CN109682312B - Method and device for measuring length based on camera - Google Patents
Method and device for measuring length based on camera Download PDFInfo
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- CN109682312B CN109682312B CN201811525536.XA CN201811525536A CN109682312B CN 109682312 B CN109682312 B CN 109682312B CN 201811525536 A CN201811525536 A CN 201811525536A CN 109682312 B CN109682312 B CN 109682312B
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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 method for measuring length based on a camera, which comprises the following steps: s01: selecting two end points of the length to be measured from an object, and adjusting the focal length of each camera to shoot; s02: selecting any two cameras in the camera array to form a calculation pair, and respectively calculating three-dimensional coordinates corresponding to two end points of the length to be measured in the picture according to the coordinates of the two cameras in the calculation pair and the corresponding shot pictures; s03: the processing unit calculates the length between the two end points according to the three-dimensional coordinates of the two end points of the length to be measured; s04: and the included angle measuring equipment drives all the cameras in the camera array to rotate simultaneously, and the steps S01-S03 are repeated. According to the method and the device for measuring the length based on the camera, provided by the invention, the three-dimensional coordinate of the object space can be calculated by utilizing the camera array, and the existing deflection angle is corrected by utilizing the included angle measuring equipment, so that the length is calculated.
Description
Technical Field
The invention relates to the field of data identification, in particular to a method and a device for measuring length based on a camera.
Background
In daily life, information such as the length of an object needs to be measured, and a measuring tool such as a meter is needed for measuring the length of the object, so that the meter is not always carried around. At present, almost one part of a hand of a mobile phone can be shot at any time by a camera on the mobile phone, so that the three-dimensional coordinate of an object can be measured and calculated by utilizing the camera shooting function of the mobile phone, and the length of the object can be further calculated. However, the camera of the mobile phone is used for shooting a projection of a three-dimensional space in a two-dimensional space, so that a large error is generated when a main optical axis is not perpendicular to a plane where a shooting object is located.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a device for measuring length based on a camera, which can calculate the three-dimensional coordinate of an object space by utilizing a camera array, correct the existing deflection angle by utilizing included angle measuring equipment and further calculate the length of the object.
In order to achieve the purpose, the invention adopts the following technical scheme: a method for measuring length based on a camera comprises the following steps:
s01: selecting two end points with the length to be measured from an object, setting the areas where the two end points are located as focus areas of the object to be measured, matching the focus areas in D cameras of the camera array by the image matching module, respectively adjusting the focal lengths of the cameras by taking the focus areas as centers to carry out shooting, and transmitting shot images to the processing unit; the main optical axes of the cameras are parallel; d is an integer greater than or equal to 2;
s02: the processing unit establishes a three-dimensional coordinate system by taking the intersection point of a lens and a main optical axis in a reference camera as an original point, selects any two cameras in a camera array to form a calculation pair, and respectively calculates three-dimensional coordinates corresponding to two end points of the length to be measured in the picture according to the coordinates of the two cameras in the calculation pair and corresponding shot pictures; the reference camera is one camera in the camera array;
s03: the processing unit calculates the length between the two end points according to the three-dimensional coordinates of the two end points of the length to be measured;
s04: the included angle measuring equipment drives all cameras in the camera array to rotate simultaneously, and when the cameras rotate by an angle, the image matching module matches focus areas in the D cameras in the camera array, the steps S01-S03 are repeated, and the length between two corresponding end points at the angle is calculated;
when the length between two end points calculated according to the pictures shot by the camera arrays before and after rotation meets the following requirements:
the average length between the two end points is output
Wherein, E is a threshold, l (i) represents the length between two endpoints calculated at the ith moment, k represents the shooting times of the camera array, and each shooting corresponds to one moment.
Further, the step S02 includes selecting M calculation pairs, calculating three-dimensional coordinates corresponding to two end points of the length to be measured, respectively, obtaining an average value of X, Y, and Z, and taking the average value of X, Y, and Z as the three-dimensional coordinates corresponding to the two end points of the length to be measured, where M is greater than 0 and less than or equal to D (D-1)/2.
