CN107014293B - A kind of photogrammetric survey method of camera scanning imaging - Google Patents
A kind of photogrammetric survey method of camera scanning imaging Download PDFInfo
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- CN107014293B CN107014293B CN201710248287.3A CN201710248287A CN107014293B CN 107014293 B CN107014293 B CN 107014293B CN 201710248287 A CN201710248287 A CN 201710248287A CN 107014293 B CN107014293 B CN 107014293B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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Abstract
The invention belongs to space three-dimensional measuring techniques, are related to a kind of photogrammetric survey method of camera scanning imaging.The measuring table of photogrammetric survey method includes line-scan digital camera, measurement host, image processing module, single axle table, plane mirror, and measuring process is as follows: measuring table is built；Calibration obtains the position relationship parameter inside measuring table between each module and the position relationship parameter between two measuring tables；Single axle table drives plane mirror to be moved, and triggers line-scan digital camera and synchronize acquisition；Measurement host splices single-frame images, obtains entire image；Host is measured by image processing module and single axle table, the level angle and vertical angle information of target central point is obtained, completes the calculating of spatial point three-dimensional coordinate.
Description
Technical field
The invention belongs to space three-dimensional measuring techniques, are related to a kind of photogrammetric survey method of camera scanning imaging.
Background technique
Under the historical background that the important engineering of the country such as large aircraft, manned space flight and Large Radar quickly propels, space
The importance and urgency of three-dimensional measurement technology are outstanding day by day, and to target position measurement, more stringent requirements are proposed.Measuring system
There should be biggish coverage area to adapt to different application scenarios, while can guarantee enough high measurement accuracy and measurement again
Efficiency.In Large-Scale Equipment manufacture assembling process, due to the geometric dimension of workpiece entirety is larger, it is mobile difficult, measure environment and
The factors such as measurement efficiency cause large-scale metrology to be clearly distinguishable from stock size measurement, become the research hotspot of Technology of Precision Measurement
With difficult point.
In recent years, because the strength of demand pushes, the relevant technologies such as sensor, computer, control condition is gradually in addition
Maturation, large-scale metrology achieves certain progress in principle research and engineer application, but there are still permitted for existing measurement method
More problems: theodolite belongs to optical non-contact measurement, and measurement range is larger, and precision is relatively high, and shortcoming is generally to adopt
With target is sighted manually, point-to-point measurement, speed is slow, and the degree of automation is not high；Total station, indoor GPS, laser tracking measurement model
It encloses greatly, precision is high, belongs to contact type measurement, needs the size to probe or marker to compensate, be unable to measure flexible material
Material, contact type measurement mean point-to-point measurement, limit working efficiency.From the point of view of measurement process, it is only based on computer vision
Measurement method non-point-to-point measurement may be implemented, especially to large scale testee, since overall measurement is counted huge, vision is surveyed
The advantage of amount technology just becomes apparent upon.
The small problem of the existing generally existing field angle of measurement method based on computer vision, if not using multi collect
With the method for the image and splicing of angle, measurement process is complicated, and splicing can introduce more image procossing errors；Traditional area array cameras
Limited resolution, and the frame frequency of the bigger camera of resolution ratio is lower, is measured using area array cameras, and there are measurement accuracy
Problem is accepted or rejected in matching with measurement efficiency.
