CN109682312A - A kind of method and device based on camera measurement length - Google Patents
A kind of method and device based on camera measurement length Download PDFInfo
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- CN109682312A CN109682312A CN201811525536.XA CN201811525536A CN109682312A CN 109682312 A CN109682312 A CN 109682312A CN 201811525536 A CN201811525536 A CN 201811525536A CN 109682312 A CN109682312 A CN 109682312A
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- moment
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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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
Abstract
The invention discloses a kind of methods based on camera measurement length, include the following steps: S01: choosing two endpoints of length to be measured in object, the focal length for adjusting each camera is shot；S02: choosing any two camera in camera array, forms one and calculates pair, according to the coordinate and corresponding shooting picture for calculating two cameras of centering, calculates separately out the corresponding three-dimensional coordinate of two endpoints of length to be measured in picture；S03: processing unit calculates the length between the two endpoints according to the three-dimensional coordinate in two endpoints of length to be measured；S04: angle measuring device drives all cameras in camera array to be rotated simultaneously, repeats step S01-S03.A kind of method and device based on camera measurement length provided by the invention can be calculated the three-dimensional coordinate of object space using camera array, and correct existing drift angle, and then computational length using angle measuring device.
Description
Technical field
The present invention relates to field of data recognition, specifically design a kind of method and device based on camera measurement length.
Background technique
In daily life, it is often necessary to the information such as the length of object are measured, since measurement object length needs the works such as meter ruler
Tool, and meter ruler may not be carried.Mobile phone almost manpower one at present, the camera on mobile phone can take pictures at any time, so can
To calculate the three-dimensional coordinate of object using cell-phone camera function, and then calculate object length.But mobile phone camera is due to shooting
Be three-dimensional space two-dimensional space a projection, so can be produced when plane where primary optical axis is not orthogonal to shooting object
Raw biggish error.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of method and devices based on camera measurement length, can
The three-dimensional coordinate of object space is calculated using camera array, and corrects existing drift angle, Jin Erji using angle measuring device
Calculate object length.
To achieve the goals above, the present invention adopts the following technical scheme: it is a kind of based on camera measurement length method,
Include the following steps:
S01: choosing two endpoints of length to be measured in object, the two endpoint regions are set as object under test
Focus area, Graphic Pattern Matching module matches focus area in D camera of camera array, centered on focus area
The focal length for adjusting separately each camera is shot, and shooting image is transmitted in processing unit；Wherein, each camera
Primary optical axis it is parallel；D is the integer more than or equal to 2；
S02: processing unit establishes three-dimensional system of coordinate using the intersection point of camera lens and primary optical axis in reference camera as origin,
In camera array choose any two camera, formed one calculate pair, according to calculate two cameras of centering coordinate with
And corresponding shooting picture, calculate separately out the corresponding three-dimensional coordinate of two endpoints of length to be measured in picture；The reference camera shooting
Head is a camera in the camera array；
S03: processing unit calculates the length between the two endpoints according to the three-dimensional coordinate in two endpoints of length to be measured；
S04: angle measuring device drives all cameras in camera array to be rotated simultaneously, one angle of every rotation
Degree, the Graphic Pattern Matching module match focus area in D camera of camera array, repeat step S01-S03, calculate
Length under the angle between corresponding two endpoints；
When the length between the two-end-point that the picture shot according to the camera array of rotation front and back calculates meets:When, export the average length between two-end-pointWherein, E is threshold value, L
(i) length between two endpoints of i-th of moment calculating is indicated, k indicates the shooting number of camera array, shoots each time
A corresponding moment.
Further, the step S02 includes choosing M calculating pair, and it is corresponding to calculate separately two endpoints of length to be measured
Three-dimensional coordinate, and X is sought, the average value of Y, Z, and by X, the average value of Y, Z are as the corresponding three-dimensional of two endpoints of length to be measured
Coordinate, wherein 0 < M≤D* (D-1)/2.
Further, the step S02 includes choosing M calculating pair, calculates separately and obtains two endpoints pair of length to be measured
The M group three-dimensional coordinate answered；The step S03 includes that processing unit is calculated according to the M group three-dimensional coordinate of two endpoints of length to be measured
It obtains M length between the two endpoints, averages to M length, and using average value as two endpoints of length to be measured
Three-dimensional coordinate calculate the length between the two endpoints, wherein 0 < M≤D* (D-1)/2.
