CN109682398B - Method, device and system for calibrating orientation elements in complete machine of stereo mapping camera - Google Patents
Method, device and system for calibrating orientation elements in complete machine of stereo mapping camera Download PDFInfo
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- CN109682398B CN109682398B CN201811595276.3A CN201811595276A CN109682398B CN 109682398 B CN109682398 B CN 109682398B CN 201811595276 A CN201811595276 A CN 201811595276A CN 109682398 B CN109682398 B CN 109682398B
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Abstract
The embodiment of the invention discloses a method, a device and a system for calibrating orientation elements in a stereo mapping camera. The three-dimensional self-collimation theodolite comprises a high-precision self-collimation theodolite, a grid plate arranged on a three-dimensional adjusting mechanism, a light source module for emitting parallel light beams and a parameter calculating device, wherein the grid plate is driven to move in a three-dimensional space by adjusting the three-dimensional adjusting mechanism. The high-precision autocollimation theodolite measures the grid line convergence points of the grid plate line by line through a standard lens, and the azimuth angle information and the pitching angle information of each convergence point obtained through measurement are used as reference information; and the parameter calculation device calculates the internal orientation element value and the lens distortion measurement precision of the to-be-measured three-dimensional mapping camera according to the reference information, the distortion measurement calculation table, the grid plate image shot by the to-be-measured three-dimensional mapping camera and the angle information of the corresponding grid plate. The high-precision measurement of the identification precision of the orientation elements in the whole stereo mapping camera is realized, and convenience is provided for batch detection of stereo mapping camera products.
Description
Technical Field
The embodiment of the invention relates to the technical field of calibration of a stereo mapping camera, in particular to a method, a device and a system for calibrating orientation elements in a complete machine of the stereo mapping camera.
Background
Stereo mapping is the full range mapping of the surface of an object, such as stereo observation, radar interferometry, and laser scanning mapping. Stereo mapping cameras such as area-array digital cameras and video cameras are key components for stereo imaging and are widely applied to the technical field of remote sensing.
The stereo mapping camera has errors in processing and assembling, so that distortion exists between an actually formed image and an ideal image on an image plane of the camera, and the imaging quality of an optical system of the camera is higher when the distortion is smaller.
The transfer function measuring device can measure the distortion of the lens, but the real quality of the measured optical system is difficult to reflect, and the measurement precision of the distortion of the lens often cannot meet the requirement of technical indexes.
How to realize the high accuracy and measure the interior orientation element of complete machine and appraise the precision, for the batch detection of three-dimensional mapping camera product provides convenience, the problem that technical staff in the field need to solve urgently.
Disclosure of Invention
The embodiment of the disclosure provides a method, a device and equipment for calibrating orientation elements in a whole stereo mapping camera and a computer readable storage medium, which realize high-precision measurement of identification precision of the orientation elements in the whole stereo mapping camera and provide convenience for batch detection of stereo mapping camera products.
In order to solve the above technical problem, the embodiments of the present invention provide the following technical solutions:
the embodiment of the invention provides a complete machine internal orientation element calibration system of a stereo mapping camera, which comprises a high-precision auto-collimation theodolite, a standard lens, a grid plate arranged on a three-dimensional adjusting mechanism, a light source module and a parameter calculation device, wherein the grid plate is arranged on a three-dimensional adjusting mechanism; the high-precision auto-collimation theodolite is arranged in front of the standard lens and is positioned on the same optical axis; the grid plate is arranged on a focal plane of the standard lens;
the light source module is used for emitting parallel light beams to the grid plate and driving the grid plate to move in a three-dimensional space by adjusting the three-dimensional adjusting mechanism;
the high-precision auto-collimation theodolite is used for carrying out optical axis consistency adjustment on the standard lens, carrying out line-by-line measurement on the grid line convergence points of the grid plate through the standard lens, and storing azimuth angle information and pitching angle information of each convergence point obtained by measurement as reference information to the parameter calculation device;
the high-precision autocollimation theodolite is moved away when the identification precision of the orientation elements in the whole machine is measured; the stereoscopic mapping camera to be detected is arranged in front of the standard lens, photographs the grid plates, and stores the images of each grid plate and the angle information of the corresponding grid plate into the parameter calculation device;
and the parameter calculation device is used for calculating and obtaining the internal orientation element value and the lens distortion measurement precision of the to-be-measured stereo mapping camera according to the reference information, the distortion measurement calculation table, each grid plate image and the corresponding angle information.