Further, the step S02 includes selecting M calculation pairs, and calculating M sets of three-dimensional coordinates corresponding to two end points of the length to be measured respectively; the step S03 includes the processing unit calculating M lengths between two end points of the length to be measured according to M sets of three-dimensional coordinates of the two end points, averaging the M lengths, and calculating the length between the two end points by using the average as the three-dimensional coordinates of the two end points of the length to be measured, where M is 0< D ≦ D (D-1)/2.
Further, before the step S01, lens distortion correction is performed on the camera array.
Further, the pattern matching module matches a focus area in the D cameras of the camera array by using a feature matching method.
Further, the method for calculating the three-dimensional coordinates corresponding to the end points in step S02 includes:
wherein the content of the first and second substances,W1、H1、w1、h1and f1Respectively representing the total number of pixels in the X-axis direction, the total number of pixels in the Y-axis direction, the number of pixel offsets in the X-axis direction, the number of pixel offsets in the Y-axis direction and the focal length of a picture shot by a first camera in the pair; w2、H2、w2、h2And f2Respectively representing the total number of pixels in the X-axis direction, the total number of pixels in the Y-axis direction, the number of pixel offsets in the X-axis direction, the number of pixel offsets in the Y-axis direction and the focal length of a picture shot by a second camera in the pair; Δ X represents the deviation of the second camera in the calculation pair from the origin on the X-axis with the reference camera, and Δ Y represents the deviation of the second camera in the calculation pair from the origin on the Y-axis with the reference camera; the X-axis and the Y-axis are planes which take the main optical axis of the reference camera as a normal line and take the intersection point of the lens and the main optical axis in the reference camera as an origin.
Further, the calculation method of l (i) in S04 is:
s041: selecting images shot at the ith moment and the jth moment, and repeating the step S03 to respectively calculate the length L between two endpoints corresponding to the two momentsi' and Lj'; the rotation angles of the included angle measuring equipment are different at the ith moment and the jth moment;
s042: calculating the length between two end points at the ith time
And A represents the included angle of the straight line where the main optical axis of the camera is located, which corresponds to the ith moment and the jth moment respectively, and A is not equal to 0.
Further, the included angle measuring device can also be a gyroscope or an inclination sensor.
The invention provides a device for measuring length based on a camera, which comprises a pattern matching module, a camera array, included angle measuring equipment, a display screen, a storage unit and a processing unit, wherein the camera array comprises D cameras, and the included angle measuring equipment drives all cameras in the camera arrayThe cameras rotate simultaneously, the camera array and the included angle measuring equipment are connected with the display screen, the storage unit and the processing unit simultaneously, the display screen is used for displaying the pictures shot by the cameras, when the included angle measuring equipment drives the camera array to rotate by different angles, each time the camera array rotates by one angle, the image matching module matches focus areas in D cameras of the camera array, the processing unit establishes a three-dimensional coordinate system by taking the intersection point of a lens in the reference camera and a main optical axis as an origin, selecting any two cameras in the camera array to form a calculation pair, calculating the length between two end points of the length to be measured under different rotating angles by the processing unit according to the coordinates of the two cameras in the calculation pair and corresponding shot pictures, and storing the length in the storage unit, when the length between two end points calculated according to the pictures shot by the camera arrays before and after rotation meets the following requirements:
the average length between the two end points is output
Wherein, E is a threshold, l (i) represents the length between two endpoints calculated at the ith moment, k represents the shooting times of the camera array, and each shooting corresponds to one moment.
The invention has the beneficial effects that: the invention utilizes the camera array to quickly measure and calculate the length of an object; when the number of the cameras is more than or equal to 2, more accurate three-dimensional coordinates can be obtained, and the three-dimensional coordinates approach to accurate values as the number of the cameras increases; deviations due to tilt angle can be corrected when the angle measuring device is used as desired.
Drawings
FIG. 1 is a flow chart of a method for measuring length based on a camera according to the present invention.
Fig. 2 is a schematic diagram of one camera of the present invention as a reference camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for measuring length based on a camera provided by the invention comprises the following steps:
s01: selecting two end points with the length to be measured from an object, setting the areas where the two end points are located as focus areas of the object to be measured, matching the focus areas in D cameras of the camera array by the image matching module, respectively adjusting the focal lengths of the cameras by taking the focus areas as centers to carry out shooting, and transmitting shot images to the processing unit; the main optical axes of the cameras are parallel; d is an integer of 2 or more.
