CN106780624A - A kind of polyphaser scaling method and device based on object of reference - Google Patents
A kind of polyphaser scaling method and device based on object of reference Download PDFInfo
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- CN106780624A CN106780624A CN201611153633.1A CN201611153633A CN106780624A CN 106780624 A CN106780624 A CN 106780624A CN 201611153633 A CN201611153633 A CN 201611153633A CN 106780624 A CN106780624 A CN 106780624A
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Abstract
It is not high for solving existing scaling method stated accuracy the embodiment of the invention discloses a kind of polyphaser scaling method and device based on object of reference, there are restriction, the complicated technical problem of scaling method to the position relationship between camera.A kind of polyphaser scaling method based on object of reference of the embodiment of the present invention includes：S1：The information that any number of cameras are measured to preset object of reference is received, the big characteristic point of the object of reference surface curvature change is got；S2：By the characteristic point, any number of cameras position relationship to each other is obtained；S3：One is obtained by any number of cameras position relationship to each other with any one characteristic point on the object of reference as origin or the global coordinate system based on the corresponding local coordinate system of any one camera.
Description
Technical field
Field, more particularly to a kind of polyphaser scaling method and dress based on object of reference are demarcated the present invention relates to demarcate thing
Put.
Background technology
Existing scaling method stated accuracy is not high, there is restriction to the position relationship between camera, and scaling method is complicated.
Before being measured to object using multiple industrial cameras, it is necessary to first determine the position relationship between camera.
Self-calibration technology need not make specific object of reference in existing scaling method, and rower is entered by obtaining the information in natural scene
Fixed, stated accuracy is not high.
The content of the invention
A kind of polyphaser scaling method and device based on object of reference are the embodiment of the invention provides, existing mark is solved
The method stated accuracy of determining is not high, there is restriction, the complicated technical problem of scaling method to the position relationship between camera.
A kind of polyphaser scaling method based on object of reference provided in an embodiment of the present invention, including：
S1：The information that any number of cameras are measured to preset object of reference is received, the object of reference surface is got
The big characteristic point of Curvature varying；
S2：By the characteristic point, any number of cameras position relationship to each other is obtained；
S3：One is obtained with any one spy on the object of reference by any number of cameras position relationship to each other
Levies be a little origin or the global coordinate system based on the corresponding local coordinate system of any one camera.
Preferably, the step S1 is specifically included：
The information that any number of cameras are measured to the object of reference for being preset at any number of camera centre positions is received, is obtained
Get the big characteristic point of the object of reference surface curvature change.
Preferably, the step S2 is specifically included：
By two cameras in any number of cameras obtain different at least three in the local coordinate system of correspondence camera
Individual common trait point, the corresponding local coordinate system of two cameras for having the common trait point is obtained by the conversion of coordinate system
Position relationship.
Preferably, the step S3 is specifically included：
One is obtained with institute by the position relationship of the corresponding local coordinate system of two cameras for having the common trait point
Any one characteristic point on object of reference is stated for origin or the overall situation based on the corresponding local coordinate system of any one camera is sat
Mark system, receives the position data of the corresponding local coordinate system that any number of cameras are measured to testee surface.
Preferably, also include after the step S3：
The position data of the corresponding local coordinate system that any number of cameras are measured to testee surface passes through
The conversion of coordinate system is shown in the global coordinate system, the correspondence measured to testee surface to any number of cameras
The position data of local coordinate system spliced, obtain the threedimensional model of measured object.
A kind of polyphaser caliberating device based on object of reference provided in an embodiment of the present invention, including：
Receiving unit, for receiving the information that any number of cameras are measured to preset object of reference, gets described
The big characteristic point of object of reference surface curvature change；
First acquisition unit, for by the characteristic point, obtaining any number of cameras position relationship to each other；
Second acquisition unit, one is obtained with the object of reference for the position relationship by any number of cameras to each other
On any one characteristic point be origin or the global coordinate system based on the corresponding local coordinate system of any one camera.
Preferably, the receiving unit is specifically included：
First receiving subelement, for receiving any number of cameras to being preset at the reference in any number of camera centre positions
The information that thing is measured；
First obtains subelement, the characteristic point big for getting the object of reference surface curvature change.