Optionally, the angle measurement accuracy of the high-accuracy auto-collimation theodolite is 0.5 ″.
Optionally, the light source module is a collimator.
Optionally, the collimator has a long focal length of 2000mm and a caliber of 200 mm.
Optionally, the maximum field angle of the standard lens is greater than 43 ° x 33 °.
Optionally, the system further comprises an optical level for vertical adjustment of the system vertical axis.
Optionally, the self-collimating theodolite further comprises a mounting and fixing mechanism for mounting and fixing the high-precision self-collimating theodolite.
Optionally, the mounting position of the to-be-measured stereo mapping camera is the same as that of the high-precision auto-collimation theodolite.
The embodiment of the invention also provides a method for calibrating the orientation elements in the whole stereo mapping camera, which comprises the following steps:
acquiring a grid plate image shot by a to-be-detected stereo mapping camera and corresponding grid plate angle information;
acquiring a distortion measurement calculation table and reference information, wherein the reference information is obtained by utilizing the high-precision autocollimation theodolite to carry out line-by-line measurement on the grid line convergence points of the grid plate through the standard lens to obtain the azimuth angle information and the pitching angle information of each convergence point;
calculating to obtain an internal orientation element value and lens distortion measurement precision of the to-be-measured stereo mapping camera according to the reference information, the distortion measurement calculation table, each grid plate image and corresponding angle information;
the high-precision auto-collimation theodolite is arranged in front of the standard lens and is positioned on the same optical axis; the grid plate is arranged on the three-dimensional adjusting mechanism and is positioned on the focal plane of the standard lens; the stereo mapping camera to be measured is arranged in front of the standard lens and used for photographing the grid plate, and the high-precision auto-collimation theodolite is moved away when the identification precision of the orientation elements in the whole machine is measured.
The embodiment of the invention also provides a device for calibrating the orientation elements in the whole stereo mapping camera, which comprises:
the information acquisition module is used for acquiring the grid plate image shot by the stereo mapping camera to be detected and the corresponding grid plate angle information; acquiring a distortion measurement calculation table and reference information, wherein the reference information is obtained by utilizing the high-precision autocollimation theodolite to carry out line-by-line measurement on the grid line convergence points of the grid plate through the standard lens to obtain the azimuth angle information and the pitching angle information of each convergence point;
the parameter calculation module is used for calculating and obtaining the internal orientation element value and the lens distortion measurement precision of the to-be-measured stereo mapping camera according to the reference information, the distortion measurement calculation table, each grid plate image and corresponding angle information;
the high-precision auto-collimation theodolite is arranged in front of the standard lens and is positioned on the same optical axis; the grid plate is arranged on the three-dimensional adjusting mechanism and is positioned on the focal plane of the standard lens; the stereo mapping camera to be measured is arranged in front of the standard lens and used for photographing the grid plate, and the high-precision auto-collimation theodolite is moved away when the identification precision of the orientation elements in the whole machine is measured.
The technical scheme provided by the application has the advantages that the azimuth angle information and the pitch angle information of the grid line convergence points of the grid plate at different positions and angles are measured line by using the high-precision auto-collimation theodolite and the high-quality standard lens, and the information is used as the reference information for measuring the identification precision of the azimuth elements in the whole machine of the to-be-measured stereo mapping camera; the main distance value, the main point coordinate value and the lens distortion measurement precision value of the to-be-detected three-dimensional mapping camera are obtained through calculation according to the to-be-detected three-dimensional mapping camera, the images shot by the grid plates at different positions and angles and the angles of the grid plates, high-precision measurement of identification precision of the orientation elements in the whole three-dimensional mapping camera is achieved, the working efficiency of the detection stage of the three-dimensional mapping camera is greatly improved, the development period of the three-dimensional mapping camera is shortened, and convenience is brought to batch detection of three-dimensional mapping camera products.