Summary of the invention
It is surveyed the purpose of the present invention is small for the field angle in existing measurement method, measurement rate is low, cannot achieve multiple spot
The problems such as amount, provides a kind of photogrammetric survey method of camera scanning imaging, and technical solution is as follows:
A kind of photogrammetric survey method of camera scanning imaging, it is photogrammetric using by camera, measurement host, target, image
The measuring table that processing module is constituted, characterized in that measuring table includes line-scan digital camera, measurement host, image processing module, list
Axis turntable, plane mirror, measuring process are as follows:
(1) measuring table is built, and plane mirror is placed on single axle table, and the reflecting surface of plane mirror is turned by uniaxial
The rotation axis of platform, the rotation axis of single axle table and the vertical phase of optical axis parallel and with line-scan digital camera of the imaging surface of line-scan digital camera
It hands over, the rotation axis and horizontal plane of single axle table, two measuring tables are one group, and target is arranged in measurand and incites somebody to action
Two measuring tables are arranged in measurand periphery, adjust the initial position of measuring table, guarantee the line-scan digital camera of measuring table
The image of whole targets can be collected；
(2) calibration obtains the position relationship parameter inside measuring table between each module and the position between two measuring tables
Relation Parameters, measuring table inner parameter include: line-scan digital camera focal length f, line-scan digital camera principal point in image coordinate system coordinate (u,
V), line-scan digital camera principal point is to single axle table rotation axis and line-scan digital camera optical axes crosspoint distance OcO, inside two measuring tables
Parameter need to demarcate respectively, and the position relationship parameter between two measuring tables includes: the horizontal distance B of two measuring tables, two measurements
The height difference H of platform；
(3) single axle table drives plane mirror to be moved, and triggers line-scan digital camera and synchronize acquisition；
(4) single-frame images is that line-scan digital camera acquires the image once obtained, and entire image is to obtain after single-frame images splices
Image, measurement host single-frame images is spliced, obtain entire image；
(5) measurement host obtains the horizontal angle and vertical angle of target central point by image processing module and single axle table
Information completes the calculating of spatial point three-dimensional coordinate, and calculating step is,
Measurement coordinate system is established, to every group of two measuring tables number, is denoted as No.1 measuring table and No. two measurements respectively
Platform.By the coordinate system O of No.1 measuring table1-X1Y1Z1As measurement coordinate system, wherein line-scan digital camera optical axis and plane reflection
The intersection point of mirror shaft is origin O1, cross O1The common vertical line direction of two single axle table rotation axis of point is X1Axis, it is square straight up
To for Y1Axis determines Z according to the right-hand rule1Axis；No. two measuring table coordinate systems are O2-X2Y2Z2, line-scan digital camera optical axis and plane
The intersection point of reflection mirror rotation shafts is origin O2, cross O2The common vertical line direction of two single axle table rotation axis of point is X2Axis, vertically to
Upper direction is Y2Axis determines Z according to the right-hand rule2Axis, the position between measuring table inner parameter and measuring table that calibration is obtained
It sets Relation Parameters and brings following formula into and calculated:
Wherein, (X, Y, Z) is coordinate of the target central point in the case where measuring coordinate system,
α1For horizontal angle of the target central point under No.1 measuring table coordinate system, α2It is measured for target central point at No. two
Horizontal angle under platform coordinate system,
β1For vertical angle of the target central point under No.1 measuring table coordinate system, β2It is measured for target central point at No. two
Vertical angle under platform coordinate system,
h1For light No.1 measuring table plane mirror reflection point to its coordinate origin O1Distance, Oc1O1For
No.1 measuring table line-scan digital camera principal point to single axle table rotation axis at a distance from line-scan digital camera optical axes crosspoint, Oc1O1Belong to survey
Platform interior parameter is measured, is obtained by calibration, there is h1=Oc1O1·tanβ1,
h2For light No. two measuring table plane mirrors reflection point to its coordinate origin O2Distance, Oc2O2For
No. two measuring table line-scan digital camera principal points to single axle table rotation axis at a distance from line-scan digital camera optical axes crosspoint, Oc2O2Belong to two
Number measuring table inner parameter is obtained by calibration, there is h2=Oc2O2·tanβ2,
B and H belongs to the position relationship parameter between measuring table, is obtained by calibration.
