CN109682398A - Tridimensional mapping camera complete machine elements of interior orientation calibrating method, apparatus and system - Google Patents
Tridimensional mapping camera complete machine elements of interior orientation calibrating method, apparatus and system Download PDFInfo
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- CN109682398A CN109682398A CN201811595276.3A CN201811595276A CN109682398A CN 109682398 A CN109682398 A CN 109682398A CN 201811595276 A CN201811595276 A CN 201811595276A CN 109682398 A CN109682398 A CN 109682398A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The embodiment of the invention discloses a kind of tridimensional mapping camera complete machine elements of interior orientation calibrating methods, apparatus and system.Including high-precision autocollimation theodolite, the waffle slab that is set to three-dimension adjusting mechanism, the light source module and parameter calculation apparatus for being emitted collimated light beam, drive waffle slab to move in three-dimensional space by adjusting three-dimension adjusting mechanism.High-precision autocollimation theodolite measures the grid lines convergent point of waffle slab by standard lens line by line, and the orientation angles information and pitch angle information that measurement is obtained each convergent point are as reference information；The elements of interior orientation value and lens distortion measurement accuracy of tridimensional mapping camera to be measured is calculated in the angle information of waffle slab image and corresponding waffle slab that parameter calculation apparatus is clapped according to reference information, distortion measurement computational chart, tridimensional mapping camera to be measured.The application realizes the high-acruracy survey of the identification precision of tridimensional mapping camera complete machine elements of interior orientation, provides convenience for the batch detection of tridimensional mapping camera product.
Description
Technical field
It is whole more particularly to a kind of tridimensional mapping camera the present embodiments relate to tridimensional mapping camera calibration technology field
Machine elements of interior orientation calibrating method, apparatus and system.
Background technique
Stereo mapping is the mapping that gamut is carried out to body surface, such as stereopsis, SAR interferometry and laser
Scanning mapping.Tridimensional mapping camera such as face battle array digital camera, video camera, are the key that carry out three-dimensional imaging composition, extensively
It is general to be applied to remote sensing technology field.
Tridimensional mapping camera can have the error of processing and assembly, lead to practical imaging and reason in camera image plane
It is thought of as the presence of distortion as between, distorts smaller, camera optical system image quality is higher.
Excitation vibration device can measure lens distortion, but be difficult to reflect the real quality of tested optical system, mirror
Technical requirement is often not achieved in head distortion measurement precision.
How to realize that high-acruracy survey complete machine elements of interior orientation identifies precision, is the batch detection of tridimensional mapping camera product
It is convenient to provide, and is those skilled in the art's urgent problem to be solved.
Summary of the invention
The embodiment of the present disclosure provide a kind of tridimensional mapping camera complete machine elements of interior orientation calibrating method, device, equipment and
Computer readable storage medium realizes the high-acruracy survey of the identification precision of tridimensional mapping camera complete machine elements of interior orientation, is
The batch detection of tridimensional mapping camera product provides convenience.
In order to solve the above technical problems, the embodiment of the present invention the following technical schemes are provided:
On the one hand the embodiment of the present invention provides a kind of tridimensional mapping camera complete machine elements of interior orientation scaling system, including height
Precision autocollimation theodolite, standard lens, the waffle slab for being set to three-dimension adjusting mechanism, light source module and parameter calculation apparatus；
The high-precision autocollimation theodolite is arranged in front of the standard lens, and is located on same optical axis；The waffle slab is set
It sets in the focal plane of the standard lens；
The light source module is driven for being emitted collimated light beam to the waffle slab by adjusting the three-dimension adjusting mechanism
The waffle slab moves in three-dimensional space；
The high-precision autocollimation theodolite is used to carry out the standard lens light axis consistency adjustment, and by described
Standard lens measures the grid lines convergent point of the waffle slab line by line, and the orientation angles that measurement obtains each convergent point are believed
Breath and pitch angle information are stored as reference information to the parameter calculation apparatus；
The high-precision autocollimation theodolite is removed when measuring complete machine elements of interior orientation identification precision；Three-dimensional survey to be measured
It draws camera to be arranged in front of the standard lens, take pictures to the waffle slab, and by each waffle slab image and correspond to waffle slab
Angle information is stored into the parameter calculation apparatus；
The parameter calculation apparatus is used for according to the reference information, distortion measurement computational chart, each waffle slab image and phase
Answer angle information that the elements of interior orientation value and lens distortion measurement accuracy of the tridimensional mapping camera to be measured is calculated.