Before that, lens distortion correction is performed on the camera array. Specifically, a chessboard method can be used for carrying out perspective distortion correction on the imaging of all cameras in the camera array.
The length to be measured in the invention is the distance between two end points of the length to be measured, therefore, the two end points need to be shot in different pictures and need to be accurately identified in different pictures to carry out subsequent calculation, and specifically, a feature matching method is adopted for marking in different pictures. Specifically, when a plurality of pictures are taken, it is common that an object to be measured needs to be placed in the center position of each camera and focused on the object, so that the camera adjusts the phase distance to the optimal focusing position.
S02: the processing unit establishes a three-dimensional coordinate system by taking the intersection point of a lens and a main optical axis in a reference camera as an original point, selects any two cameras in a camera array to form a calculation pair, and respectively calculates three-dimensional coordinates corresponding to two end points of the length to be measured in the picture according to the coordinates of the two cameras in the calculation pair and corresponding shot pictures; the reference camera is one camera in the camera array.
Here, since each captured image has two end points, each calculation pair contains four three-dimensional coordinates. The method for calculating the three-dimensional coordinate specifically comprises the following steps:
wherein, W1、H1、w1、h1And f1Respectively representing the total number of pixels in the X-axis direction, the total number of pixels in the Y-axis direction, the number of pixel offsets in the X-axis direction, the number of pixel offsets in the Y-axis direction and the focal length of a picture shot by a first camera in the pair; w2、H2、w2、h2And f2Respectively representing the total number of pixels in the X-axis direction, the total number of pixels in the Y-axis direction, the number of pixel offsets in the X-axis direction, the number of pixel offsets in the Y-axis direction and the focal length of a picture shot by a second camera in the pair; Δ X represents the deviation of the second camera in the calculation pair from the origin on the X-axis with the reference camera, and Δ Y represents the deviation of the second camera in the calculation pair from the origin on the Y-axis with the reference camera; the X-axis and the Y-axis are planes which take the main optical axis of the reference camera as a normal line and take the intersection point of the lens and the main optical axis in the reference camera as an origin.
Referring to fig. 2, one of the cameras is a schematic view of the reference camera.
In the invention, one of the two cameras in the calculation pair can be a reference camera, and the two cameras can not be the reference cameras; because the relative distance between the reference camera and the rest cameras in the camera array is determined, the three-dimensional coordinate system established by taking the intersection point of the lens in the reference camera and the main optical axis as the origin can be converted into the three-dimensional coordinates of the rest cameras.
The invention can reduce the error by adopting a method of calculating and averaging for multiple times. One of the averaging methods is: and selecting M calculation pairs, solving the average value of X, Y and Z, and taking the average value of X, Y and Z as the three-dimensional coordinates corresponding to two end points of the length to be measured, wherein M is more than 0 and less than or equal to D (D-1)/2.
S03: the processing unit calculates the length between the two end points according to the three-dimensional coordinates of the two end points of the length to be measured.
The invention provides another method for calculating and averaging for multiple times, which comprises the following steps: selecting M calculation pairs, and respectively calculating to obtain M groups of three-dimensional coordinates corresponding to two end points of the length to be measured; step S03 includes the processing unit calculating M lengths between two endpoints according to M sets of three-dimensional coordinates of the two endpoints of the length to be measured, averaging the M lengths, and calculating the length between the two endpoints by using the average as the three-dimensional coordinates of the two endpoints of the length to be measured, where M is 0< D (D-1)/2.
S04: the included angle measuring equipment drives all cameras in the camera array to rotate simultaneously, and when the cameras rotate by one angle, the image matching module matches focus areas in the D cameras in the camera array, the steps S01-S03 are repeated, and the length between two corresponding end points at the angle is calculated;
when the length between two end points calculated according to the pictures shot by the camera arrays before and after rotation meets the following requirements:
the average length between the two end points is output
Wherein, E is a threshold, l (i) represents the length between two endpoints calculated at the ith moment, k represents the shooting times of the camera array, and each shooting corresponds to one moment.