In addition, the embodiment of the invention also provides a corresponding implementation device, equipment and a computer readable storage medium for the overall internal orientation element calibration method of the stereo mapping camera, so that the method has higher practicability, and the device, the equipment and the computer readable storage medium have corresponding advantages.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the related art, the drawings required to be used in the description of the embodiments or the related art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating a system for overall intra-azimuth element calibration of a stereographic camera according to an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a system for overall intra-azimuth element calibration according to another exemplary embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of a method for calibrating orientation elements in a stereo mapping camera according to an embodiment of the present invention;
fig. 4 is a structural diagram of a specific implementation manner of the overall internal orientation element calibration device of the stereo mapping camera according to the embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may include other steps or elements not expressly listed.
Having described the technical solutions of the embodiments of the present invention, various non-limiting embodiments of the present application are described in detail below.
Referring to fig. 1 and 2, fig. 1 and 2 are block diagrams of a system for calibrating orientation elements in a stereo mapping camera according to an embodiment of the present invention, where the embodiment of the present invention includes the following:
the whole-machine internal orientation element calibration system 0 of the stereo mapping camera can comprise a high-precision auto-collimation theodolite 1, a standard lens 2, a grid plate 3, a three-dimensional adjusting mechanism 4, a light source module 5 and a parameter calculation device 6.
The high-precision auto-collimation theodolite 1, the standard lens 2 and the light source module 5 are positioned on the same optical axis. The high-precision auto-collimation theodolite 1 is arranged in front of a standard lens 2, a grid plate 3 is arranged on a focal plane of the standard lens 2, and a light source module 5 is arranged behind the grid plate 3. The grid plate 3 is fixedly arranged on the three-dimensional adjusting mechanism 4, and the grid plate 3 is driven to move by adjusting the three-dimensional adjusting mechanism 4 so as to control the three-dimensional space position of the grid plate 2 by adjusting the height position and the rotating angle of the three-dimensional adjusting mechanism 4.
The high-precision auto-collimation theodolite 1 performs optical axis consistency adjustment on a standard lens 2, performs line-by-line measurement on the grid line convergence points of a grid plate 3 through the standard lens 2, and stores azimuth angle information and pitching angle information of each convergence point obtained through measurement as reference information into a parameter calculation device 6. When the high-precision autocollimation theodolite 1 carries out line-by-line measurement on the grid plate 3, the grid plate 3 moves in a three-dimensional space under the drive of the three-dimensional adjusting mechanism 4 to obtain a plurality of groups of azimuth angle values and elevation angle values, the azimuth angle values and the elevation angle values can have corresponding relations, and namely, the azimuth angle information and the elevation angle information currently presented by the grid plate are recorded at the same time.
When the identification precision of the orientation elements in the whole stereo mapping camera is measured, the high-precision auto-collimation theodolite 1 is moved away, the stereo mapping camera 7 to be detected is installed at the same position or different positions, and the stereo mapping camera 7 to be detected is positioned in front of the standard lens 2. Optionally, a mounting and fixing mechanism may be provided for mounting and fixing the high-precision autocollimation theodolite 1 or the to-be-measured stereo mapping camera, that is, the two are located at the same position of the whole system.
The vertical axis can be adjusted vertically by means of an optical level (for example a bubble) before and after the stereographic camera 7 to be measured is mounted on the standard lens 2. After the adjustment is completed, the stereo mapping camera 7 to be measured photographs the grid plate 3, and stores the photographed grid plate image and the angle information of the grid plate when the image is photographed into the parameter calculation device 6.
The parameter calculating device 6 calculates and obtains the internal orientation element value and the lens distortion measuring precision of the to-be-measured stereo mapping camera according to the reference information, the distortion measuring calculation table, each grid plate image and the corresponding angle information, wherein the internal orientation element value is a main distance (the distance from an objective lens rear node to an image main point) and a main point coordinate (an x coordinate value and a y coordinate value of the image main point in a photo frame coordinate system).
The distortion measurement calculation table may be a distortion measurement calculation table in the related art input by a user, or a distortion measurement calculation table made by a person skilled in the art according to actual conditions and requirements, which does not affect the implementation of the present application.
And calculating to obtain the internal orientation element value and the lens distortion measurement precision of the to-be-measured stereo mapping camera according to the reference information, the distortion measurement calculation table, the grid plate images and the corresponding angle information, and the implementation of the process can refer to the description of the related technology, and the description is omitted here.