No.1 measuring table line-scan digital camera camera lens is F- θ camera lens, is metv1Exist for target central point
Ordinate value under image coordinate system, v10For line-scan digital camera principal point under image coordinate system ordinate value, v1-v10Value be positive number
When, target central point is in Z1The positive axis direction of axis, v1-v10Value be negative when, target central point is in Z1The negative semiaxis side of axis
To f1With Δ y1Respectively line-scan digital camera focal length and pixel dimension, v10、f1Belong to measuring table inner parameter, is obtained by calibration
It takes；
No. two measuring table line-scan digital camera camera lenses are F- θ camera lens, are metv2Exist for target central point
Ordinate value under image coordinate system, v20For line-scan digital camera principal point under image coordinate system ordinate value, v2-v20Value be positive number
When, target central point is in Z2The positive axis direction of axis, v2-v20Value be negative when, target central point is in Z2The negative semiaxis side of axis
To f2With Δ y2Respectively line-scan digital camera focal length and pixel dimension, v20、f2Belong to measuring table inner parameter, is obtained by calibration
It takes；
When the line-scan digital camera single-frame images shooting of No.1 measuring table where target central point, No.1 measuring table is read
Single axle table rotation angle be α1；When the line-scan digital camera single-frame images shooting of No. two measuring tables where target central point, read
The rotation angle for getting the single axle table of No. two measuring tables is α2。
Single axle table drives plane mirror to move back and forth, the backhaul and the equal receiving plane of backhaul line-scan digital camera of movement
The reflection light of reflecting mirror completes the acquisition of image, and the angle of rotation of plane mirror is denoted as θ, then measuring table horizontal field of view angle
θIt is horizontal=2 × θ.
Single axle table rotates clockwise, and by the precedence of acquisition, sequence carries out the splicing of single-frame images；Single axle table is inverse
Hour hands rotation, by the precedence of acquisition, backward carries out the splicing of single-frame images.
The target is Code targets, and self-contained number information, target central point utilizes image procossing as tested point
The pixel coordinate of module extraction target central point.
The invention has the following beneficial effects and advantage:
1. in the present invention, measuring table uses line-scan digital camera, and the line frequency of line-scan digital camera is high, and measuring speed is fast, dynamic property
Height, line-scan digital camera scanning imagery can be obtained the image of ultrahigh resolution without complicated image split-joint method, measurement method at
This is low, and precision is high.
2. the present invention uses the catadioptric image-forming principle of line-scan digital camera and plane mirror, since reflection scanning angle is machine
Twice of tool scanning angle, single axle table drive plane mirror rotation, exclude blocking for itself and other objects, horizontal direction
Field angle can achieve 180 °.The vertical field of view angle of line-scan digital camera optical lens can reach 90 °, therefore the measurement of measuring table
Range is more than 180 ° × 90 °, and field angle is big, and measurement range is big.
3. in the present invention, single axle table drives plane mirror to move back and forth, the backhaul and backhaul camera of movement are acquired
Image, backhaul and backhaul completion measure twice, and systematic survey speed is fast, and Refresh Data frequency is high.
4. the present invention uses Code targets as target point, by Code targets and multi-Target Image identification technology, once
Measurement process can obtain the 3 d space coordinate of 300 points simultaneously, can complete multimetering.
5. in the present invention use modularized design, line-scan digital camera, plane mirror, single axle table, target, measurement host,
Image processing module can require to replace the product of other specifications according to actual measurement, and interchangeability is good, is conveniently replaceable and safeguards.
6. it is minimum to need two measuring table cooperations in the present invention, realize three-dimensional measurement.Meanwhile in order to adapt to large-scale survey
Target is measured, measuring system can integrate three or more measuring tables, further increase measurement range, improve measurement accuracy.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the photogrammetric survey method of camera scanning imaging；
Fig. 2 is a kind of photogrammetric model of camera scanning imaging: 201- target central point P, 202- No.1 measuring table
Line-scan digital camera imaging plane, 203- No.1 measuring table line-scan digital camera optical axis, the reflection of 204- No.1 measuring table plane mirror
Face, 205- No.1 measuring table single axle table axis, No. bis- measuring table line-scan digital camera imaging planes of 206-, 207- bis- measurements
Platform line-scan digital camera optical axis, No. bis- measuring table plane mirror reflectings surface of 208-, No. bis- measuring table single axle table axis of 209-
Line；
Fig. 3 is a kind of target schematic diagram of camera scanning imaging.
