CN108917703A - Distance measurement method and device, smart machine - Google Patents
Distance measurement method and device, smart machine Download PDFInfo
- Publication number
- CN108917703A CN108917703A CN201810293643.8A CN201810293643A CN108917703A CN 108917703 A CN108917703 A CN 108917703A CN 201810293643 A CN201810293643 A CN 201810293643A CN 108917703 A CN108917703 A CN 108917703A
- Authority
- CN
- China
- Prior art keywords
- point
- measured
- distance
- location information
- datum mark
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Image Analysis (AREA)
Abstract
The present invention provides a kind of distance measurement methods, include the following steps：Acquisition includes the first measurement image of the first point to be measured determined after datum mark aligns, and the first location information of the described first point to be measured is determined according to the first measurement image；Acquisition includes the second measurement image of the second point to be measured determined after datum mark contraposition, and the second location information of the described second point to be measured is determined according to the second measurement image；Based on the first location information and the second location information, the distance between the described first point to be measured and second point to be measured are determined according to preset formula.The positioning distance measuring principle and the triangle cosine law for acquiring corresponding measurement image combination photographic device in the present invention quickly determine the first point to be measured or the second point to be measured, Computing Principle is simple, and it is fast to obtain the distance between the first point to be measured and the second point to be measured.
Description
Technical field
The present invention relates to measurement, positioning, technical field of intelligent equipment, specifically, the present invention relates to a kind of range measurements
Method and device, smart machine.
Background technique
It, usually all can be by more instrument conjunction measuring distance, in order to realize inside existing distance measurement technique
High-precision and quickly measurement generally can all be measured using the relatively high measuring instrument of precision and cost, and such
Using and carrying for instrument is all inconvenient.And the measuring instrument low measurement accuracy that cost is relatively low, and measuring speed is slow, makes
With and carry it is all inconvenient.
Summary of the invention
The purpose of the present invention aims to solve at least the slow problem of one of above-mentioned technological deficiency, especially measuring speed.
The present invention provides a kind of distance measurement methods, include the following steps：
Acquisition includes the first measurement image of the first point to be measured determined after datum mark aligns, is surveyed according to described first
Spirogram picture determines the first location information of the described first point to be measured；
Acquisition includes the second measurement image of the second point to be measured determined after datum mark contraposition, according to described the
Two measurement images determine the second location information of the described second point to be measured；
Based on the first location information and the second location information, determine that described first is to be measured according to preset formula
The distance between point and the described second point to be measured.
Further, it in the second location information of the point to be measured of the determination described second the step of, specifically includes：
It obtains from the described first point to be measured and the datum mark and is wired to the described second point to be measured and the datum mark
Deflection angle between line.
Further, true according to preset formula described based on the first location information and the second location information
In the step of fixed the distance between first point to be measured and second point to be measured, specifically include：
Based on the deflection angle, the first location information, second location information determination and the preset formula institute
State the distance between the first point to be measured and second point to be measured.
Further, true according to preset formula described based on the first location information and the second location information
In the step of fixed the distance between first point to be measured and second point to be measured, specifically include：
The first distance of the described first relatively described datum mark of point to be measured is determined based on the first location information.
The second distance of the described second relatively described datum mark of point to be measured is determined based on the second location information.
According to the deflection angle, the first distance, second distance and the preset formula determine described first to
The distance between measurement point and second point to be measured.
Further, the described first point to be measured and second point to be measured are equipped with contraposition mark, described through benchmark
The Cheng Qian that crosses of the first point to be measured determined after contraposition is put, including：
The contraposition mark of the described first point to be measured of point/second to be measured is scanned, so that the datum mark can be with described the
The one point contraposition to be measured of point/second to be measured.
Further, first point to be measured or second point to be measured are determined after datum mark aligns described
In the process, it specifically includes：
The datum mark and any point to be measured are aligned, to determine that described first is to be measured according to control instruction
Point/second point to be measured.