Preferably, the first acquisition unit is specifically included：
Second obtains subelement, for the local seat in correspondence camera obtained by two cameras in any number of cameras
1 different common trait points in mark system, two cameras for having the common trait point are obtained by the conversion of coordinate system
The position relationship of corresponding local coordinate system.
Preferably, the second acquisition unit is specifically included：
3rd obtains subelement, for the position of the corresponding local coordinate system of two cameras by there is the common trait point
The relation of putting obtain one it is with any one characteristic point on the object of reference as origin or corresponding based on any one camera
The global coordinate system of local coordinate system；
Second receiving subelement, for receiving the corresponding part that any number of cameras are measured to testee surface
The position data of coordinate system.
Preferably, also include：
3rd acquiring unit, for the corresponding local coordinate that any number of cameras are measured to testee surface
The position data of system is shown in the global coordinate system by the conversion of coordinate system, to any number of cameras to measured object body surface
The position data of the corresponding local coordinate system that face measures is spliced, and obtains the threedimensional model of measured object.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
A kind of the polyphaser scaling method and device based on object of reference provided in the embodiment of the present invention, one of which are based on
The polyphaser scaling method of object of reference includes：S1：The information that any number of cameras are measured to preset object of reference is received, is obtained
Get the big characteristic point of the object of reference surface curvature change；S2：By the characteristic point, any number of cameras are obtained to each other
Position relationship；S3：One is obtained with any one on the object of reference by any number of cameras position relationship to each other
Individual characteristic point is origin or the global coordinate system based on the corresponding local coordinate system of any one camera.In the present embodiment, lead to
Cross S1：The information that any number of cameras are measured to preset object of reference is received, the object of reference surface curvature is got and is become
Change big characteristic point；S2：By the characteristic point, any number of cameras position relationship to each other is obtained；S3：By any many
Individual camera position relationship to each other obtains one with any one characteristic point on the object of reference as origin or based on appointing
It is not high that the global coordinate system of the corresponding local coordinate system of one camera of meaning solves existing scaling method stated accuracy, to camera
Between position relationship have a restriction, the complicated technical problem of scaling method.Object of reference feature of the present invention substantially, and is easily obtained, mark
Determine high precision.The present invention does not require that the position relationship between each camera optional position camera can be carried out demarcating.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
Other accompanying drawings are obtained with according to these accompanying drawings.
A kind of stream of the one embodiment for the polyphaser scaling method based on object of reference provided in Fig. 1 embodiment of the present invention
Journey schematic diagram；
A kind of another embodiment for the polyphaser scaling method based on object of reference provided in Fig. 2 embodiment of the present invention
Schematic flow sheet；
A kind of knot of the one embodiment for the polyphaser caliberating device based on object of reference provided in Fig. 3 embodiment of the present invention
Structure schematic diagram；
A kind of another embodiment of the polyphaser caliberating device based on object of reference provided in Fig. 4 embodiment of the present invention
Structural representation；
A kind of camera of Fig. 5 object of reference surroundings provided in an embodiment of the present invention and the position view of laser module；
A kind of Fig. 6 (a) schematic diagrames of object of reference characteristic point provided in an embodiment of the present invention；
A kind of Fig. 6 (b) schematic diagrames of object of reference characteristic point provided in an embodiment of the present invention；
A kind of Fig. 7 Coordinate Conversion figures provided in an embodiment of the present invention.
Specific embodiment
A kind of polyphaser scaling method and device based on object of reference are the embodiment of the invention provides, it is existing for solving
Scaling method stated accuracy is not high, there is restriction, the complicated technical problem of scaling method to the position relationship between camera.
To enable that goal of the invention of the invention, feature, advantage are more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described, it is clear that disclosed below to the technical scheme in the embodiment of the present invention
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
Fig. 1 is referred to, an a kind of reality of the polyphaser scaling method based on object of reference provided in the embodiment of the present invention
Applying example includes：
101st, the information that any number of cameras are measured to preset object of reference is received, gets the object of reference surface
The big characteristic point of Curvature varying；
102nd, by the characteristic point, any number of cameras position relationship to each other is obtained；
103rd, the position relationship by any number of cameras to each other obtains one with any one on the object of reference
Characteristic point is origin or the global coordinate system based on the corresponding local coordinate system of any one camera.