Optionally, the angle measurement accuracy of the high-precision autocollimation theodolite is 0.5``.
Optionally, the light source module is parallel light tube.
Optionally, the long-focus of the parallel light tube is 2000mm, bore 200mm.
Optionally, the maximum field of view angle of the standard lens is greater than 43 ° × 33 °.
It optionally, further include optical level, for being adjusted vertically to systematic vertical axis.
It optionally, further include mechanism for installing, for installing the fixed high-precision autocollimation theodolite.
Optionally, the tridimensional mapping camera to be measured is identical as the installation site of the high-precision autocollimation theodolite.
On the other hand the embodiment of the present invention provides a kind of tridimensional mapping camera complete machine elements of interior orientation calibrating method, wrap
It includes:
Obtain the waffle slab image and corresponding waffle slab angle information of tridimensional mapping camera shooting to be measured；
Distortion measurement computational chart and reference information are obtained, the reference information is to utilize the high-precision autocollimation theodolite
It is measured line by line by grid lines convergent point of the standard lens to the waffle slab, obtains the orientation angles of each convergent point
Information and pitch angle information；
It is calculated according to the reference information, the distortion measurement computational chart, each waffle slab image and respective angles information
To the elements of interior orientation value and lens distortion measurement accuracy of the tridimensional mapping camera to be measured；
Wherein, the high-precision autocollimation theodolite is arranged in front of the standard lens, and is located on same optical axis；
The waffle slab is arranged in three-dimension adjusting mechanism, and is located at the focal plane of the standard lens；The tridimensional mapping camera to be measured
It is arranged in front of the standard lens, takes pictures to the waffle slab, high-precision autocollimation theodolite side in measurement complete machine
It is removed when the elemental identification precision of position.
The embodiment of the invention also provides a kind of tridimensional mapping camera complete machine elements of interior orientation robot scaling equipments, comprising:
Data obtaining module, for obtaining the waffle slab image and corresponding grid plate angle that tridimensional mapping camera to be measured is shot
Spend information；Distortion measurement computational chart and reference information are obtained, the reference information is to utilize the high-precision autocollimation theodolite
It is measured line by line by grid lines convergent point of the standard lens to the waffle slab, obtains the orientation angles of each convergent point
Information and pitch angle information；
Parameter calculating module, for according to the reference information, the distortion measurement computational chart, each waffle slab image and phase
Answer angle information that the elements of interior orientation value and lens distortion measurement accuracy of the tridimensional mapping camera to be measured is calculated；
Wherein, the high-precision autocollimation theodolite is arranged in front of the standard lens, and is located on same optical axis；
The waffle slab is arranged in three-dimension adjusting mechanism, and is located at the focal plane of the standard lens；The tridimensional mapping camera to be measured
It is arranged in front of the standard lens, takes pictures to the waffle slab, high-precision autocollimation theodolite side in measurement complete machine
It is removed when the elemental identification precision of position.