Further, the process of the distance between the point to be measured of the determination described first and second point to be measured
Later, further include：
Control is shown the distance between the described first point to be measured and second point to be measured.
A kind of computer readable storage medium provided in the embodiment of the present invention, is stored thereon with computer program, the meter
The step of calculation machine program realizes distance measurement method described in any technical solution when executing.
A kind of distance-measuring device provided in the embodiment of the present invention, including processor, memory, the memory are used for
Computer program is stored, the computer program realizes range measurement described in any technical solution when being executed by the processor
The step of method.
A kind of smart machine provided in the embodiment of the present invention, including photographic device and the computer readable storage medium
Or the distance-measuring device, the photographic device is for acquiring the first measurement image and the second measurement image.
Further, be applied to mixed reality glasses (AR glasses), the photographic device be located on frame or eyeglass and
Close to nose support or close to mirror pin bracket.
Further, further include for obtain from the described first point to be measured and the datum mark be wired to described second to
The angle measurement unit of deflection angle between measurement point and the datum mark line.
Compared with prior art, the invention has the advantages that：
1, a kind of distance measurement method provided in the embodiment of the present invention, includes the following steps：Acquisition includes through datum mark
First measurement image of the first point to be measured determined after contraposition determines that described first is to be measured according to the first measurement image
The first location information of point；Acquisition includes the second measurement image of the second point to be measured determined after datum mark contraposition,
The second location information of the described second point to be measured is determined according to the second measurement image；Based on the first location information and
The second location information determines the distance between the described first point to be measured and second point to be measured.In the present invention
The positioning distance measuring principle and the triangle cosine law for acquiring corresponding measurement image combination photographic device quickly determine first
Point to be measured or the second point to be measured, and obtain the point to photographic device distance, by the first point to be measured, second to be measured
Amount point, datum mark construction triangle are simultaneously quickly obtained the first point to be measured and the second point to be measured in conjunction with the triangle cosine law
The distance between, since its Computing Principle is simple, and then can be quickly obtained the first point to be measured and the second point to be measured it
Between distance.
2, a kind of distance measurement method provided in the embodiment of the present invention passes through applied to the measuring technology of augmented reality
Depth camera, gyroscope and electronic compass are combined, using certain contraposition test method, are aided with the triangle cosine law
Length algorithm, the distance between any two points can be fast implemented, the equipment used is few, so that cost is relatively low, in turn
Its economic cost is reduced, while its glasses is easy to carry for gauger, convenient for measuring in narrow place.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is a kind of flow chart of embodiment in a kind of exemplary embodiments of distance measurement method of the present invention；
Fig. 2 is the flow chart of another embodiment in a kind of exemplary embodiments of distance measurement method of the present invention；
Fig. 3 is that photographic device installation site on AR eyes is shown in a kind of embodiment one of distance measurement method of the present invention
Example diagram is mainly shown on frame or eyeglass and close to nose support；
Fig. 4 be in a kind of embodiment one of distance measurement method of the present invention AR glasses align the first point to be measured and second to
The exemplary diagram of measurement point；
Fig. 5 is the first point to be measured in a kind of embodiment one of distance measurement method of the present invention, the second point to be measured, AR
The triangle exemplary diagram of the datum mark three construction of mirror；
Fig. 6 is that photographic device installation site on AR eyes is shown in a kind of embodiment two of distance measurement method of the present invention
Example diagram mainly shows photographic device and is mounted on frame or eyeglass and close to mirror pin bracket；
Fig. 7 be in a kind of embodiment two of distance measurement method of the present invention AR glasses align the first point to be measured and second to
The exemplary diagram of measurement point；
Fig. 8 is the first point to be measured in a kind of embodiment two of distance measurement method of the present invention, the second point to be measured, AR
The triangle exemplary diagram of the datum mark three construction of mirror.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange
Diction "and/or" includes one or more associated wholes for listing item or any cell and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
A kind of distance measurement method provided in the embodiment of the present invention, is mainly used in AR eyewear art, has in user
When glasses, it just can be directly obtained the distance of two o'clock, in the process, mainly acquire image by photographic device, mainly
Image according to acquisition determines the distance between the two o'clock for needing to measure, and realizes the distance between rapid survey any two points.Simultaneously
AR glasses are easy to carry, convenient anywhere to measure the distance between two o'clock without being limited by measurement contoured and size.