Specific embodiment
In the following, in conjunction with attached drawing to the next embodiment that the present invention will be described in detail.
With reference to Fig. 1, Fig. 1 is a kind of flow chart of the photogrammetric survey method of camera scanning imaging, including step 101 is to step
105。
In a step 101, measuring table is built.With reference to Fig. 2, No.1 measuring table plane mirror is placed in single axle table
On, the reflecting surface 204 of plane mirror passes through the rotation axis 206 of single axle table, the rotation axis 206 and linear array of single axle table
The imaging surface 202 of camera is parallel and intersects vertically with the optical axis of line-scan digital camera 203, the rotation axis 206 and level of single axle table
Face is vertical, and single axle table is vertically arranged on horizontal plane, and No. two measuring tables are built identical as No.1 measuring table.Two measurements are flat
Platform is one group, and target is arranged in measurand and two measuring tables are arranged in measurand periphery, adjusts measuring table
Initial position, guarantee that the line-scan digital camera of measuring table can collect the image of whole targets；
Use target for Code targets, self-contained number information, target central point utilizes image procossing as tested point
The pixel coordinate of module extraction target central point.Target schematic diagram refers to Fig. 3.It, can be according to practical illumination item in measurement process
The imaging contexts of part and target are arranged light source appropriate and carry out illumination compensation.
In a step 102, the position relationship parameter inside calibration acquisition measuring table between each module and two measurements are flat
Position relationship parameter between platform.Measuring table inner parameter includes: line-scan digital camera focal length f, line-scan digital camera principal point in image coordinate
Coordinate (u, v), line-scan digital camera principal point to single axle table rotation axis and line-scan digital camera optical axes crosspoint distance O in systemcO, two
Measuring table inner parameter need to be demarcated respectively, and the position relationship parameter between two measuring tables includes: the level of two measuring tables
The height difference H of distance B, two measuring tables；
In step 103, measuring table single axle table drive plane mirror moved, and trigger line-scan digital camera into
Row synchronous acquisition.Single axle table drives plane mirror reciprocating rotation, backhaul and the equal receiving plane reflecting mirror of backhaul line-scan digital camera it is anti-
Light is penetrated, the acquisition of image is completed.The angle of rotation of plane mirror is denoted as θ, then measuring table horizontal field of view angle θIt is horizontal=2 × θ.
At step 104, single-frame images is that line-scan digital camera acquires the image once obtained, and entire image is single-frame images spelling
The image obtained after connecing, measurement host splice single-frame images, obtain entire image.The single axle table up time of measuring table
Needle rotation, by the precedence of acquisition, sequence carries out the splicing of single-frame images；Turntable rotates counterclockwise, by successive time of acquisition
Sequence, backward carry out the splicing of single-frame images.