Further, lens distortion correction is carried out to camera array before the step S01.
Further, the Graphic Pattern Matching module is using feature matching method in D camera of camera array
With focus area.
Further, the method for the corresponding three-dimensional coordinate of endpoint is calculated in the step S02 are as follows:
Wherein, W1、H1、w1、h1And f1Respectively indicate the picture of calculating first camera of centering shooting in the X-axis direction
Total number of pixels, total number of pixels in the Y-axis direction, in the X-axis direction the number of pixel-shift, in the Y-axis direction as
The number and focal length of element offset；W2、H2、w2、h2And f2The picture for calculating the shooting of second camera of centering is respectively indicated in X-axis side
Upward total number of pixels, total number of pixels in the Y-axis direction, in the X-axis direction the number of pixel-shift, in Y direction
The number and focal length of upper pixel-shift；Δ x indicate calculate second camera of centering with referring to camera in X-axis apart from origin
Deviation, Δ y indicate calculate second camera of centering and referring to camera in Y-axis apart from the deviation of origin；Wherein, X-axis
It is using the primary optical axis referring to camera as normal, using the putting down as origin referring to the intersection point of camera lens and primary optical axis in camera with Y-axis
Face.
Further, in the S04 L (i) calculation method are as follows:
S041: the image at the i-th moment and the shooting of jth moment is chosen, it is corresponding that repetition step S03 calculates separately the two moment
Two endpoints between length Li' and Lj'；Wherein, the i-th moment and jth moment, the angle of the angle measuring device rotation
It is different；
S042: the length between two endpoints of the i-th moment is calculatedWherein, A is indicated
The angle of straight line where the primary optical axis of i-th of moment and jth moment corresponding camera, and A ≠ 0.
Further, the angle measuring device can also be gyroscope or obliquity sensor.
It is provided by the invention it is a kind of based on camera measurement length device, including Graphic Pattern Matching module, camera array,
Angle measuring device, display screen, storage unit and processing unit, the camera array include D camera, the angle
Measuring device drives all cameras in the camera array to be rotated simultaneously, and the camera array and angle measurement are set
Standby to connect processing unit described in the display screen, storage unit simultaneously, the display screen is used to show the camera shooting
Photo, during the angle measuring device drives the camera array different rotation angle, one angle of every rotation, institute
It states Graphic Pattern Matching module and matches focus area in D camera of camera array, the processing unit is referring to camera
The intersection point of middle camera lens and primary optical axis is origin, establishes three-dimensional system of coordinate, and any two camera, shape are chosen in camera array
At a calculating pair, the processing unit is calculated according to the coordinate and corresponding shooting picture for calculating two cameras of centering
Length between two endpoints of length to be measured under different rotation angle out, and be stored in a storage unit, when according to rotation front and back
The length between two-end-point that the picture of camera array shooting calculates meets:
When, export the average length between two-end-pointWherein, E is threshold value, and L (i) indicates two calculated at i-th of moment
Length between endpoint, k indicate the shooting number of camera array, shoot a corresponding moment each time.
The invention has the benefit that the present invention quickly calculates object length using camera array；When the number of camera
When amount is more than or equal to 2, more accurate three-dimensional coordinate can be obtained, and as camera quantity increases, three-dimensional coordinate will approach standard
Really value；After using angle measuring device as requested, deviation caused by inclination angle can be corrected.
Detailed description of the invention
Attached drawing 1 is a kind of flow chart that length method is measured based on camera of the present invention.
Attached drawing 2 is the schematic diagram that the one of camera of the present invention is reference camera.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, with reference to the accompanying drawing to specific reality of the invention
The mode of applying is described in further detail.
As shown in Fig. 1, a kind of method based on camera measurement length provided by the invention, includes the following steps:
S01: choosing two endpoints of length to be measured in object, the two endpoint regions are set as object under test
Focus area, Graphic Pattern Matching module matches focus area in D camera of camera array, centered on focus area
The focal length for adjusting separately each camera is shot, and shooting image is transmitted in processing unit；Wherein, each camera
Primary optical axis it is parallel；D is the integer more than or equal to 2.