A kind of distance measurement method provided in the embodiment of the present invention, in a kind of wherein embodiment, as shown in Figure 1,
Include the following steps：
S100：Acquisition includes the first measurement image of the first point to be measured determined after datum mark aligns, according to described in
First measurement image determines the first location information of the described first point to be measured；
S200：Acquisition includes the second measurement image of the second point to be measured determined after datum mark contraposition, foundation
The second measurement image determines the second location information of the described second point to be measured；
S300：Based on the first location information and the second location information, described first is determined according to preset formula
The distance between point to be measured and second point to be measured.
In embodiment provided by the invention, it is provided with photographic device on AR glasses, therefore, passes through photographic device acquisition the
One measurement image/the second measurement image determines on the first measurement image/second measurement image convenient for the analysis method according to image
The first point to be measured of point/second to be measured.Specifically, in order to keep the precision of measurement higher, on the basis of AR glasses point
Point, point on the basis of the point specially in photographic device where optical center, particularly, photographic device used in the embodiment of the present invention is
Depth camera A, depth camera A mainly include structure light, TOF, binocular imaging.Wherein, structure light (Structured
Light)：After the specific optical information to body surface of project structured light, acquired by camera.The optical signal according to caused by object
The information such as position and the depth for changing to calculate object, and then restore entire three-dimensional space；TOF(Time Of Flight)：TOF
System is a kind of optical detection and ranging system, can emit light pulse from emitter to object, receiver then can be by calculating light pulse from hair
Emitter returns to the runing time of receiver to object, then with pixel format to determine the distance of measured object；Binocular imaging
(Stereo System)：Object is shot using dual camera, then object distance is calculated by Triangle Principle.In photographic device
When for binocular camera shooting device, the point on the basis of the midpoint of binocular camera shooting device optical center connection.In specific measurement process, AR glasses
Occur central cross line, when central cross line and measure it is any it is to be measured even point be overlapped when, determine the point be the first point to be measured or
The point to be measured of person second, and aforementioned process is contraposition process, align successfully indicates that datum mark and to be measured even put align successfully, i.e., the
Point to be measured or the second point to be measured are the contrapositions that datum mark and point to be measured are realized by process above-mentioned.It is determining
After first point to be measured or the second point to be measured, photographic device acquisition includes the survey of the first point to be measured or the second point to be measured
Spirogram picture, i.e., after the first point to be measured has been determined, photographic device acquisition includes that the first point first to be measured measures image；?
After the second point to be measured has been determined, photographic device acquisition includes that the second point second to be measured measures image.It is surveyed in acquisition first
After spirogram picture or the second measurement image, since before measuring, the type based on photographic device has determined range measurement principle,
Then the first point to be measured or the second point to be measured are obtained at a distance from datum mark using the principle.For example, being in photographic device
When binocular imaging, can be calculated based on Triangle Principle the first point to be measured or second to be measured relative datum point away from
From, wherein the photographic device of binocular imaging is symmetricly set on glasses, and the specific position that is arranged is explained later, and this will not be repeated here.