The advantages of technical solution provided by the present application, is, utilizes the standard mirror of high-precision autocollimation theodolite and high quality
Head measures the orientation angles information and pitch angle of the grid lines convergent point in different location and the waffle slab under angle line by line
Information, and using the information as the reference information for measuring tridimensional mapping camera complete machine elements of interior orientation identification precision to be measured；According to
Tridimensional mapping camera to be measured obtains the angle calculation of image and waffle slab that the waffle slab under different location and angle is taken pictures
To tridimensional mapping camera to be measured master away from value, principal point coordinate value and lens distortion measurement accuracy value, realize tridimensional mapping camera
The high-acruracy survey of the identification precision of complete machine elements of interior orientation, greatly improves the working efficiency of tridimensional mapping camera detection-phase,
Shorten the lead time of tridimensional mapping camera, is provided convenience for the batch detection of tridimensional mapping camera product.
In addition, the embodiment of the present invention provides accordingly also directed to tridimensional mapping camera complete machine elements of interior orientation calibrating method
Realization device, equipment and computer readable storage medium, further such that the method has more practicability, described device is set
Standby and computer readable storage medium has the advantages that corresponding.
It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited
It is open.
Detailed description of the invention
It, below will be to embodiment or correlation for the clearer technical solution for illustrating the embodiment of the present invention or the relevant technologies
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of disclosure tridimensional mapping camera complete machine elements of interior orientation calibration shown according to an exemplary embodiment
System structure diagram；
Fig. 2 is that a kind of tridimensional mapping camera complete machine elements of interior orientation that the disclosure is shown according to another exemplary embodiment is fixed
Mark system structural schematic diagram；
Fig. 3 is that a kind of process of tridimensional mapping camera complete machine elements of interior orientation calibrating method provided in an embodiment of the present invention is shown
It is intended to；
Fig. 4 is a kind of specific reality of tridimensional mapping camera complete machine elements of interior orientation robot scaling equipment provided in an embodiment of the present invention
Apply mode structure chart.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
The description and claims of this application and term " first ", " second ", " third " " in above-mentioned attached drawing
Four " etc. be for distinguishing different objects, rather than for describing specific sequence.Furthermore term " includes " and " having " and
Their any deformations, it is intended that cover and non-exclusive include.Such as contain a series of steps or units process, method,
System, product or equipment are not limited to listed step or unit, but may include the step of not listing or unit.
After describing the technical solution of the embodiment of the present invention, the various non-limiting realities of detailed description below the application
Apply mode.
Referring initially to Fig. 1 and Fig. 2, Fig. 1 and Fig. 2 are tridimensional mapping camera complete machine provided in an embodiment of the present invention inner orientation
Element scaling system structural block diagram, the embodiment of the present invention may include the following contents:
Tridimensional mapping camera complete machine elements of interior orientation scaling system 0 may include high-precision autocollimation theodolite 1, standard lens
2, waffle slab 3, three-dimension adjusting mechanism 4, light source module 5 and parameter calculation apparatus 6.
High-precision autocollimation theodolite 1, standard lens 2 and light source module 5 are located on same optical axis.High-precision auto-collimation
The setting of theodolite 1 is arranged on the focal plane of standard lens 2 in 2 front of standard lens, waffle slab 3, and light source module 5 is arranged in institute
After stating waffle slab 3.Waffle slab 3 is fixed on three-dimension adjusting mechanism 4, adjustment three-dimension adjusting mechanism 4 drive waffle slab 3 into
Row movement controls the three-dimensional space of waffle slab 2 to realize the high and low position by adjusting three-dimension adjusting mechanism 4, rotation angle
Position.
High-precision autocollimation theodolite 1 carries out light axis consistency adjustment to standard lens 2, and passes through 2 pairs of nets of standard lens
The grid lines convergent point of panel 3 is measured line by line, and measurement is obtained the orientation angles information of each convergent point and pitch angle is believed
Breath is stored as reference information into parameter calculation apparatus 6.Waffle slab 3 is surveyed line by line in high-precision autocollimation theodolite 1
When amount, waffle slab 3 is moved in three dimensions under the drive of three-dimension adjusting mechanism 4, obtain multiple groups azimuth angle value and
Angle of site angle value, azimuth angle value and pitch angle angle value can have corresponding relationship, namely record waffle slab at the same time and currently present
Orientation angles information and pitch angle information.