Before this, lens distortion correction is carried out to camera array.Specifically using chessboard method in camera array
All camera imagings carry out perspective distortion correction.
The length for needing to measure in the present invention is the distance between two endpoints of length to be measured, and therefore, which needs
It to be photographed in different pictures, and need to be accurately identified out in different pictures, just can be carried out subsequent
Calculating, specifically, being marked in different pictures using feature matching method.Specifically, multiple pictures are being shot
When it is general, need for object under test to be put into each camera center, and focus in the object, so that camera will be at a distance of adjusting
Whole to best focusing position.
S02: processing unit establishes three-dimensional system of coordinate using the intersection point of camera lens and primary optical axis in reference camera as origin,
In camera array choose any two camera, formed one calculate pair, according to calculate two cameras of centering coordinate with
And corresponding shooting picture, calculate separately out the corresponding three-dimensional coordinate of two endpoints of length to be measured in picture；It is referring to camera
A camera in the camera array.
Wherein, since each shooting image has two endpoints, each calculating centering is containing there are four three-dimensional coordinates.
The calculation method of three-dimensional coordinate specifically:
Wherein, W1、H1、w1、h1And f1Respectively indicate the picture of calculating first camera of centering shooting in the X-axis direction
Total number of pixels, total number of pixels in the Y-axis direction, in the X-axis direction the number of pixel-shift, in the Y-axis direction as
The number and focal length of element offset；W2、H2、w2、h2And f2The picture for calculating the shooting of second camera of centering is respectively indicated in X-axis side
Upward total number of pixels, total number of pixels in the Y-axis direction, in the X-axis direction the number of pixel-shift, in Y direction
The number and focal length of upper pixel-shift；Δ x indicate calculate second camera of centering with referring to camera in X-axis apart from origin
Deviation, Δ y indicate calculate second camera of centering and referring to camera in Y-axis apart from the deviation of origin；Wherein, X-axis
It is using the primary optical axis referring to camera as normal, using the putting down as origin referring to the intersection point of camera lens and primary optical axis in camera with Y-axis
Face.
Attached drawing 2 is please referred to, one of camera is the schematic diagram referring to camera.
Calculated in the present invention in two cameras of centering one of them can for referring to camera, can also two take the photograph
As head is not for referring to camera；Because the relative distance in camera array referring to camera and remaining camera is determining
, using the three-dimensional system of coordinate that the intersection point referring to camera lens in camera and primary optical axis is established by origin, remaining can be conversed and taken the photograph
As the three-dimensional coordinate of head.
The present invention can reduce error using the method averaged repeatedly is calculated.The method that one of which is averaged
Are as follows: M calculating pair is chosen, and seeks X, the average value of Y, Z, and by X, the average value of Y, Z are as two endpoints pair of length to be measured
The three-dimensional coordinate answered, wherein 0 < M≤D* (D-1)/2.
S03: processing unit calculates the length between the two endpoints according to the three-dimensional coordinate of two endpoints of length to be measured.
It is provided by the invention another repeatedly calculate the method averaged are as follows: choose M calculating pair, calculate separately
The corresponding M group three-dimensional coordinate of two endpoints of length to be measured out；Step S03 includes processing unit according to two endpoints of length to be measured
M length between the two endpoints is calculated in M group three-dimensional coordinate, averages to M length, and using average value as
The three-dimensional coordinate of two endpoints of length to be measured calculates the length between the two endpoints, wherein 0 < M≤D* (D-1)/2.
S04: angle measuring device drives all cameras in camera array to be rotated simultaneously, one angle of every rotation
Degree, Graphic Pattern Matching module match focus area in D camera of camera array, repeat step S01-S03, and calculating should
Length under angle between corresponding two endpoints；
When the length between the two-end-point that the picture shot according to the camera array of rotation front and back calculates meets:When, export the average length between two-end-pointWherein, E is threshold value, L
(i) length between two endpoints of i-th of moment calculating is indicated, k indicates the shooting number of camera array, shoots each time
A corresponding moment.