First point to be measured or the second point to be measured are a vertex of triangle, and two optical centers of binocular camera shooting device are respectively triangle
Other two vertex, photographic device collect the first measurement image or second measurement image when, can based on camera shooting dress
The distance between two camera shooting optical centers and the first point or the second to be measured o'clock coordinate value on two images to be measured are set, is determined
The interior angle of triangle and the first point to be measured or the second to be measured o'clock distance to two photographic device optical center connection midpoints (arrive base
Distance on schedule), it is detailed in and is explained later.Specifically, in the first measurement image or second shot by binocular camera shooting device
Measurement image obtains the first location information of the first point to be measured or the second point to be measured or the process of second location information
In.By taking the first point to be measured as an example, the determination of the second dot position information to be measured is identical as the first point methods to be measured, does not do superfluous
It states.Assuming that the inside and outside parameter of two cameras is identical, focal length f, the distance between optical center (baseline) is L, and two take the photograph
In the same plane as head, the Y coordinate of the projection centre of two cameras is equal.First point p to be measured in synchronization space (x,
Y, z) imaging point is respectively provided with an imaging point on two cameras.Its is corresponding first to be measured in the camera imaging plane of left and right
The coordinate value of the x of amount point picture point is respectively xl and xr；And two origins on imaging plane be respectively respective optical axis with as plane
Intersection point.And f and L are constant value (preset parameters), the y of first to be measured picture point is identical on two imaging planes, and is being imaged
When device is fixed, the inner parameter and external parameter of corresponding photographic device are also fixed constant, so that photographic device imaging is flat
Coordinate system on face is fixed, and therefore, xl, xr, y can be directly obtained in imaging, and set world coordinate system origin and taken the photograph on a left side
As the optical center of head, there is camera to be located in the reference axis of a world coordinate system, when L is fixed, the optical center coordinate of right camera exists
Coordinate value determines in world coordinate system.It can be based between world coordinate system, photographic device coordinate system and image coordinate system
Transformational relation determines the coordinate value of the first point to be measured in space, can be reduced to the Triangle Principle of binocular imaging, be based on
Coordinate value, photographic device two camera coordinate value in world coordinate system of first point to be measured in world coordinate system, can
Determine the interior angle angle for the triangle that the line of the first point to be measured, left camera optical center, right camera optical center between any two is formed
Degree, i.e. first location information, in the case where other, first location information is also possible to the coordinate value in world coordinate system.
Particularly, when measuring device position is fixed, i.e., its position in world coordinate system is fixed, can be according to process above-mentioned successively
Determine the first point to be measured, coordinate value of second point to be measured in world coordinate system, i.e., first location information is (in world coordinates
Coordinate value in system), second location information (coordinate value in world coordinate system), and then according to the coordinate value combination second position
Information and preset formula determine the distance between the described first point to be measured and second point to be measured, and preset formula is detailed in
Hereinafter.
Further, further include：
It obtains from the described first point to be measured and the datum mark and is wired to the described second point to be measured and the datum mark
Deflection angle between line.
Further, true according to preset formula described based on the first location information and the second location information
In the step of fixed the distance between first point to be measured and second point to be measured, specifically include：
Based on the deflection angle, the first location information, second location information and institute determined according to preset formula
State the distance between the first point to be measured and second point to be measured.
Further, its rotation angle measurement sensor for rotating angle of measurement is also provided on AR glasses, such as nine axis pass
Gyroscope and electronic compass in sensor, it should be noted that the rotation angle in the embodiment of the present invention is deflection angle.For
The distance between the point to be measured of precision higher first and the second point to be measured can be obtained, determine first point to be measured or
After second point to datum mark to be measured, glasses rotation is measured by gyroscope in nine axle sensors and electronic compass cooperation
Angle, i.e. the rotation angle of datum mark, since datum mark, the first point to be measured and second to be measured three's line may be constructed
One triangle, and rotate the angle that angle is the first point to be measured and the second point and datum mark line to be measured, the angle knot
It closes both the first point to be measured and the second point to be measured and arrives the distance of datum mark respectively, then pass through the cosine law of triangle
Determine that the distance between the first point to be measured and the second point to be measured, both the first point to be measured and the second point to be measured arrive respectively
The distance of datum mark can be obtained by being described above and being explained later, in an embodiment of the present invention, can for the ease of identification
Identified on point to be measured, and corresponding identification marking be set in AR glasses, in order to quickly determine the first point to be measured/
Second point to be measured.Measurement point can not certainly be identified, the point with the identification of AR glasses is mark, concretely institute hereinafter
The reticle alignment stated o'clock as first it is to be measured even the point to be measured of point/second.