In step 105, measurement host obtains the horizontal angle of target central point by image processing module and single axle table
With vertical angle information, the calculating of spatial point three-dimensional coordinate is completed, calculating step is,
Measurement coordinate system is established, to every group of two measuring tables number, is denoted as No.1 measuring table and No. two measurements respectively
Platform.By the coordinate system O of No.1 measuring table1-X1Y1Z1As measurement coordinate system, wherein line-scan digital camera optical axis and plane reflection
The intersection point of mirror shaft is origin O1, cross O1The common vertical line direction of two single axle table rotation axis of point is X1Axis, it is square straight up
To for Y1Axis determines Z according to the right-hand rule1Axis；No. two measuring table coordinate systems are O2-X2Y2Z2, line-scan digital camera optical axis and plane
The intersection point of reflection mirror rotation shafts is origin O2, cross O2The common vertical line direction of two single axle table rotation axis of point is X2Axis, vertically to
Upper direction is Y2Axis determines Z according to the right-hand rule2Axis, the position between measuring table inner parameter and measuring table that calibration is obtained
It sets Relation Parameters and brings following formula into and calculated:
Wherein, (X, Y, Z) is coordinate of the target central point in the case where measuring coordinate system,
α1For horizontal angle of the target central point under No.1 measuring table coordinate system, No.1 measurement is flat where target central point
When the line-scan digital camera single-frame images shooting of platform, the rotation angle for reading the single axle table of No.1 measuring table is α1。
α2For horizontal angle of the target central point under No. two measuring table coordinate systems, No. two measurements where target central point are flat
When the line-scan digital camera single-frame images shooting of platform, the rotation angle for reading the single axle table of No. two measuring tables is α2。
β1For vertical angle of the target central point under No.1 measuring table coordinate system, No.1 measuring table line-scan digital camera camera lens
For F- θ camera lens, meetv1For target central point under image coordinate system ordinate value, v10For line-scan digital camera
Principal point ordinate value, v under image coordinate system1-v10Value be positive number when, target central point is in Z1The positive axis direction of axis, v1-
v10Value be negative when, target central point is in Z1Minus half axis direction of axis, f1With Δ y1Respectively line-scan digital camera focal length and pixel ruler
It is very little, v10、f1Belong to measuring table inner parameter, is obtained by calibration.
β2For vertical angle of the target central point under No. two measuring table coordinate systems, No. two measuring table line-scan digital camera camera lenses
For F- θ camera lens, meetv2For target central point under image coordinate system ordinate value, v20For linear array phase
Owner's point ordinate value, v under image coordinate system2-v20Value be positive number when, target central point is in Z2The positive axis direction of axis,
v2-v20Value be negative when, target central point is in Z2Minus half axis direction of axis, f2With Δ y2Respectively line-scan digital camera focal length and picture
Elemental size, v20、f2Belong to measuring table inner parameter, is obtained by calibration.
h1For light No.1 measuring table plane mirror reflection point to its coordinate origin O1Distance, Oc1O1For
No.1 measuring table line-scan digital camera principal point to single axle table rotation axis at a distance from line-scan digital camera optical axes crosspoint, Oc1O1Belong to survey
Platform interior parameter is measured, is obtained by calibration, there is h1=Oc1O1·tanβ1,
h2For light No. two measuring table plane mirrors reflection point to its coordinate origin O2Distance, Oc2O2For
No. two measuring table line-scan digital camera principal points to single axle table rotation axis at a distance from line-scan digital camera optical axes crosspoint, Oc2O2Belong to two
Number measuring table inner parameter is obtained by calibration, there is h2=Oc2O2·tanβ2,
B and H belongs to the position relationship parameter between measuring table, is obtained by calibration.
Embodiment
This specific embodiment is chosen at bright and clear outdoor environment, carries out three-dimensional coordinate survey to the target on large-scale workpiece
Amount.
Measuring table is built, and No.1 measuring table plane mirror is placed on single axle table, the reflecting surface of plane mirror
204 by the rotation axis 206 of single axle table, the rotation axis 206 of single axle table and the imaging surface 202 of line-scan digital camera it is parallel and
It intersects vertically with the optical axis 203 of line-scan digital camera, the rotation axis 206 and horizontal plane of single axle table, No. two measuring tables are taken
Build identical as No.1 measuring table, No.1 and No. two measuring table line-scan digital camera vertical field of view angles are θVertically=90 °.No.1 and
The single axle table rotation axis of No. two measuring tables with horizontal plane exact vertical, otherwise will introduce apparent orientation error.
By the evenly dispersed setting of 30 targets on large-scale workpiece, the arrangement of measuring table guarantees to collect the image of whole targets.
Two measuring tables are one group, and target is arranged in measurand and two measuring tables are arranged in measurand periphery.It adjusts
The initial position of whole measuring table guarantees that the line-scan digital camera of measuring table can collect the image of whole targets.