The above is that a kind of process of the polyphaser scaling method based on object of reference is described in detail, below will be to one
The detailed process for planting the polyphaser scaling method based on object of reference is described in detail, and refers to Fig. 2, the embodiment of the present invention
A kind of another embodiment of polyphaser scaling method based on object of reference of middle offer includes：
201st, the letter that any number of cameras are measured to the object of reference for being preset at any number of camera centre positions is received
Breath, gets the big characteristic point of the object of reference surface curvature change；
The present invention is a kind of method demarcated to position relationship between multiple cameras, using known object of reference, each phase
Machine is measured to object of reference, gets particular point.
As shown in figure 5, object of reference is placed on into four centre positions of camera model, then measures and get reference
The characteristic point of thing；Such as Fig. 6 (a), shown in 6 (b), 1. camera gets a little 1,2,3,10,11,12,2. camera gets 1,2,3,
4th, 5,6,3. camera gets 4,5,6,7,8,9, and 4. camera gets 7,8,9,10,11,12.
202nd, by two cameras in any number of cameras obtain in the local coordinate system of correspondence camera it is different extremely
Few three common trait points, the corresponding local coordinate of two cameras for having the common trait point is obtained by the conversion of coordinate system
The position relationship of system；
Then carry out algorithm process by particular point, by two cameras in any number of cameras obtain in correspondence phase
1 different common trait points in the local coordinate system of machine, being obtained by the conversion of coordinate system has the common trait point
The corresponding local coordinate system of two cameras position relationship.
Wherein three-dimensional system of coordinate conversion formula：
It is provided with two spaces rectangular coordinate system respectively O-XYZ and O '-X ' Y ' Z ' (as shown in Figure 7), its coordinate origin
It is inconsistent.In the presence of three translation parameters Δ X, Δ Y, Δ Z；Reference axis between them is also not parallel to each other, and there are three rotation ginsengs
Number εx、εy、εz.Coordinates of the same point A in two coordinate systems is respectively (X, Y, Z) and (X ', Y ', Z ').
By translation of axes and rotation transformation, two coordinate systems can agree.Transformational relation is as follows：
Wherein, λ is the dimension scale factor between two coordinate systems.
Wherein R is spin matrix, [Δ X, Δ Y, Δ Z]TIt is translation matrix, as long as therefore obtaining Δ X, Δ Y, Δ Z, εx,
εy, εz, λ this 7 conversion parameters, or between obtain spin matrix and translation matrix, it is possible to realize between two coordinate systems
Conversion.In order to solve the conversion parameter between coordinate system, be generally to provide it is a number of there are two sets of common points of coordinate, number
Amount at least 3.Quantity is more much more accurate.
As shown in figure 5, a kind of polyphaser caliberating device provided in the present embodiment is made up of four camera models, each phase
Machine module has the local coordinate system of oneself, how to determine that the position relationship between four local coordinates is that the present invention will be realized
's.Object of reference is as shown in fig. 6, in calibration process, each camera can obtain the substantial amounts of data point in object of reference surface, including ginseng
According to 6 therein of 12 points pointed out in thing figure.All there are 3 common characteristic points, characteristic point between each two camera model
Indicate out in Fig. 6 of object of reference, that is, 12 for being numbered point.It can be seen that characteristic point is Curvature varying than larger
Point.This 3 o'clock is different in two local coordinate systems of camera model, by mathematical computations, calculates two local seats
Mark the position relationship of system.Then programming realization calculating.All above-mentioned algorithms being previously mentioned are to calculate each office by programming realization
The position relationship of portion's coordinate system.
2. 1. such as Fig. 5 and Fig. 6, camera carry out algorithm calculating with camera according to point 1,2,3.Obtain mutual position relationship.
Similarly, camera obtains position relationship each other 2. with camera 3. according to point 4,5,6.Camera is obtained 3. with camera 4. according to point 7,8,9
Obtain position relationship each other.Camera obtains position relationship each other 4. with camera 1. according to point 10,11,12.