Further, in a kind of wherein embodiment, as shown in Fig. 2, it is described based on the first location information and
The second location information determines the distance between the described first point to be measured and second point to be measured according to preset formula
Step S300 in, specifically include：
S310：Based on the first location information determine the first of the described first relatively described datum mark of point to be measured away from
From.
S320：Based on the second location information determine the second of the described second relatively described datum mark of point to be measured away from
From.
S330：According to the deflection angle, the first distance, second distance and according to preset formula determine described
The distance between 1 point to be measured and second point to be measured.
Further, the described first point to be measured and second point to be measured are equipped with contraposition mark, described through benchmark
The Cheng Qian that crosses of the first point to be measured determined after contraposition is put, including：
The contraposition mark of the described first point to be measured of point/second to be measured is scanned, so that the datum mark can be with described the
The one point contraposition to be measured of point/second to be measured.
Embodiment one
In the present embodiment, in setting measurement mark, identification point can be that material picture can also be the virtual of extraneous projection
Image is identified, wherein mark can be used the symbols such as " ten " word or add special color on point to be measured；The depth camera of AR glasses
Head barcode scanning, when detecting mark, illustrates that the point needs to measure, and starts process of measurement automatically at this time.As shown in figure 3, photographic device
(such as depth camera A) is arranged on frame or eyeglass and close to nose support.At this point, as shown in figure 4, there is center in AR glasses
Cross hairs, when central cross line and the point to be measured of measurement tool tagged first are overlapped, acquisition the first measurement image, by the
One measurement image completes the positioning and measurement of first point, obtains the angle α, and obtain x value (as shown in Figure 5) by formula (1)；AR
Glasses start have the tagged second spot scan to be measured, and when central cross line and measurement tool tagged second
When point to be measured is overlapped, acquisition the second measurement image is completed the positioning and measurement of second point by the second measurement image, obtained
The angle β, and y value (as shown in Figure 5) is obtained by formula (2).And gyroscope and electronics sieve in nine axle sensors of combination above
The angle γ (as shown in Figure 5) of glasses rotation is measured in disk cooperation.Finally the first point to be measured and second are obtained according to following formula
The distance between point to be measured, referring specifically to and combine triangle (the specific ginseng constituted between photographic device and measurement point above
See Fig. 8) and the triangle cosine law (formula (3)), formula is as follows：
X=L*tan (α)/2 (1)
Y=L*tan (β)/2 (2)
Wherein, L is the distance between two optical center of binocular camera shooting device in formula, and α, β are in Fig. 5 intermediate cam shape in formula
Angle, the rotation angle of γ glasses.
Embodiment two
In the present embodiment, as shown in fig. 6, the photographic device (such as depth camera A) is located on frame or eyeglass
And close to mirror pin bracket.Start length measurement function/program first；Such as embodiment one, there is central cross line in AR glasses, when
When central cross line and point/second to be measured of measurement tool tagged first point to be measured are overlapped, acquisition the first measurement image/the
Two images to be measured, specific as shown in fig. 7, it can equally set measurement mark, this will not be repeated here.Scanning recognition first to
The mark of measurement point, according to in embodiment one to the assignment test process of the first point to be measured, in conjunction with photographic device above with
The triangle (referring specifically to Fig. 8) constituted between measurement point, formula (4), (5), (6) combine the available x value of Fig. 8；
Then the mark of the point to be measured of scanning recognition second, determines the second point to be measured also according in same embodiment one
Bit test procedures, also in conjunction with the triangle (referring specifically to Fig. 8) constituted between photographic device and measurement point above, formula (7),
(8), (9) combine the available y value of Fig. 8：
Wherein, L is the distance between two optical center of binocular camera shooting device, formula (4) in formula above-mentioned in the present embodiment
(5) h is the vertical range that the first point to be measured arrives L in, in formula (7) and (8) s for the second point to be measured to L it is vertical away from
From.C is the first distance to be measured to an optical center in formula (5) and (6), and d is second to be measured to same optical center in formula (6)
Distance.