The calculation method of l (i) may specifically be:
s041: selecting images shot at the ith moment and the jth moment, and repeating the step S03 to respectively calculate the length L between two endpoints corresponding to the two momentsi' and Lj'; the included angle measuring equipment drives the camera array to rotate by different angles at the ith moment and the jth moment;
s042: calculating the length between two end points at the ith time
And A represents the included angle of the straight line where the main optical axis of the camera is located, which corresponds to the ith moment and the jth moment respectively, and A is not equal to 0.
The included angle measuring device can also be a gyroscope, an inclination angle sensor or other devices for directly or indirectly measuring the linear included angle of the optical axis.
The invention provides a device for measuring length based on cameras, which comprises a pattern matching module, a camera array, an included angle measuring device, a display screen, a storage unit and a processing unit, wherein the camera array comprises D cameras, the included angle measuring device drives all the cameras in the camera array to rotate simultaneously, the camera array and the included angle measuring device are connected with the display screen, the storage unit and the processing unit simultaneously, the display screen is used for displaying pictures shot by the cameras, the pattern matching module matches a focus area in the D cameras in the camera array when the camera array is driven to rotate by the included angle measuring device by one angle in the process of rotating by different angles, the processing unit establishes a three-dimensional coordinate system by taking the intersection point of a lens in the camera and a main optical axis as an original point, any two cameras are selected in the camera array to form a calculation pair, the processing unit calculates the length between two end points of the length to be measured under different rotating angles according to the coordinates of the two cameras in the calculation pair and the corresponding shot pictures, and stores the length in the storage unit, and when the length between the two end points calculated according to the pictures shot by the camera arrays before and after rotation meets the following requirements:
the average length between the two end points is output
Wherein E is a threshold value, and L (i) represents the i-thThe length between two end points calculated at each moment, k represents the shooting times of the camera array, and each shooting corresponds to one moment.
The invention utilizes the camera array to quickly measure and calculate the length of an object; when the number of the cameras is more than or equal to 2, more accurate three-dimensional coordinates can be obtained, and the three-dimensional coordinates approach to accurate values as the number of the cameras increases; deviations due to tilt angle can be corrected when the angle measuring device is used as desired.
The above description is only a preferred embodiment of the present invention, and the embodiment is not intended to limit the scope of the present invention, so that all equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be included in the scope of the appended claims.
Claims (8)
1. A method for measuring length based on a camera is characterized by comprising the following steps:
s01: selecting two end points with the length to be measured from an object, setting the areas where the two end points are located as focus areas of the object to be measured, matching the focus areas in D cameras of the camera array by the image matching module, respectively adjusting the focal lengths of the cameras by taking the focus areas as centers to carry out shooting, and transmitting shot images to the processing unit; the main optical axes of the cameras are parallel; d is an integer greater than or equal to 2;
s02: the processing unit establishes a three-dimensional coordinate system by taking the intersection point of a lens and a main optical axis in a reference camera as an original point, selects any two cameras in a camera array to form a calculation pair, and respectively calculates three-dimensional coordinates corresponding to two end points of the length to be measured in the picture according to the coordinates of the two cameras in the calculation pair and corresponding shot pictures; the reference camera is one camera in the camera array;
s03: the processing unit calculates the length between the two end points according to the three-dimensional coordinates of the two end points of the length to be measured;
s04: the included angle measuring equipment drives all cameras in the camera array to rotate simultaneously, and when the cameras rotate by an angle, the image matching module matches focus areas in the D cameras in the camera array, the steps S01-S03 are repeated, and the length between two corresponding end points at the angle is calculated;
when the length between two end points calculated according to the pictures shot by the camera arrays before and after rotation meets the following requirements:
the average length between the two end points is output
Wherein E is a threshold value, L (i) represents the length between two end points calculated at the ith moment, k represents the shooting times of the camera array, and each shooting corresponds to one moment; wherein, the calculation method of L (i) is as follows:
s041: selecting images shot at the ith moment and the jth moment, and repeating the step S03 to respectively calculate the length L between two endpoints corresponding to the two momentsi' and Lj'; the rotation angles of the included angle measuring equipment are different at the ith moment and the jth moment;
s042: calculating the length between two end points at the ith time
And A represents the included angle of the straight line where the main optical axis of the camera is located, which corresponds to the ith moment and the jth moment respectively, and A is not equal to 0.