When measuring tridimensional mapping camera complete machine elements of interior orientation identification precision, high-precision autocollimation theodolite 1 is removed,
Tridimensional mapping camera 7 to be measured is installed, before tridimensional mapping camera 7 to be measured is located at standard lens 2 at same position or different location
Side.Optionally, settable mechanism for installing, for installing the three-dimensional survey either to be measured of fixed high-precision autocollimation theodolite 1
It draws camera namely the two is located at the same position of whole system.
It is mounted on 2 front and back of standard lens in tridimensional mapping camera 7 to be measured, using optical level (such as bubble) to vertical
D-axis is adjusted vertically.After the completion of adjustment, tridimensional mapping camera 7 to be measured takes pictures to waffle slab 3, and the gained that will take pictures
Waffle slab image and the image when being photographed the angle information of waffle slab store into parameter calculation apparatus 6.
Parameter calculation apparatus 6 is according to reference information, distortion measurement computational chart, each waffle slab image and respective angles information meter
It calculates and obtains the elements of interior orientation value and lens distortion measurement accuracy of tridimensional mapping camera to be measured, away from (object based on elements of interior orientation value
Distance of the mirror posterior nodal point to principal point), principal point coordinate (x coordinate value and y-coordinate value of the principal point in photograph collimation mark coordinate system).
Wherein, distortion measurement computational chart can be the distortion measurement computational chart in the related technology of user's input, can also be this
The distortion measurement computational chart that field technical staff makes with demand according to the actual situation, this does not influence the realization of the application.
It is calculated according to reference information, distortion measurement computational chart, each waffle slab image and respective angles information to be measured vertical
The realization of the elements of interior orientation value and lens distortion measurement accuracy of body mapping camera, this process sees retouching for the relevant technologies
It states, herein, just repeats no more.
Any one, which can be used, in high-precision autocollimation theodolite 1 has degree of precision (such as angle measurement accuracy is 0.5``)
Autocollimation theodolite instrument, the application do not do any restriction to this.
The standard lens of any high quality can be used in standard lens 2, for example, can be used maximum field of view angle greater than 43 ° ×
33 ° of standard lens, the application do not do any restriction to this.
Waffle slab 3 can be any one of the relevant technologies standard waffle slab or those skilled in the art according to reality
The waffle slab of border situation and Demand Design, this does not influence the realization of the application.
Three-dimension adjusting mechanism 4 can may be implemented in the device of the adjusting position of three-dimensional space for any one, and the application is to this
Any restriction is not done.
Light source module 5 is emitted collimated light beam and enters standard lens 2 by waffle slab 3, and usable any one can be emitted flat
The light source or combination of light sources of row light beam, such as light source module 5 can be the parallel light tube optical instrument for generating collimated light beam；When
So, the combination of light source (such as LED light source) and collimator objective can be used also to be emitted collimated light beam, this does not influence the application's
It realizes.
Optionally, it is 2000mm that long-focus, which may be selected, and bore is the parallel light tube of 200mm as light source module 5.
High-precision autocollimation theodolite 1, standard lens 2, waffle slab 3, the installation of light source module 5, debugging etc. see phase
The description of pass technology just repeats no more herein.
In technical solution provided in an embodiment of the present invention, the standard mirror of high-precision autocollimation theodolite and high quality is utilized
Head measures the orientation angles information and pitch angle of the grid lines convergent point in different location and the waffle slab under angle line by line
Information, and using the information as the reference information for measuring tridimensional mapping camera complete machine elements of interior orientation identification precision to be measured；According to
Tridimensional mapping camera to be measured obtains the angle calculation of image and waffle slab that the waffle slab under different location and angle is taken pictures
To tridimensional mapping camera to be measured master away from value, principal point coordinate value and lens distortion measurement accuracy value, realize tridimensional mapping camera
The high-acruracy survey of the identification precision of complete machine elements of interior orientation, greatly improves the working efficiency of tridimensional mapping camera detection-phase,
Shorten the lead time of tridimensional mapping camera, is provided convenience for the batch detection of tridimensional mapping camera product.