The high-precision autocollimation theodolite 1 may be any autocollimation theodolite with high precision (for example, the angle precision is 0.5 "), and the present application is not limited thereto.
The standard lens 2 may be any high-quality standard lens, for example, a standard lens with a maximum field angle greater than 43 ° x 33 °, which is not limited in this application.
The grid plate 3 can be any standard grid plate in the related art, or a grid plate designed by those skilled in the art according to actual conditions and requirements, which does not affect the implementation of the present application.
The three-dimensional adjusting mechanism 4 may be any device capable of adjusting a position in a three-dimensional space, and the present application is not limited thereto.
The light source module 5 emits parallel light beams to enter the standard lens 2 through the grid plate 3, and any light source or combination of light sources capable of emitting parallel light beams can be used, for example, the light source module 5 can be a collimator optical instrument for generating parallel light beams; of course, a combination of a light source (e.g., an LED light source) and a collimator objective lens may also be used to emit parallel light beams, which does not affect the implementation of the present application.
Optionally, a collimator having a long focal length of 2000mm and a caliber of 200mm may be selected as the light source module 5.
The installation, debugging and the like of the high-precision auto-collimation theodolite 1, the standard lens 2, the grid plate 3 and the light source module 5 can refer to the description of the related art, and the details are not repeated here.
In the technical scheme provided by the embodiment of the invention, the azimuth angle information and the pitch angle information of the grid line convergence point of the grid plate at different positions and angles are measured line by using the high-precision auto-collimation theodolite and the high-quality standard lens, and the information is used as the reference information for measuring the identification precision of the azimuth element in the whole machine of the to-be-measured stereo mapping camera; the main distance value, the main point coordinate value and the lens distortion measurement precision value of the to-be-detected three-dimensional mapping camera are obtained through calculation according to the to-be-detected three-dimensional mapping camera, the images shot by the grid plates at different positions and angles and the angles of the grid plates, high-precision measurement of identification precision of the orientation elements in the whole three-dimensional mapping camera is achieved, the working efficiency of the detection stage of the three-dimensional mapping camera is greatly improved, the development period of the three-dimensional mapping camera is shortened, and convenience is brought to batch detection of three-dimensional mapping camera products.
In the following, the method for testing the shielding effectiveness of the active transparent shielding film according to the embodiment of the present invention is introduced, and the method for testing the shielding effectiveness of the active transparent shielding film described below and the system for testing the shielding effectiveness of the active transparent shielding film described above can be referred to correspondingly.
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for calibrating an orientation element in a stereo mapping camera according to an embodiment of the present invention, which is applied to a system for calibrating an orientation element in a stereo mapping camera, and the embodiment of the present invention may include the following contents:
s301: and acquiring the grid plate image shot by the to-be-detected stereo mapping camera and the corresponding grid plate angle information.
S302: and acquiring a distortion measurement calculation table and reference information, wherein the reference information is obtained by utilizing a high-precision autocollimation theodolite to carry out line-by-line measurement on the grid line convergence points of the grid plate through a standard lens to obtain the azimuth angle information and the pitching angle information of each convergence point.
S303: and calculating to obtain the internal orientation element value and the lens distortion measurement precision of the to-be-measured stereo mapping camera according to the reference information, the distortion measurement calculation table, the grid plate images and the corresponding angle information.
The high-precision auto-collimation theodolite is arranged in front of the standard lens and is positioned on the same optical axis; the grid plate is arranged on the three-dimensional adjusting mechanism and is positioned on a focal plane of the standard lens; the stereo mapping camera to be measured is arranged in front of the standard lens, the grid plate is photographed, and the high-precision auto-collimation theodolite is moved away when the identification precision of the orientation elements in the whole machine is measured.
Therefore, the embodiment of the invention realizes the high-precision measurement of the identification precision of the orientation elements in the whole stereo mapping camera and provides convenience for the batch detection of stereo mapping camera products.
The embodiment of the invention also provides a corresponding implementation device for the method for calibrating the orientation elements in the whole stereo mapping camera, so that the method has higher practicability.