203rd, one is obtained by the position relationship of the corresponding local coordinate system of two cameras for having the common trait point
With any one characteristic point on the object of reference as origin or based on the complete of the corresponding local coordinate system of any one camera
Office's coordinate system, receives the position data of the corresponding local coordinate system that any number of cameras are measured to testee surface；
Because each camera model is all in respective local coordinate system, the data for wanting each camera model to measure are spelled
Pick up and.Have to splice under a public coordinate system, referred to as global coordinate system.Global coordinate system can be based on wherein one
Individual local coordinate system, i.e., using one of coordinate system of each local coordinate system as global coordinate system, also can be object of reference wherein
One characteristic point can change different according to without situation as the origin of global coordinate system by changing the algorithm of programming realization
Coordinate system as global coordinate system.According to the position relationship between each camera, a global coordinate system is obtained；
Receive the position data of the corresponding local coordinate system that any number of cameras are measured to testee surface.It is right
The data that object is measured refer to the mass data point that each camera model can measure object under test surface, object table
Face is made up of a large amount of points, and the data of measurement are exactly the position coordinates of a large amount of points.
204th, the position data of the corresponding local coordinate system that any number of cameras are measured to testee surface
It is shown in the global coordinate system by the conversion of coordinate system, any number of cameras is measured to testee surface
The position data of corresponding local coordinate system is spliced, and obtains the threedimensional model of measured object.
The present invention is demarcated by an obvious object of reference of feature to each camera model position relationship, is demarcated and is got well it
The data that each camera model is measured can be stitched together afterwards, spliced in a common global coordinate system.
The position relationship of each camera model is determined, you can the data point that each camera model is measured passes through coordinate system
It is transformed under a global coordinate system, the wherein conversion of coordinate system can be with programming realization, conversion formula such as Fig. 7 institutes of coordinate system
State, each camera model measured to object then can be in data display to global coordinate system, and the data to each module are carried out
Splicing, then can obtain the threedimensional model of measured object.
Fig. 3 is referred to, an a kind of reality of the polyphaser caliberating device based on object of reference provided in the embodiment of the present invention
Applying example includes：
Receiving unit 301, for receiving the information that any number of cameras are measured to preset object of reference, gets institute
State the big characteristic point of object of reference surface curvature change；
First acquisition unit 302, for by the characteristic point, obtaining any number of cameras position relationship to each other；
Second acquisition unit 303, one is obtained with the ginseng for the position relationship by any number of cameras to each other
It is origin or global coordinate system based on the corresponding local coordinate system of any one camera according to any one characteristic point on thing.
The above is that a kind of each unit of the polyphaser caliberating device based on object of reference to being provided in the embodiment of the present invention is entered
The detailed description of row, will carry out detailed retouching to a kind of each extra cell of the polyphaser caliberating device based on object of reference below
State, refer to Fig. 4, a kind of another embodiment for the polyphaser caliberating device based on object of reference provided in the embodiment of the present invention
Including：
Receiving unit 401, for receiving the information that any number of cameras are measured to preset object of reference, gets institute
State the big characteristic point of object of reference surface curvature change；
Receiving unit 401 is specifically included：
First receiving subelement 4011, for receiving any number of cameras to being preset at any number of camera centre positions
The information that object of reference is measured；
First obtains subelement 4012, the characteristic point big for getting the object of reference surface curvature change.
First acquisition unit 402, for by the characteristic point, obtaining any number of cameras position relationship to each other；
First acquisition unit 402 is specifically included：
Second obtains subelement 4021, for the office in correspondence camera obtained by two cameras in any number of cameras
1 different common trait points in portion's coordinate system, being obtained by the conversion of coordinate system has two of the common trait point
The position relationship of the corresponding local coordinate system of camera.
Second acquisition unit 403, one is obtained with the ginseng for the position relationship by any number of cameras to each other
It is origin or global coordinate system based on the corresponding local coordinate system of any one camera according to any one characteristic point on thing.
Second acquisition unit 403 is specifically included：
3rd obtains subelement 4031, for the corresponding local coordinate system of two cameras by there is the common trait point
Position relationship obtain one with any one characteristic point on the object of reference as origin or based on any one camera pair
The global coordinate system of the local coordinate system answered；
Second receiving subelement 4032, it is corresponding for receive that any number of cameras measure to testee surface
The position data of local coordinate system.
3rd acquiring unit 404, for the corresponding part that any number of cameras are measured to testee surface
The position data of coordinate system is shown in the global coordinate system by the conversion of coordinate system, to any number of cameras to measured object
The position data of the corresponding local coordinate system that body surface face measures is spliced, and obtains the threedimensional model of measured object.
