey point is stated relative to image taking point includes:
The ground survey point phase is determined according to the shooting terrain clearance of the view parameter of the ground survey point and described image
For the spatial position coordinate of image taking point.
5. image object measurement method as described in claim 1, which is characterized in that described to obtain ground survey point in image
Before image coordinate parameter further include:
The ground region in described image is determined by scene markers technology, to choose the ground survey point in image.
6. image object measurement method according to any one of claims 1 to 5, which is characterized in that described image is spherical model
Panorama sketch, cylinder model panorama sketch or cube model panorama sketch.
7. a kind of image object measuring device characterized by comprising
Image coordinate obtains module, for obtaining the image coordinate parameter of ground survey point in image；
View parameter obtains module, for obtaining the view parameter of the ground survey point according to described image coordinate parameters；
Spatial position obtains module, for obtaining the ground survey point relative to image taking point according to the view parameter
Spatial position coordinate；
Spatial position extension of module, for carrying out horizontal extension according to the spatial position coordinate of the ground survey point and/or hanging down
It is straight to extend, the spatial position coordinate of the space measurement point in described image is obtained, wherein the horizontal extension includes:
The vertical coordinate for obtaining reference point, according to the image coordinate of the space measurement point with the reference point in same level
Parameter obtains the view parameter of the space measurement point, and obtains the space measurement point relative to image according to the view parameter
The horizontal position coordinate of shooting point, and then using the vertical coordinate of reference point as the vertical coordinate of the space measurement point；
Described extend vertically include:
The view parameter and horizontal coordinate for obtaining reference point, according to the space measurement point with the reference point in same vertical line
Image coordinate parameter obtain the view parameter of the space measurement point, and according to the view parameter of the space measurement point and reference
The view parameter of point obtains the vertical position coordinate of the space measurement point relative to image taking point, and then by the level of reference point
Horizontal coordinate of the coordinate as the space measurement point；
The reference point is the ground survey point or carries out horizontal extension based on the ground survey point and/or extend vertically really
Surely the space measurement point of spatial position coordinate is obtained.
8. image object measuring device as claimed in claim 7, which is characterized in that the shooting angle of described image is horizontal claps
It takes the photograph.
9. image object measuring device as claimed in claim 7, which is characterized in that described image coordinate parameters include describedly
The abscissa and ordinate of planar survey point in the picture；
The view parameter obtains module
Horizontal view angle acquiring unit, for determining the ground survey according to the abscissa and picture traverse of the ground survey point
The horizontal view angle parameter of point；
Vertical angle of view acquiring unit, for vertical according to the ordinate of the ground survey point, picture altitude and image taking
Subtended angle determines the vertical angle of view parameter of the ground survey point.
10. image object measuring device as claimed in claim 7, which is characterized in that the spatial position obtains module and is used for:
The ground survey point phase is determined according to the shooting terrain clearance of the view parameter of the ground survey point and described image
For the spatial position coordinate of image taking point.
11. image object measuring device as claimed in claim 7, which is characterized in that further include:
Ground region determining module, for determining the ground region in described image by scene markers technology；
Described image coordinate obtaining module is also used to be determined in obtained ground region according to the ground region determining module and select
Take the ground survey point in image.
12. described in any item image object measuring devices as claim in claims 7-11, which is characterized in that described image is ball mould
Type panorama sketch, cylinder model panorama sketch or cube model panorama sketch.
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