Reuse the angle ε that glasses rotation is measured in gyroscope and the electronic compass cooperation in nine axle sensors, base above-mentioned
Combine the rotation angle that following formula is combined to obtain the distance between the first point to be measured and the second point to be measured on plinth, it is specific to tie
Close the triangle (referring specifically to Fig. 8) and the triangle cosine law (formula constituted between photographic device and measurement point above
(10))。
Further, first point to be measured or second point to be measured are determined after datum mark aligns described
In the process, it specifically includes：
The datum mark and any point to be measured are aligned, to determine that described first is to be measured according to control instruction
Point/second point to be measured.
In an embodiment of the present invention, inswept to be overlapped with the point of other same feature in order to avoid in measurement process, accidentally
It is considered the point for needing to measure.Time when cross hairs is overlapped with the first point to be measured of point/second to be measured on AR glasses is set
Limitation, such as the time of coincidence be carry out within 1-3 seconds confirm coincidence point be the first point to be measured of point/second to be measured, or
When cross hairs is overlapped with the first point to be measured of point/second to be measured on AR glasses, identified using point touching screen or gesture
The point that confirmation is overlapped is the first point to be measured of point/second to be measured.Time of coincidence for being specifically arranged passes through touch screen/hand
During gesture determines that point to be measured is the first point to be measured of point/second to be measured, generates confirmation and determine that described first is to be measured
Point/second point to be measured control instruction, to determine that the described first point to be measured/described second is to be measured according to the instruction
Amount point.
Further, the process of the distance between the point to be measured of the determination described first and second point to be measured
Later, further include：
Control is shown the distance between the described first point to be measured and second point to be measured.
It determines the distance between the described first point to be measured and second point to be measured in time for the ease of user, will count
The result of calculating is shown, is mainly shown on display terminal, which can be Huo Zheyu on the eyeglass of AR glasses
On other display terminals of AR glasses connection, such as mobile phone, computer, plate, projection device.
A kind of computer readable storage medium provided in the embodiment of the present invention, is stored thereon with computer program, the meter
The step of calculation machine program realizes distance measurement method described in any technical solution when executing.
A kind of distance-measuring device provided in the embodiment of the present invention, including processor, memory, the memory are used for
Computer program is stored, the computer program realizes distance measurement method described in any technology when being executed by the processor
The step of.
A kind of smart machine provided in the embodiment of the present invention, including photographic device and the computer readable storage medium
Or the distance-measuring device, the photographic device is for acquiring the first measurement image and the second measurement image.
Further, it is applied to mixed reality glasses, as it was noted above, the photographic device is located on frame or eyeglass
And close to nose support or close to mirror pin bracket.
Further, as it was noted above, further including for obtaining from the described first point to be measured and the datum mark line
To the angle measurement unit of the deflection angle between the described second point to be measured and the datum mark line, the angle measurement dress
It sets including the gyroscope and electronic compass in previously described nine axle sensor.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (12)
1. a kind of distance measurement method, which is characterized in that include the following steps：
Acquisition includes the first measurement image of the first point to be measured determined after datum mark aligns, according to the first measurement figure
First location information as determining first point to be measured；
Acquisition includes the second measurement image of the second point to be measured determined after datum mark contraposition, is surveyed according to described second
Spirogram picture determines the second location information of the described second point to be measured；
Based on the first location information and the second location information, according to preset formula determine the described first point to be measured and
The distance between described second point to be measured.