Wherein, the calculation method of L (i) is specifically as follows:
S041: the image at the i-th moment and the shooting of jth moment is chosen, it is corresponding that repetition step S03 calculates separately the two moment
Two endpoints between length Li' and Lj'；Wherein, the i-th moment and jth moment, angle measuring device drive camera array
The angle of rotation is different；
S042: the length between two endpoints of the i-th moment is calculatedWherein, A is indicated
The angle of straight line where the primary optical axis of i-th of moment and jth moment corresponding camera, and A ≠ 0.
Wherein, angle measuring device can also be gyroscope or obliquity sensor or other direct or indirect measurement optical axis institutes
In the equipment of included angle of straight line instrument.
It is provided by the invention it is a kind of based on camera measurement length device, including Graphic Pattern Matching module, camera array,
Angle measuring device, display screen, storage unit and processing unit, camera array include D camera, angle measuring device band
It moves all cameras in the camera array while being rotated, camera array and angle measuring device connect display simultaneously
Screen, storage unit and processing unit, display screen are used to show the photo of camera shooting, drive camera in angle measuring device
During array rotation different angle, one angle of every rotation, Graphic Pattern Matching module is in D camera of camera array
With focus area, processing unit referring to the intersection point of camera lens and primary optical axis in camera, as origin, to establish three-dimensional system of coordinate, take the photograph
As choosing any two camera in head array, a calculating pair is formed, processing unit is according to calculating two cameras of centering
Coordinate and corresponding shooting picture calculate under different rotation angle length between two endpoints of length to be measured, and are stored in
In storage unit, when the length between the two-end-point that the picture shot according to the camera array of rotation front and back calculates is full
Foot:When, export the average length between two-end-pointWherein, E is threshold value,
L (i) indicates the length between two endpoints that i-th of moment calculates, and k indicates the shooting number of camera array, claps each time
Take the photograph a corresponding moment.
The present invention quickly calculates object length using camera array；When the quantity of camera is more than or equal to 2, can be obtained
More accurate three-dimensional coordinate, and as camera quantity increases, three-dimensional coordinate will approach exact value；When as requested using folder
After angular measurement equipment, deviation caused by inclination angle can be corrected.
The above description is only a preferred embodiment of the present invention, and the embodiment is not intended to limit patent protection of the invention
Range, thus it is all with the variation of equivalent structure made by specification and accompanying drawing content of the invention, it similarly should be included in this
In the protection scope of invention appended claims.
Claims (9)
1. a kind of method based on camera measurement length, which comprises the steps of:
S01: two endpoints of length to be measured are chosen in object, the two endpoint regions are set as to the coke of object under test
Point region, Graphic Pattern Matching module match focus area in D camera of camera array, centered on focus area respectively
The focal length for adjusting each camera is shot, and shooting image is transmitted in processing unit；Wherein, the master of each camera
Optical axis is parallel；D is the integer more than or equal to 2；
S02: processing unit referring to the intersection point of camera lens and primary optical axis in camera, as origin, to establish three-dimensional system of coordinate, image
Any two camera is chosen in head array, one is formed and calculates pair, according to calculating the coordinate of two cameras of centering and right
The shooting picture answered calculates separately out the corresponding three-dimensional coordinate of two endpoints of length to be measured in picture；It is described to be referring to camera
A camera in the camera array；
S03: processing unit calculates the length between the two endpoints according to the three-dimensional coordinate in two endpoints of length to be measured；
S04: angle measuring device drives all cameras in camera array to be rotated simultaneously, one angle of every rotation, institute
It states Graphic Pattern Matching module and matches focus area in D camera of camera array, repeat step S01-S03, calculate the angle
Length under degree between corresponding two endpoints；
When the length between the two-end-point that the picture shot according to the camera array of rotation front and back calculates meets:When, export the average length between two-end-pointWherein, E is threshold value, L
(i) length between two endpoints of the i-th moment calculating is indicated, k indicates the shooting number of camera array, each time shooting pair
Answer a moment.