Use target for Code targets, self-contained number information, target central point utilizes image procossing as tested point
The pixel coordinate of module extraction target central point.
Calibration obtains the position relationship parameter inside measuring table between each module and the position between two measuring tables is closed
It is parameter, measuring table inner parameter: No.1 measuring table line-scan digital camera focal length f1=20.67mm, line-scan digital camera principal point are being schemed
Coordinate (1,4096), line-scan digital camera principal point are to single axle table rotation axis at a distance from line-scan digital camera optical axes crosspoint in picture coordinate system
Oc1O1=16.82mm, No. two measuring table line-scan digital camera focal length f2=20.72mm, line-scan digital camera principal point are in image coordinate system
Coordinate (1,4097), line-scan digital camera principal point to single axle table rotation axis and line-scan digital camera optical axes crosspoint distance Oc2O2=
15.98mm, the position relationship parameter between two measuring tables include: the horizontal distance B=4500mm of two measuring tables, two measurements
Height difference H=35mm of platform；
The single axle table of No.1 measuring table drives plane mirror to be moved, and triggers line-scan digital camera and synchronize and adopt
Collection.Single axle table drives plane mirror reciprocating rotation, and the reflection light of backhaul and the equal receiving plane reflecting mirror of backhaul line-scan digital camera is complete
At the acquisition of image.Angle of rotation θ=90 ° of plane mirror, then measuring table horizontal field of view angle θIt is horizontal=2 × θ.No. two measurements
Platform is similar with No.1 measuring table, and the horizontal field of view angle of No. two measuring tables also can achieve 180 °.
No.1 measuring table measurement host splices single-frame images, obtains entire image.The single shaft of measuring table turns
Platform rotates clockwise, and by the precedence of acquisition, sequence carries out the splicing of single-frame images；Turntable rotates counterclockwise, by acquisition
Precedence, backward carry out the splicing of single-frame images.The single-frame images splicing of No. two measuring tables is identical as No.1 measuring table.
Host is measured by image processing module and single axle table, obtains the horizontal angle and vertical angle letter of target central point
Breath completes the calculating of spatial point three-dimensional coordinate, and calculating step is,
Measurement coordinate system is established, to every group of two measuring tables number, is denoted as No.1 measuring table and No. two measurements respectively
Platform.By the coordinate system O of No.1 measuring table1-X1Y1Z1As measurement coordinate system, wherein line-scan digital camera optical axis and plane reflection
The intersection point of mirror shaft is origin O1, cross O1The common vertical line direction of two single axle table rotation axis of point is X1Axis, it is square straight up
To for Y1Axis determines Z according to the right-hand rule1Axis；No. two measuring table coordinate systems are O2-X2Y2Z2, line-scan digital camera optical axis and plane
The intersection point of reflection mirror rotation shafts is origin O2, cross O2The common vertical line direction of two single axle table rotation axis of point is X2Axis, vertically to
Upper direction is Y2Axis determines Z according to the right-hand rule2Axis, the position between measuring table inner parameter and measuring table that calibration is obtained
It sets Relation Parameters and brings following formula into and calculated:
Wherein, (X, Y, Z) is coordinate of the target central point in the case where measuring coordinate system,
α1For horizontal angle of the target central point under No.1 measuring table coordinate system, No.1 measurement is flat where target central point
When the line-scan digital camera single-frame images shooting of platform, the rotation angle for reading the single axle table of No.1 measuring table is α1。
α2For horizontal angle of the target central point under No. two measuring table coordinate systems, No. two measurements where target central point are flat
When the line-scan digital camera single-frame images shooting of platform, the rotation angle for reading the single axle table of No. two measuring tables is α2。
β1For vertical angle of the target central point under No.1 measuring table coordinate system, No.1 measuring table line-scan digital camera camera lens
For F- θ camera lens, meetv1For target central point under image coordinate system ordinate value, v10For linear array phase
Owner's point ordinate value, v under image coordinate system10=4096, v1-v10Value be positive number when, target central point is in Z1Axis is just
Half axis direction, v1-v10Value be negative when, target central point is in Z1Minus half axis direction of axis, f1=20.67mm is line-scan digital camera
Focal length, Δ y1=5 μm are line-scan digital camera pixel dimension.