2. distance measurement method according to claim 1, which is characterized in that further include：
It obtains from the described first point to be measured and the datum mark and is wired to the described second point to be measured and the datum mark line
Between deflection angle.
3. distance measurement method according to claim 2, which is characterized in that it is described based on the first location information and
The second location information determines the distance between the described first point to be measured and second point to be measured according to preset formula
The step of in, specifically include：
Institute is determined based on the deflection angle, the first location information, the second location information and the preset formula
State the distance between the first point to be measured and second point to be measured.
4. distance measurement method according to claim 3, which is characterized in that it is described based on the first location information and
The second location information determines the distance between the described first point to be measured and second point to be measured according to preset formula
The step of in, specifically include：
The first distance of the described first relatively described datum mark of point to be measured is determined based on the first location information；
The second distance of the described second relatively described datum mark of point to be measured is determined based on the second location information；
According to the deflection angle, the first distance, the second distance and the preset formula determine described first to
The distance between measurement point and second point to be measured.
5. distance measurement method according to claim 1, which is characterized in that first point to be measured and described second to
Measurement point is equipped with contraposition mark, in the Cheng Qian that crosses of first point to be measured determined after datum mark aligns, including：
The contraposition mark of the described first point to be measured of point/second to be measured is scanned, so that the datum mark can be with described the
The one point contraposition to be measured of point/second to be measured.
6. distance measurement method according to claim 1, which is characterized in that it is described after datum mark aligns determine described in
During first point to be measured or second point to be measured, specifically include：
The datum mark and any point to be measured are aligned, so as to according to control instruction determine the described first point to be measured/
Second point to be measured.
7. distance measurement method according to claim 1, which is characterized in that in the point to be measured of the determination described first and
After the process of the distance between second point to be measured, further include：
Control is shown the distance between the described first point to be measured and second point to be measured.
8. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, which executes
The step of Shi Shixian claim 1 to 7 described in any item distance measurement methods.
9. a kind of distance-measuring device, which is characterized in that including processor, memory, the memory is for storing computer
Program realizes claim 1 to 7 described in any item distance measurement methods when the computer program is executed by the processor
The step of.
10. a kind of smart machine, which is characterized in that including computer readable storage medium described in photographic device and claim 8
Or distance-measuring device as claimed in claim 9, the photographic device is for acquiring the first measurement image and described second
Measure image.
11. smart machine according to claim 10, which is characterized in that be applied to mixed reality glasses, the camera shooting dress
Setting on frame or eyeglass and close to nose support or close to mirror pin bracket.
12. smart machine according to claim 10, which is characterized in that further include to be measured from described first for obtaining
Point and the datum mark are wired to the angle measurement of the deflection angle between the described second point to be measured and the datum mark line
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810293643.8A CN108917703A (en) | 2018-03-30 | 2018-03-30 | Distance measurement method and device, smart machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810293643.8A CN108917703A (en) | 2018-03-30 | 2018-03-30 | Distance measurement method and device, smart machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108917703A true CN108917703A (en) | 2018-11-30 |
Family