2. a kind of method for measuring length between two endpoints based on camera according to claim 1, which is characterized in that
The step S02 includes choosing M calculating pair, calculates separately the corresponding three-dimensional coordinate of two endpoints of length to be measured, and seek X,
The average value of Y, Z, and by X, the average value of Y, Z are as the corresponding three-dimensional coordinate of two endpoints of length to be measured, wherein 0 < M≤D*
(D-1)/2。
3. a kind of method for measuring length between two endpoints based on camera according to claim 1, which is characterized in that
The step S02 includes choosing M calculating pair, calculates separately and obtains the corresponding M group three-dimensional coordinate of two endpoints of length to be measured；Institute
Stating step S03 includes that processing unit is calculated between the two endpoints according to the M group three-dimensional coordinate of two endpoints of length to be measured
M length, average to M length, and using average value as the three-dimensional coordinate of two endpoints of length to be measured calculate this two
Length between a endpoint, wherein 0 < M≤D* (D-1)/2.
4. a kind of method for measuring length between two endpoints based on camera according to claim 1, which is characterized in that
Lens distortion correction is carried out to camera array before the step S01.
5. a kind of method for measuring length between two endpoints based on camera according to claim 1, which is characterized in that
The Graphic Pattern Matching module matches focus area in D camera of camera array using feature matching method.
6. a kind of method for measuring length between two endpoints based on camera according to claim 1, which is characterized in that
The method of the corresponding three-dimensional coordinate of endpoint is calculated in the step S02 are as follows:
Wherein, W1、H1、w1、h1And f1Respectively indicate the total picture of the picture of calculating first camera of centering shooting in the X-axis direction
Plain number, total number of pixels in the Y-axis direction, the in the X-axis direction number of pixel-shift, in the Y-axis direction pixel-shift
Number and focal length；W2、H2、w2、h2And f2It respectively indicates and calculates the picture of centering second camera shooting in the X-axis direction
Total number of pixels, total number of pixels in the Y-axis direction, the in the X-axis direction number of pixel-shift, in the Y-axis direction pixel
The number and focal length of offset；Δ x indicate calculate second camera of centering with referring to camera in X-axis apart from the inclined of origin
Difference, Δ y indicate calculate second camera of centering and referring to camera in Y-axis apart from the deviation of origin；Wherein, X-axis and Y-axis
It is using the primary optical axis referring to camera as normal, using the intersection point of camera lens and primary optical axis in reference camera as the plane of origin.
7. a kind of method for measuring length between two endpoints based on camera according to claim 6, which is characterized in that
The calculation method of L (i) in the S04 are as follows:
S041: choosing the image at the i-th moment and the shooting of jth moment, repeats step S03 and calculates separately the two moment corresponding two
Length L between a endpointi' and Lj'；Wherein, the angle at the i-th moment and jth moment, the angle measuring device rotation is different；
S042: the length between two endpoints of the i-th moment is calculatedWherein, A is indicated i-th
The angle of straight line where the primary optical axis of moment and jth moment corresponding camera, and A ≠ 0.
8. a kind of method for measuring length between two endpoints based on camera according to claim 6, which is characterized in that
The angle measuring device is gyroscope or obliquity sensor.
9. a kind of device based on camera measurement length, which is characterized in that including Graphic Pattern Matching module, camera array, folder
Angular measurement equipment, display screen, storage unit and processing unit, the camera array include D camera, the angle measurement
Equipment drives all cameras in the camera array to be rotated simultaneously, and the camera array and angle measuring device are same
When connect the display screen, storage unit and the processing unit, the display screen is used to show the photograph of the camera shooting
Piece, during the angle measuring device drives the camera array different rotation angle, one angle of every rotation is described
Graphic Pattern Matching module matches focus area in D camera of camera array, and the processing unit is referring in camera
The intersection point of camera lens and primary optical axis is origin, establishes three-dimensional system of coordinate, and any two camera is chosen in camera array, is formed
One calculating pair, the processing unit are calculated according to the coordinate and corresponding shooting picture that calculate two cameras of centering
Length between two endpoints of length to be measured under different rotation angle, and be stored in a storage unit, when taking the photograph according to rotation front and back
The length between two-end-point calculated as the picture that head array is shot meets:
When, export the average length between two-end-pointWherein, E is threshold value, and L (i) indicates two ends calculated at i-th of moment
Length between point, k indicate the shooting number of camera array, shoot a corresponding moment each time.
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| CN112465947A (en) * | 2020-11-18 | 2021-03-09 | 李刚 | Virtual space establishing method and system for image |
| CN112465947B (en) * | 2020-11-18 | 2024-04-23 | 李刚 | Method and system for establishing virtual space of image |
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