The present invention is a kind of method demarcated to position relationship between multiple cameras, using known object of reference, each phase
Machine is measured to object of reference, gets particular point.Then algorithm process is carried out by particular point, makes locally to be sat in each
The laser and camera model for marking system are incorporated into a global coordinate system.Each camera model measured to object after demarcation
Then can be in data display to global coordinate system, the data to each module are spliced, then can obtain the three-dimensional mould of measured object
Type.
The present invention is that the relation between multiple cameras is demarcated, obvious using feature using thing calibration technique is demarcated
Object of reference, determine the direct relation of each camera.Stated accuracy is high, and scaling method is simple.Rower can be entered to any number of cameras
It is fixed.
Refer to Fig. 5 and Fig. 6, the embodiment bag of another polyphaser caliberating device based on object of reference that the present invention is provided
Containing four camera models, an object of reference.Wherein four camera models are distributed in four angles of object of reference, and operating procedure is as follows：
1) object of reference is placed on four centre positions of camera model, then measures the feature for getting object of reference
Point；
2) as shown in Figure 6：1. camera gets a little 1,2,3,10,11,12, and 2. camera gets 1,2,3,4,5,6, camera
3. 4,5,6,7,8,9 are got, 4. camera gets 7,8,9,10,11,12；
As shown in figure 5, a kind of polyphaser caliberating device provided in the present embodiment is made up of four camera models, each phase
Machine module has the local coordinate system of oneself, how to determine that the position relationship between four local coordinates is that the present invention will be realized
's.Object of reference is as shown in fig. 6, in calibration process, each camera can obtain the substantial amounts of data point in object of reference surface, including ginseng
According to 6 therein of 12 points pointed out in thing figure.All there are 3 common characteristic points, characteristic point between each two camera model
Indicate out in Fig. 6 of object of reference, that is, 12 for being numbered point.It can be seen that characteristic point is Curvature varying than larger
Point.This 3 o'clock is different in two local coordinate systems of camera model, by mathematical computations, calculates two local seats
Mark the position relationship of system.Then programming realization calculating.All above-mentioned algorithms being previously mentioned are to calculate each office by programming realization
The position relationship of portion's coordinate system.
3) 2. 1. camera carry out algorithm calculating with camera according to point 1,2,3.Obtain mutual position relationship.Similarly, camera
2. position relationship each other is obtained 3. according to point 4,5,6 with camera.Camera obtains position each other 3. with camera 4. according to point 7,8,9
Relation.Camera obtains position relationship each other 4. with camera 1. according to point 10,11,12.
4) according to the position relationship between each camera, a global coordinate system is obtained.
So far, camera calibration terminates.This camera model group can be measured to determinand.Can obtain to be measured according to algorithm
The three-dimensional model diagram of thing.
Refer to the mass data that each camera model can measure object under test surface to the data that object is measured
Point, body surface is made up of a large amount of points, and the data of measurement are exactly the position coordinates of a large amount of points.The present invention passes through a feature
Obvious object of reference demarcates to each camera model position relationship, demarcate it is good after each camera model can be measured
Data are stitched together, and splice in a common global coordinate system.
Because each camera model is all in respective local coordinate system, the data for wanting each camera model to measure are spelled
Pick up and.Have to splice under a public coordinate system, referred to as global coordinate system.Global coordinate system can be based on wherein one
Individual local coordinate system, i.e., using one of coordinate system of each local coordinate system as global coordinate system, also can be object of reference wherein
One characteristic point can change different according to without situation as the origin of global coordinate system by changing the algorithm of programming realization
Coordinate system as global coordinate system.
Fig. 5 is the position of the camera and laser module of indicating object of reference surrounding, and camera and laser are not drawn.
The present invention is a kind of technology demarcated to position relationship between multiple cameras, and what above-mentioned example was given is to four
Position relationship is demarcated between camera, and this method can be demarcated to any number of cameras in theory, and between each camera
Can not be in same horizontal plane, it is also possible into arbitrarily angled.
Drawn object of reference is in Fig. 6：All it is up and down foursquare truncated rectangular pyramids.Object of reference needed for of the invention can be three terrace with edges,
Five terrace with edges, six terrace with edges etc., can be two-layer, or three layers, four layers etc..
Object of reference feature of the present invention substantially, and is easily obtained, and stated accuracy is high.The present invention is to the position relationship between each camera
Without requirement.Optional position camera can be carried out demarcating.