Referring to fig. 4, fig. 4 is a structural diagram of an orientation element calibration apparatus in a stereo mapping camera according to an embodiment of the present invention, in a specific implementation manner, the apparatus may include:
an information acquisition module 401, configured to acquire a grid plate image and corresponding grid plate angle information captured by a stereo mapping camera to be detected; acquiring a distortion measurement calculation table and reference information, wherein the reference information is obtained by utilizing a high-precision autocollimation theodolite to carry out line-by-line measurement on the grid line convergence points of the grid plate through a standard lens to obtain azimuth angle information and pitching angle information of each convergence point;
a parameter calculation module 402, configured to calculate an internal orientation element value and lens distortion measurement accuracy of the stereo mapping camera to be measured according to the reference information, the distortion measurement calculation table, each grid plate image, and corresponding angle information;
the high-precision auto-collimation theodolite is arranged in front of the standard lens and is positioned on the same optical axis; the grid plate is arranged on the three-dimensional adjusting mechanism and is positioned on a focal plane of the standard lens; the stereo mapping camera to be measured is arranged in front of the standard lens, the grid plate is photographed, and the high-precision auto-collimation theodolite is moved away when the identification precision of the orientation elements in the whole machine is measured.
The functions of the functional modules of the overall internal orientation element calibration device of the stereo mapping camera according to the embodiment of the present invention can be specifically implemented according to the method in the embodiment of the method, and the specific implementation process may refer to the related description of the embodiment of the method, which is not described herein again.
Therefore, the embodiment of the invention realizes the high-precision measurement of the identification precision of the orientation elements in the whole stereo mapping camera, and provides convenience for the batch detection of stereo mapping camera products.
The embodiment of the invention also provides a device for calibrating the orientation elements in the whole stereo mapping camera, which specifically comprises:
a memory for storing a computer program;
a processor for executing a computer program to implement the steps of the overall intra-stereographic camera orientation element calibration method according to any of the above embodiments.
The functions of the functional modules of the overall internal orientation element calibration device of the stereo mapping camera according to the embodiment of the present invention can be specifically implemented according to the method in the embodiment of the method, and the specific implementation process may refer to the description related to the embodiment of the method, which is not described herein again.
Therefore, the embodiment of the invention realizes the high-precision measurement of the identification precision of the orientation elements in the whole stereo mapping camera, and provides convenience for the batch detection of stereo mapping camera products.
The embodiment of the invention also provides a computer readable storage medium, which stores a calibration program of the orientation elements in the whole stereo mapping camera, and the calibration program of the orientation elements in the whole stereo mapping camera is executed by a processor, and the steps of the calibration method of the orientation elements in the whole stereo mapping camera according to any one of the above embodiments are performed.
The functions of the functional modules of the computer-readable storage medium according to the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the related description of the foregoing method embodiment, which is not described herein again.
Therefore, the embodiment of the invention realizes the high-precision measurement of the identification precision of the orientation elements in the whole stereo mapping camera, and provides convenience for the batch detection of stereo mapping camera products.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, the device, the equipment and the computer readable storage medium for calibrating the orientation elements in the whole stereo mapping camera provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A calibration system for orientation elements in a complete machine of a stereo mapping camera is characterized by comprising a high-precision auto-collimation theodolite, a standard lens, a grid plate arranged on a three-dimensional adjusting mechanism, a light source module and a parameter calculation device; the high-precision auto-collimation theodolite is arranged in front of the standard lens and is positioned on the same optical axis; the grid plate is arranged on a focal plane of the standard lens;
the light source module is used for emitting parallel light beams to the grid plate and driving the grid plate to move in a three-dimensional space by adjusting the three-dimensional adjusting mechanism;
the high-precision auto-collimation theodolite is used for carrying out optical axis consistency adjustment on the standard lens, carrying out line-by-line measurement on the grid line convergence points of the grid plate through the standard lens, and storing azimuth angle information and pitching angle information of each convergence point obtained by measurement as reference information to the parameter calculation device;
the high-precision autocollimation theodolite is moved away when the identification precision of the orientation elements in the whole machine is measured; the stereoscopic mapping camera to be detected is arranged in front of the standard lens, photographs the grid plates, and stores the images of each grid plate and the angle information of the corresponding grid plate into the parameter calculation device;
and the parameter calculation device is used for calculating and obtaining the internal orientation element value and the lens distortion measurement precision of the to-be-measured stereo mapping camera according to the reference information, the distortion measurement calculation table, each grid plate image and the corresponding angle information.