Active light transmission shielding membrane shield effect test method provided in an embodiment of the present invention is introduced below, under
The active light transmission shielding membrane shield effect test method of text description and above-described active light transmission shield membrane shield
Effect test system can correspond to each other reference.
Fig. 3 is referred to, Fig. 3 is a kind of tridimensional mapping camera complete machine elements of interior orientation calibration side provided in an embodiment of the present invention
The flow diagram of method is applied in tridimensional mapping camera complete machine elements of interior orientation scaling system, and the embodiment of the present invention may include
The following contents:
S301: the waffle slab image and corresponding waffle slab angle information of tridimensional mapping camera shooting to be measured are obtained.
S302: obtaining distortion measurement computational chart and reference information, and reference information is logical using high-precision autocollimation theodolite
It crosses standard lens to measure the grid lines convergent point of waffle slab line by line, obtains the orientation angles information and pitching of each convergent point
Angle information.
S303: according to reference information, distortion measurement computational chart, each waffle slab image and respective angles information be calculated to
Survey the elements of interior orientation value and lens distortion measurement accuracy of tridimensional mapping camera.
High-precision autocollimation theodolite is arranged in front of standard lens, and is located on same optical axis；Waffle slab setting exists
Three-dimension adjusting mechanism, and it is located at the focal plane of standard lens；Tridimensional mapping camera to be measured is arranged in front of standard lens, to grid
Plate is taken pictures, and high-precision autocollimation theodolite is removed when measuring complete machine elements of interior orientation identification precision.
From the foregoing, it will be observed that the embodiment of the present invention realizes the high-precision of the identification precision of tridimensional mapping camera complete machine elements of interior orientation
Degree measurement, provides convenience for the batch detection of tridimensional mapping camera product.
The embodiment of the present invention provides corresponding realization also directed to tridimensional mapping camera complete machine elements of interior orientation calibrating method
Device, further such that the method has more practicability.
Referring to fig. 4, Fig. 4 is tridimensional mapping camera complete machine elements of interior orientation robot scaling equipment provided in an embodiment of the present invention one
Structure chart under kind specific embodiment, the device can include:
Data obtaining module 401, for obtaining the waffle slab image and corresponding grid of tridimensional mapping camera shooting to be measured
Plate angle information；Distortion measurement computational chart and reference information are obtained, reference information is to pass through using high-precision autocollimation theodolite
Standard lens measures the grid lines convergent point of waffle slab line by line, obtains the orientation angles information and pitch angle of each convergent point
Spend information；
Parameter calculating module 402, for according to reference information, distortion measurement computational chart, each waffle slab image and respective corners
The elements of interior orientation value and lens distortion measurement accuracy of tridimensional mapping camera to be measured is calculated in degree information；
Wherein, high-precision autocollimation theodolite is arranged in front of standard lens, and is located on same optical axis；Waffle slab is set
It sets in three-dimension adjusting mechanism, and is located at the focal plane of standard lens；Tridimensional mapping camera to be measured is arranged in front of standard lens, right
Waffle slab is taken pictures, and high-precision autocollimation theodolite is removed when measuring complete machine elements of interior orientation identification precision.
The function of each functional module of tridimensional mapping camera complete machine elements of interior orientation robot scaling equipment described in the embodiment of the present invention
It can be implemented according to the method in above method embodiment, specific implementation process is referred to the phase of above method embodiment
Description is closed, details are not described herein again.
From the foregoing, it will be observed that the embodiment of the present invention realizes the high-precision of the identification precision of tridimensional mapping camera complete machine elements of interior orientation
Degree measurement, provides convenience for the batch detection of tridimensional mapping camera product.