β2For vertical angle of the target central point under No. two measuring table coordinate systems, No. two measuring table line-scan digital camera camera lenses
For F- θ camera lens, meetv2For target central point under image coordinate system ordinate value, v20For linear array phase
Owner's point ordinate value, v under image coordinate system20=4097, v2-v20Value be positive number when, target central point is in Z2Axis is just
Half axis direction, v2-v20Value be negative when, target central point is in Z2Minus half axis direction of axis, f2=20.72mm is line-scan digital camera
Focal length, Δ y2=5 μm are line-scan digital camera pixel dimension.
h1For light No.1 measuring table plane mirror reflection point to its coordinate origin O1Distance, Oc1O1For
No.1 measuring table line-scan digital camera principal point to single axle table rotation axis at a distance from line-scan digital camera optical axes crosspoint, Oc1O1Belong to survey
Platform interior parameter is measured, is obtained by calibration, there is h1=Oc1O1·tanβ1,
h2For light No. two measuring table plane mirrors reflection point to its coordinate origin O2Distance, Oc2O2For
No. two measuring table line-scan digital camera principal points to single axle table rotation axis at a distance from line-scan digital camera optical axes crosspoint, Oc2O2Belong to two
Number measuring table inner parameter is obtained by calibration, there is h2=Oc2O2·tanβ2,
B and H belongs to the position relationship parameter between measuring table, is obtained by calibration.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included within the scope of the present invention within mind and principle.
Claims (5)
1. a kind of photogrammetric survey method of camera scanning imaging, photogrammetric using including measurement host, target, image procossing mould
The measuring system of block, measuring table, characterized in that measuring table includes line-scan digital camera, single axle table, plane mirror, is surveyed
Steps are as follows for amount:
(1) measuring table is built, and plane mirror is placed on single axle table, and the reflecting surface of plane mirror passes through single axle table
Rotation axis, the rotation axis of single axle table and the optical axis parallel and with line-scan digital camera of the imaging surface of line-scan digital camera intersect vertically,
The rotation axis and horizontal plane of single axle table, two measuring tables are one group, target are arranged in measurand and by two
A measuring table is arranged in measurand periphery, adjusts the initial position of measuring table, guarantees the line-scan digital camera energy of measuring table
Collect the image of whole targets；
(2) calibration obtains the position relationship parameter inside measuring table between each module and the positional relationship between two measuring tables
Parameter, measuring table inner parameter include: line-scan digital camera focal length f, line-scan digital camera principal point in image coordinate system coordinate (u,
V), the principal point of line-scan digital camera is to single axle table rotation axis and line-scan digital camera optical axes crosspoint distance OcO, in two measuring tables
Portion's parameter need to demarcate respectively, and the position relationship parameter between two measuring tables includes: the horizontal distance B of two measuring tables, two surveys
Measure the height difference H of platform；
(3) single axle table drives plane mirror to be moved, and triggers line-scan digital camera and synchronize acquisition；
(4) single-frame images is that line-scan digital camera acquires the image once obtained, and entire image is the figure obtained after single-frame images splices
Picture, measurement host splice single-frame images, obtain entire image；
(5) measurement host passes through image processing module and single axle table, the horizontal angle of acquisition target central point and vertical angle information,
The calculating of spatial point three-dimensional coordinate is completed, calculating step is:
Measurement coordinate system is established, to every group of two measuring tables number, is denoted as No.1 measuring table and No. two measuring tables respectively,
By the coordinate system O of No.1 measuring table1-X1Y1Z1As measurement coordinate system, wherein line-scan digital camera optical axis and plane mirror shaft
Intersection point be origin O1, cross O1The common vertical line direction of two single axle table rotation axis of point is X1Axis, direction is Y straight up1