2. The method according to claim 1, wherein the step S02 includes selecting M calculation pairs, calculating three-dimensional coordinates corresponding to two end points of the length to be measured, respectively, and finding an average value of X, Y, and Z, and using the average value of X, Y, and Z as the three-dimensional coordinates corresponding to the two end points of the length to be measured, where 0< M ≦ D (D-1)/2.
3. The method according to claim 1, wherein the step S02 includes selecting M calculation pairs, and calculating M sets of three-dimensional coordinates corresponding to two end points of the length to be measured; the step S03 includes the processing unit calculating M lengths between two end points of the length to be measured according to M sets of three-dimensional coordinates of the two end points, averaging the M lengths, and calculating the length between the two end points by using the average as the three-dimensional coordinates of the two end points of the length to be measured, where M is 0< D ≦ D (D-1)/2.
4. The method for measuring length based on camera of claim 1, wherein the step S01 is preceded by performing lens distortion correction on the camera array.
5. The camera-based method for measuring length according to claim 1, wherein the pattern matching module matches the focal region among the D cameras in the camera array by using a feature matching method.
6. The method for measuring length based on camera of claim 1, wherein the method for calculating the three-dimensional coordinates corresponding to the end points in step S02 is as follows:
wherein, W1、H1、w1、h1And f1Respectively representing the total number of pixels of the picture shot by the first camera in the calculation pair in the X-axis direction and the total number of pixels in the Y-axis directionThe number of pixels, the number of pixel offsets in the X-axis direction, the number of pixel offsets in the Y-axis direction, and the focal length; w2、H2、w2、h2And f2Respectively representing the total number of pixels in the X-axis direction, the total number of pixels in the Y-axis direction, the number of pixel offsets in the X-axis direction, the number of pixel offsets in the Y-axis direction and the focal length of a picture shot by a second camera in the pair; Δ X represents the deviation of the second camera in the calculation pair from the origin on the X-axis with the reference camera, and Δ Y represents the deviation of the second camera in the calculation pair from the origin on the Y-axis with the reference camera; the X-axis and the Y-axis are planes which take the main optical axis of the reference camera as a normal line and take the intersection point of the lens and the main optical axis in the reference camera as an origin.
7. The camera-based length measurement method of claim 1, wherein the angle measurement device is a gyroscope or a tilt sensor.
8. A device for measuring length based on a camera is characterized by comprising a pattern matching module, a camera array, an included angle measuring device, a display screen, a storage unit and a processing unit, wherein the camera array comprises D cameras, the included angle measuring device drives all the cameras in the camera array to rotate simultaneously, the camera array and the included angle measuring device are connected with the display screen, the storage unit and the processing unit simultaneously, the display screen is used for displaying pictures shot by the cameras, in the process that the included angle measuring device drives the camera array to rotate by different angles, each angle of rotation is one angle, the pattern matching module matches a focus area in the D cameras of the camera array, the processing unit takes the intersection point of a camera lens in the camera and a main optical axis as an original point to establish a three-dimensional coordinate system, selecting any two cameras in the camera array to form a calculation pair, calculating the length between two end points of the length to be measured under different rotating angles by the processing unit according to the coordinates of the two cameras in the calculation pair and corresponding shot pictures, and storing the length between the two end pointsIn the storage unit, when the length between the two end points calculated from the pictures taken by the camera array before and after rotation satisfies:
the average length between the two end points is output
Wherein E is a threshold value, k represents the shooting times of the camera array, each shooting corresponds to a moment, L (i) represents the length between two endpoints calculated at the ith moment,
wherein L isi' and Lj' indicates the length between two corresponding end points in the captured images at the ith and jth moments respectively; a represents the included angle of the straight line where the main optical axis of the camera is located corresponding to the ith moment and the jth moment respectively, and A is not equal to 0.
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