The embodiment of the invention also provides a kind of tridimensional mapping camera complete machine elements of interior orientation targeting devices, can specifically wrap
It includes:
Memory, for storing computer program；
Processor is realized for executing computer program in tridimensional mapping camera complete machine described in any one embodiment as above
The step of element of orientation calibrating method.
The function of each functional module of tridimensional mapping camera complete machine elements of interior orientation targeting device described in the embodiment of the present invention
It can be implemented according to the method in above method embodiment, specific implementation process is referred to the phase of above method embodiment
Description is closed, details are not described herein again.
From the foregoing, it will be observed that the embodiment of the present invention realizes the high-precision of the identification precision of tridimensional mapping camera complete machine elements of interior orientation
Degree measurement, provides convenience for the batch detection of tridimensional mapping camera product.
The embodiment of the invention also provides a kind of computer readable storage medium, it is stored with side in tridimensional mapping camera complete machine
Bit element calibrates program, and the tridimensional mapping camera complete machine elements of interior orientation calibration program is as above any one when being executed by processor
Described in embodiment the step of tridimensional mapping camera complete machine elements of interior orientation calibrating method.
The function of each functional module of computer readable storage medium described in the embodiment of the present invention can be according to above method reality
The method specific implementation in example is applied, specific implementation process is referred to the associated description of above method embodiment, herein no longer
It repeats.
From the foregoing, it will be observed that the embodiment of the present invention realizes the high-precision of the identification precision of tridimensional mapping camera complete machine elements of interior orientation
Degree measurement, provides convenience for the batch detection of tridimensional mapping camera product.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Above to a kind of tridimensional mapping camera complete machine elements of interior orientation calibrating method provided by the present invention, device, equipment
And computer readable storage medium is described in detail.Specific case used herein is to the principle of the present invention and embodiment party
Formula is expounded, and the above description of the embodiment is only used to help understand the method for the present invention and its core ideas.It should refer to
It out, for those skilled in the art, without departing from the principle of the present invention, can also be to the present invention
Some improvement and modification can also be carried out, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Claims (10)
1. a kind of tridimensional mapping camera complete machine elements of interior orientation scaling system, which is characterized in that including high-precision auto-collimation longitude and latitude
Instrument, standard lens, the waffle slab for being set to three-dimension adjusting mechanism, light source module and parameter calculation apparatus；The high-precision autocollimatic
Straight theodolite is arranged in front of the standard lens, and is located on same optical axis；The waffle slab is arranged in the standard mirror
The focal plane of head；
The light source module is for being emitted collimated light beam to the waffle slab, by adjusting described in the three-dimension adjusting mechanism drive
Waffle slab moves in three-dimensional space；
The high-precision autocollimation theodolite is used to carry out light axis consistency adjustment to the standard lens, and passes through the standard
Camera lens measures the grid lines convergent point of the waffle slab line by line, will measurement obtain each convergent point orientation angles information and
Pitch angle information is stored as reference information to the parameter calculation apparatus；
The high-precision autocollimation theodolite is removed when measuring complete machine elements of interior orientation identification precision；Stereo mapping phase to be measured
Machine is arranged in front of the standard lens, takes pictures to the waffle slab, and by the angle of each waffle slab image and corresponding waffle slab
Information is stored into the parameter calculation apparatus；
The parameter calculation apparatus is used for according to the reference information, distortion measurement computational chart, each waffle slab image and respective corners
The elements of interior orientation value and lens distortion measurement accuracy of the tridimensional mapping camera to be measured is calculated in degree information.
2. tridimensional mapping camera complete machine elements of interior orientation scaling system according to claim 1, which is characterized in that the height
The angle measurement accuracy of precision autocollimation theodolite is 0.5``.
3. tridimensional mapping camera complete machine elements of interior orientation scaling system according to claim 2, which is characterized in that the light
Source module is parallel light tube.