Axis determines Z according to the right-hand rule1Axis；No. two measuring table coordinate systems are O2-X2Y2Z2, line-scan digital camera optical axis and plane mirror
The intersection point of shaft is origin O2, cross O2The common vertical line direction of two single axle table rotation axis of point is X2Axis, straight up direction
For Y2Axis determines Z according to the right-hand rule2Axis, the positional relationship between measuring table inner parameter and measuring table that calibration is obtained
Parameter is brought following formula into and is calculated:
Wherein, (X, Y, Z) is coordinate of the target central point in the case where measuring coordinate system,
α1For horizontal angle of the target central point under No.1 measuring table coordinate system, α2It is target central point in No. two measuring tables
Horizontal angle under coordinate system,
β1For vertical angle of the target central point under No.1 measuring table coordinate system, β2It is target central point in No. two measuring tables
Vertical angle under coordinate system,
h1For light No.1 measuring table plane mirror reflection point to its coordinate origin O1Distance, Oc1O1For No.1
Measuring table line-scan digital camera principal point to single axle table rotation axis at a distance from line-scan digital camera optical axes crosspoint, Oc1O1It is flat to belong to measurement
Platform inner parameter is obtained by calibration, there is h1=Oc1O1·tanβ1,
h2For light No. two measuring table plane mirrors reflection point to its coordinate origin O2Distance, Oc2O2It is No. two
The principal point of measuring table line-scan digital camera to single axle table rotation axis at a distance from line-scan digital camera optical axes crosspoint, Oc2O2Belong to No. two
Measuring table inner parameter is obtained by calibration, there is h2=Oc2O2·tanβ2,
B and H belongs to the position relationship parameter between measuring table, is obtained by calibration.
2. a kind of photogrammetric survey method of camera scanning imaging according to claim 1, it is characterised in that: No.1 measurement is flat
Platform line-scan digital camera camera lens is F- θ camera lens, is metv1For target central point under image coordinate system ordinate
Value, v10For line-scan digital camera principal point under image coordinate system ordinate value, v1-v10Value be positive number when, target central point is in Z1Axis
Positive axis direction, v1-v10Value be negative when, target central point is in Z1Minus half axis direction of axis, f1With Δ y1Respectively linear array
Camera focus and pixel dimension, v10、f1Belong to measuring table inner parameter, is obtained by calibration；
No. two measuring table line-scan digital camera camera lenses are F- θ camera lens, are metv2It is target central point in image
Ordinate value under coordinate system, v20For line-scan digital camera principal point under image coordinate system ordinate value, v2-v20Value be positive number when, target
Central point is marked in Z2The positive axis direction of axis, v2-v20Value be negative when, target central point is in Z2Minus half axis direction of axis, f2With
Δy2Respectively line-scan digital camera focal length and pixel dimension, v20、f2Belong to measuring table inner parameter, is obtained by calibration.
3. a kind of photogrammetric survey method of camera scanning imaging according to claim 1, it is characterised in that: single axle table band
Dynamic plane mirror moves back and forth, the reflection light of the equal receiving plane reflecting mirror of backhaul and backhaul line-scan digital camera of movement,
The acquisition of image is completed, the angle of rotation of plane mirror is denoted as θ, then measuring table horizontal field of view angle θIt is horizontal=2 × θ.
4. a kind of photogrammetric survey method of camera scanning imaging according to claim 1, it is characterised in that: single axle table is suitable
Hour hands rotation, by the precedence of acquisition, sequence carries out the splicing of single-frame images；Single axle table rotates counterclockwise, by acquisition
Precedence, backward carry out the splicing of single-frame images.
5. a kind of photogrammetric survey method of camera scanning imaging according to claim 1, it is characterised in that: the target is
Code targets, self-contained number information, target central point extract target central point as tested point, using image processing module
Pixel coordinate.
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