A kind of polyphaser scaling method based on object of reference that the present invention is provided can be determined in advance the distance of each camera, no
Cross such application condition big.Other objects of reference can also be used, but this object of reference feature is substantially, algorithm process is relatively easy.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, for example multiple units or component
Can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.It is another, it is shown or
The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is to realize in the form of SFU software functional unit and as independent production marketing or use
When, can store in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part for being contributed to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are used to so that a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to preceding
Embodiment is stated to be described in detail the present invention, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and does not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. a kind of polyphaser scaling method based on object of reference, it is characterised in that including：
S1：The information that any number of cameras are measured to preset object of reference is received, the object of reference surface curvature is got
The big characteristic point of change；
S2：By the characteristic point, any number of cameras position relationship to each other is obtained；
S3：One is obtained with any one characteristic point on the object of reference by any number of cameras position relationship to each other
For origin or the global coordinate system based on the corresponding local coordinate system of any one camera.
2. the polyphaser scaling method based on object of reference according to claim 1, it is characterised in that the step S1 is specific
Including：
The information that any number of cameras are measured to the object of reference for being preset at any number of camera centre positions is received, is got
The big characteristic point of the object of reference surface curvature change.
3. the polyphaser scaling method based on object of reference according to claim 2, it is characterised in that the step S2 is specific
Including：
Different at least three it is total in the local coordinate system of correspondence camera by what two cameras in any number of cameras were obtained
Same characteristic point, the position of the corresponding local coordinate system of two cameras for having the common trait point is obtained by the conversion of coordinate system
Relation.
4. the polyphaser scaling method based on object of reference according to claim 3, it is characterised in that the step S3 is specific
Including：
One is obtained with the ginseng by the position relationship of the corresponding local coordinate system of two cameras for having the common trait point
It is origin or global coordinate system based on the corresponding local coordinate system of any one camera according to any one characteristic point on thing,
Receive the position data of the corresponding local coordinate system that any number of cameras are measured to testee surface.
5. the polyphaser scaling method based on object of reference according to claim 4, it is characterised in that after the step S3
Also include：
The position data of the corresponding local coordinate system that any number of cameras are measured to testee surface passes through coordinate
The conversion of system is shown in the global coordinate system, the corresponding office measured to testee surface to any number of cameras
The position data of portion's coordinate system is spliced, and obtains the threedimensional model of measured object.
6. a kind of polyphaser caliberating device based on object of reference, it is characterised in that including：
Receiving unit, for receiving the information that any number of cameras are measured to preset object of reference, gets the reference
The big characteristic point of thing surface curvature change；
First acquisition unit, for by the characteristic point, obtaining any number of cameras position relationship to each other；
Second acquisition unit, one is obtained with the object of reference for the position relationship by any number of cameras to each other
Any one characteristic point is origin or the global coordinate system based on the corresponding local coordinate system of any one camera.
7. the polyphaser caliberating device based on object of reference according to claim 6, it is characterised in that the receiving unit tool
Body includes：
First receiving subelement, enters for receiving any number of cameras to the object of reference for being preset at any number of camera centre positions
The information of row measurement；
First obtains subelement, the characteristic point big for getting the object of reference surface curvature change.
8. the polyphaser caliberating device based on object of reference according to claim 7, it is characterised in that described first obtains single
Unit specifically includes：
Second obtains subelement, for the local coordinate system in correspondence camera obtained by two cameras in any number of cameras
Middle 1 different common trait points, being obtained by the conversion of coordinate system has two cameras correspondence of the common trait point
Local coordinate system position relationship.
9. the polyphaser caliberating device based on object of reference according to claim 8, it is characterised in that described second obtains single
Unit specifically includes：
3rd obtains subelement, and the position for the corresponding local coordinate system of two cameras by there is the common trait point is closed
System obtains one with any one characteristic point on the object of reference as origin or based on the corresponding part of any one camera
The global coordinate system of coordinate system；
Second receiving subelement, for receiving the corresponding local coordinate that any number of cameras are measured to testee surface
The position data of system.
10. the polyphaser caliberating device based on object of reference according to claim 4, it is characterised in that also include：
3rd acquiring unit, for corresponding local coordinate system that any number of cameras are measured to testee surface
Position data is shown in the global coordinate system by the conversion of coordinate system, and any number of cameras are entered to testee surface
The position data of the corresponding local coordinate system of row measurement is spliced, and obtains the threedimensional model of measured object.
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