2. The system for calibrating orientation elements in a stereographic camera according to claim 1, wherein the high-precision autocollimation theodolite has an angle measurement precision of 0.5 ".
3. The system for calibrating orientation elements in a stereo mapping camera according to claim 2, wherein the light source module is a collimator.
4. The system for calibrating the whole-machine azimuth element of the stereo mapping camera according to claim 3, wherein the collimator has a long focal length of 2000mm and a bore diameter of 200 mm.
5. The system for overall on-board calibration of orientation elements of a stereographic camera according to claim 1, wherein the maximum field angle of the standard lens is greater than 43 ° x 33 °.
6. The system for calibrating an orientation element in a stereographic camera according to any one of claims 1 to 5, further comprising an optical level for vertical adjustment of a vertical axis of the system.
7. The system for calibrating direction elements in a stereo mapping camera machine according to claim 6, further comprising a fixing mechanism for fixing the high-precision autocollimation theodolite.
8. The system for calibrating direction elements in a stereo mapping camera machine according to claim 7, wherein the stereo mapping camera to be measured and the high-precision auto-collimation theodolite are installed at the same position.
9. A method for calibrating orientation elements in a complete machine of a stereo mapping camera is characterized by comprising the following steps:
acquiring a grid plate image shot by a to-be-detected stereo mapping camera and corresponding grid plate angle information;
acquiring a distortion measurement calculation table and reference information, wherein the reference information is obtained by utilizing a high-precision autocollimation theodolite to carry out line-by-line measurement on the grid line convergence points of the grid plate through a standard lens to obtain azimuth angle information and pitching angle information of each convergence point;
calculating to obtain an internal orientation element value and lens distortion measurement precision of the to-be-measured stereo mapping camera according to the reference information, the distortion measurement calculation table, each grid plate image and corresponding angle information;
the high-precision auto-collimation theodolite is arranged in front of the standard lens and is positioned on the same optical axis; the grid plate is arranged on the three-dimensional adjusting mechanism and is positioned on the focal plane of the standard lens; the stereo mapping camera to be measured is arranged in front of the standard lens and used for photographing the grid plate, and the high-precision auto-collimation theodolite is moved away when the identification precision of the orientation elements in the whole machine is measured.
10. The utility model provides an azimuth element calibrating device in three-dimensional mapping camera complete machine which characterized in that includes:
the information acquisition module is used for acquiring the grid plate image shot by the stereo mapping camera to be detected and the corresponding grid plate angle information; acquiring a distortion measurement calculation table and reference information, wherein the reference information is obtained by utilizing a high-precision autocollimation theodolite to carry out line-by-line measurement on the grid line convergence points of the grid plate through a standard lens to obtain azimuth angle information and pitching angle information of each convergence point;
the parameter calculation module is used for calculating and obtaining the internal orientation element value and the lens distortion measurement precision of the to-be-measured stereo mapping camera according to the reference information, the distortion measurement calculation table, each grid plate image and corresponding angle information;
the high-precision auto-collimation theodolite is arranged in front of the standard lens and is positioned on the same optical axis; the grid plate is arranged on the three-dimensional adjusting mechanism and is positioned on the focal plane of the standard lens; the stereo mapping camera to be measured is arranged in front of the standard lens and used for photographing the grid plate, and the high-precision auto-collimation theodolite is moved away when the identification precision of the orientation elements in the whole machine is measured.
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| CN111707451B (en) * | 2020-05-27 | 2021-09-14 | 中国科学院西安光学精密机械研究所 | Method for calibrating internal orientation element and distortion of interference type imaging spectrometer |
| CN111964693B (en) * | 2020-07-21 | 2022-03-22 | 中国科学院长春光学精密机械与物理研究所 | High-precision calibration method for internal and external orientation elements of surveying and mapping camera |
| CN112055195B (en) * | 2020-07-24 | 2022-09-06 | 北京空间机电研究所 | Method for measuring distortion of surveying and mapping camera |
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