ID=64402961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810293643.8A Pending CN108917703A (en) | 2018-03-30 | 2018-03-30 | Distance measurement method and device, smart machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108917703A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109443305A (en) * | 2018-12-11 | 2019-03-08 | 福建汇川物联网技术科技股份有限公司 | A kind of distance measuring method and device |
| CN109931906A (en) * | 2019-03-28 | 2019-06-25 | 杭州华雁云态信息技术有限公司 | Video camera distance measuring method, device and electronic equipment |
| CN113073570A (en) * | 2021-04-12 | 2021-07-06 | 平阳县政府投资项目建设中心 | Construction method for controlling perpendicularity of equal-section thin-wall pier based on two-point distance method |
| CN115442525A (en) * | 2022-08-31 | 2022-12-06 | 丁非 | Pupil distance measuring method, system, terminal and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107003728A (en) * | 2014-11-25 | 2017-08-01 | 微软技术许可有限责任公司 | Virtual measurement instrument for wearable visualization device |
| WO2017134886A1 (en) * | 2016-02-02 | 2017-08-10 | ソニー株式会社 | Information processing device, information processing method, and recording medium |
-
2018
- 2018-03-30 CN CN201810293643.8A patent/CN108917703A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107003728A (en) * | 2014-11-25 | 2017-08-01 | 微软技术许可有限责任公司 | Virtual measurement instrument for wearable visualization device |
| WO2017134886A1 (en) * | 2016-02-02 | 2017-08-10 | ソニー株式会社 | Information processing device, information processing method, and recording medium |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109443305A (en) * | 2018-12-11 | 2019-03-08 | 福建汇川物联网技术科技股份有限公司 | A kind of distance measuring method and device |
| CN109931906A (en) * | 2019-03-28 | 2019-06-25 | 杭州华雁云态信息技术有限公司 | Video camera distance measuring method, device and electronic equipment |
| CN109931906B (en) * | 2019-03-28 | 2021-02-23 | 华雁智科(杭州)信息技术有限公司 | Camera ranging method and device and electronic equipment |
| CN113073570A (en) * | 2021-04-12 | 2021-07-06 | 平阳县政府投资项目建设中心 | Construction method for controlling perpendicularity of equal-section thin-wall pier based on two-point distance method |
| CN115442525A (en) * | 2022-08-31 | 2022-12-06 | 丁非 | Pupil distance measuring method, system, terminal and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Luhmann et al. | Sensor modelling and camera calibration for close-range photogrammetry | |
| CN108917703A (en) | Distance measurement method and device, smart machine | |
| EP2312330B1 (en) | Graphics-aided remote position measurement with handheld geodesic device | |
| US9846035B2 (en) | Geodetic surveying device having automatic high-precision target point sighting functionality | |
| KR101070591B1 (en) | distance measuring apparatus having dual stereo camera | |
| US9369695B2 (en) | Method and apparatus for three-dimensional measurement and image processing device | |
| US10085012B2 (en) | Single-view feature-less depth and texture calibration | |
| CN108805936A (en) | Join scaling method, device and electronic equipment outside video camera | |
| JP4743771B2 (en) | Section data acquisition method, system, and section inspection method | |
| US20180017381A1 (en) | Positioning of two bodies by means of an alignment system with a pair of data spectacles | |
| CN105387847A (en) | Non-contact measurement method, measurement equipment and measurement system thereof | |
| CN111882608A (en) | Pose estimation method between augmented reality glasses tracking camera and human eyes | |
| US11747651B2 (en) | Computer-implemented method for determining centring parameters for mobile terminals, mobile terminal and computer program | |
| KR101925289B1 (en) | Method and apparatus for identifying location/angle of terminal | |
| CN110194173A (en) | Occupant's monitoring arrangement | |
| CN211178436U (en) | System for magnetometer spatial localization | |
| CN112857325A (en) | System and method for magnetometer spatial localization | |
| CN110519586A (en) | A kind of optical device calibration device and method | |
| CN112116665B (en) | Structural light sensor calibration method | |
| JP2018013343A (en) | Survey assistance apparatus | |
| US20240159621A1 (en) | Calibration method of a portable electronic device | |
| Zhou et al. | CCD camera calibration based on natural landmarks | |
| WO2022084291A1 (en) | Computer-implemented method for determining a position of a center of rotation of an eye using a mobile device, mobile device and computer program | |
| CN104567812A (en) | Method and device for measuring spatial position | |
| TWI637353B (en) | Measurement device and measurement method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181130 |
|
| RJ01 | Rejection of invention patent application after publication |