4. tridimensional mapping camera complete machine elements of interior orientation scaling system according to claim 3, which is characterized in that described flat
The long-focus of row light pipe is 2000mm, bore 200mm.
5. tridimensional mapping camera complete machine elements of interior orientation scaling system according to claim 1, which is characterized in that the mark
The maximum field of view angle of quasi- camera lens is greater than 43 ° × 33 °.
6. according to claim 1 to tridimensional mapping camera complete machine elements of interior orientation scaling system, feature described in 5 any one
It is, further includes optical level, for is adjusted vertically to systematic vertical axis.
7. tridimensional mapping camera complete machine elements of interior orientation scaling system according to claim 6, which is characterized in that further include
Mechanism for installing, for installing the fixed high-precision autocollimation theodolite.
8. tridimensional mapping camera complete machine elements of interior orientation scaling system according to claim 7, which is characterized in that it is described to
It is identical as the installation site of the high-precision autocollimation theodolite to survey tridimensional mapping camera.
9. a kind of tridimensional mapping camera complete machine elements of interior orientation calibrating method characterized by comprising
Obtain the waffle slab image and corresponding waffle slab angle information of tridimensional mapping camera shooting to be measured；
Distortion measurement computational chart and reference information are obtained, the reference information is to pass through using the high-precision autocollimation theodolite
The standard lens measures the grid lines convergent point of the waffle slab line by line, obtains the orientation angles information of each convergent point
With pitch angle information；
Institute is calculated according to the reference information, the distortion measurement computational chart, each waffle slab image and respective angles information
State the elements of interior orientation value and lens distortion measurement accuracy of tridimensional mapping camera to be measured；
Wherein, the high-precision autocollimation theodolite is arranged in front of the standard lens, and is located on same optical axis；It is described
Waffle slab is arranged in three-dimension adjusting mechanism, and is located at the focal plane of the standard lens；The tridimensional mapping camera setting to be measured
It in front of the standard lens, takes pictures to the waffle slab, the high-precision autocollimation theodolite is in measurement complete machine inner orientation member
It is removed when element identification precision.
10. a kind of tridimensional mapping camera complete machine elements of interior orientation robot scaling equipment characterized by comprising
Data obtaining module, for obtaining the waffle slab image and corresponding waffle slab angle letter of tridimensional mapping camera shooting to be measured
Breath；Distortion measurement computational chart and reference information are obtained, the reference information is to pass through using the high-precision autocollimation theodolite
The standard lens measures the grid lines convergent point of the waffle slab line by line, obtains the orientation angles information of each convergent point
With pitch angle information；
Parameter calculating module, for according to the reference information, the distortion measurement computational chart, each waffle slab image and respective corners
The elements of interior orientation value and lens distortion measurement accuracy of the tridimensional mapping camera to be measured is calculated in degree information；
Wherein, the high-precision autocollimation theodolite is arranged in front of the standard lens, and is located on same optical axis；It is described
Waffle slab is arranged in three-dimension adjusting mechanism, and is located at the focal plane of the standard lens；The tridimensional mapping camera setting to be measured
It in front of the standard lens, takes pictures to the waffle slab, the high-precision autocollimation theodolite is in measurement complete machine inner orientation member
It is removed when element identification precision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811595276.3A CN109682398B (en) | 2018-12-25 | 2018-12-25 | Method, device and system for calibrating orientation elements in complete machine of stereo mapping camera |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811595276.3A CN109682398B (en) | 2018-12-25 | 2018-12-25 | Method, device and system for calibrating orientation elements in complete machine of stereo mapping camera |
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| CN109682398A true CN109682398A (en) | 2019-04-26 |
| CN109682398B CN109682398B (en) | 2022-07-08 |
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| CN201811595276.3A Active CN109682398B (en) | 2018-12-25 | 2018-12-25 | Method, device and system for calibrating orientation elements in complete machine of stereo mapping camera |
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