CN109737917A - Image distance measuring instrument and measuring method - Google Patents

Image distance measuring instrument and measuring method Download PDF

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Publication number
CN109737917A
CN109737917A CN201910173158.1A CN201910173158A CN109737917A CN 109737917 A CN109737917 A CN 109737917A CN 201910173158 A CN201910173158 A CN 201910173158A CN 109737917 A CN109737917 A CN 109737917A
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image
laser
point
coordinate system
measuring instrument
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董岚
王铜
梁静
王小龙
罗涛
柯志勇
何振强
马娜
李波
门玲鸰
朱洪岩
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Institute of High Energy Physics of CAS
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Institute of High Energy Physics of CAS
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Abstract

本申请公开了一种像距测量仪及测量方法,像距测量仪包括机身,所述机身中设置有镜头以及与所述镜头相对应的图像传感器,所述机身中还设置有激光测距仪,从该像距测量仪出射的、由所述激光测距仪产生的激光束与所述镜头的主光轴同轴。本申请运用多站多类数据融合处理的思路,将数字图像与测距值进行整体求解,通过激光测距仪的高精度测距值来为图像测量提供尺度基准及尺度约束,从而提高最终的测量精度。

The present application discloses an image distance measuring instrument and a measuring method. The image distance measuring instrument includes a body, a lens and an image sensor corresponding to the lens are arranged in the body, and a laser is also arranged in the body. A range finder, the laser beam emitted from the image range finder and generated by the laser range finder is coaxial with the main optical axis of the lens. This application uses the idea of multi-station and multi-type data fusion processing to solve the digital image and the ranging value as a whole, and provides scale benchmarks and scale constraints for image measurement through the high-precision ranging value of the laser range finder, thereby improving the final result. measurement accuracy.

Description

Image distance measuring instrument and measurement method
Technical field
This application involves a kind of image distance measuring instrument and measurement methods.
Background technique
Close shot industrial photogrammetry be use video camera by obtained in different positions and orientation 2 width of same object with On digital picture, the determinand obtained after the processing such as computer image characteristics extraction, positioning, matching and related mathematical computations Body accurate three-dimensional position.Have many advantages, such as it is non-contact, long-range, quick, automobile, aircraft and large-scale antenna processing detection in It suffers from and is widely applied.The system of comparative maturity has the VSTAR of the DPA system of German AICON 3D company, GSI company, the U.S. System, the TRITOP system of GOM company, Germany, the SOLO system of MetroNor company, Norway.
Before digital close shot industrial photogrammetry systematic survey, generally in testee surface mount or projection measurement mark Will is effectively identified and is accurately positioned to the position to be measured on testee using these measurement marks, passes through multi-court position Different angle is taken pictures, and " triangle intersection " principle is utilized, each tested point at least will just may be used by two photographic light flux intersections Solution, if there is three or more photography light intersect tested point, precision obviously will be improved, and reliability also can be mentioned accordingly It is high.
" triangle intersection " method measurement accuracy influenced by intersection angle it is quite big, intersection angle be 90 ° when measurement accuracy it is best, Intersection angle is smaller or bigger its precision is also lower.Simultaneously as the measurement mark one of digital close shot industrial photogrammetry system As be round retro-reflective target, if incidence angle when camera is taken pictures is too big, the image that on the one hand will cause index point is too dark And picture point centralized positioning is influenced, to reduce the measurement accuracy of system;On the other hand, circle marker can be made by camera lens It is oval after imaging, and forms biggish centering error between elliptical image center and circle marker center, to reduces system Measurement accuracy.Therefore, digital close shot industrial photogrammetry system incidence angle in measurement is not too big.In order in intersection cutin " balance " usually can make the intersection angle between camera in 90 ° so that being both subjected between amount and mark incidence angle quality.? In actual measurement, in order to improve the image quality of mark, the intersection angle between camera is often below 90 °, will cause in this way camera with The angle of testee is often often 90 ° small, and it is lower that this will cause the precision measured in camera shooting direction.
Meanwhile existing digital close shot industrial photogrammetry system uses image intersection to carry out space orientation completely, does not have Standard generallys use a standard rod to carry out the determination of standard, and in actual measurement, testee size is often The size of remote overproof bar, the big bulk determined using small standard are unable to reach degree of precision in this way.
Summary of the invention
The purpose of the application is: in view of the above technical problems, the application proposes a kind of image distance measuring instrument and measurement method, with Improve photogrammetric precision.
In order to achieve the above object, the technical solution of the application is:
A kind of image distance measuring instrument, including fuselage are provided with camera lens and figure corresponding with the camera lens in the fuselage As sensor, it is additionally provided with laser range finder in the fuselage, it is being emitted from the image distance measuring instrument, produced by the laser range finder The primary optical axis of raw laser beam and the camera lens is coaxial.
Laser deflection mirror is additionally provided in the fuselage, the laser beam that the laser range finder issues is through the laser deflection The laser exit beam coaxial with the primary optical axis of the camera lens is obtained after mirror deflection processing.
The laser deflection mirror in the fuselage can be adjusted between the first position and the second position;
It is described when the laser deflection mirror is in the first position between the camera lens and described image sensor The laser beam of laser range finder transmitting obtains coaxial with the primary optical axis of the camera lens after laser deflection mirror deflection processing Laser exit beam;
When the laser deflection mirror is in the second position, the ambient light entered from the camera lens is without described Laser deflection mirror and be emitted directly toward described image sensor.
When the laser deflection mirror is in the first position, the laser deflection mirror generates the laser range finder Laser beam carry out 90 ° deflection.
The primary optical axis of the camera lens is vertical with the picture plane of described image sensor.
The optical centre for defining the camera lens is defined as the centre of image distance instrument, then measured by the laser range finder Target range is distance of the centre to target.
It is provided in the fuselage for adjusting the laser deflection mirror between the first position and the second position Repeated positioning device.
A kind of image distance measurement method is carried out using above-mentioned image distance measuring instrument, method includes the following steps:
1) the image distance measuring instrument is arranged in the first measurement erect-position, in the first measurement erect-position, will be surveyed from the image distance Laser beam that amount instrument is emitted, being generated by the laser range finder is successively directed at several target points on testee, thus The distance value of several target points on testee is measured respectively;Also, in the first measurement erect-position, also the image distance is measured The camera lens of instrument is directed toward testee from different perspectives, includes the multiple pictures of target point to testee shooting;
2) the image distance measuring instrument is transferred to next measurement erect-position, repeated the above steps 1);
3) it repeats the above steps 2) several times, to measure each target on testee respectively in multiple measurement erect-positions The distance value of point, respectively takes pictures to target point each on testee in multiple measurement erect-positions;
4) after multistation is measured, entirety is carried out the images of all single station shootings and together with measured distance value It calculates;
Pixel coordinate system op- uv and photo coordinate system o-xy for indicating picture point as the position in plane, sit by pixel Mark system op- uv is established on the image plane, with image upper left corner opFor coordinate origin, pixel is coordinate unit, each pixel Coordinate (u, v) indicates pixel line number on the image and columns;In order to establish object space three-dimensional coordinate and image space Perspective projection relationship between two-dimensional coordinate needs to be converted to pixel coordinate the photo coordinate system o-xy indicated with mm unit, Using the primary optical axis of optical lens and imaging sensor as the intersection point o of plane is origin, x-axis, y-axis are respectively and image pixel coordinates U axis, the v axis of system are parallel;Transforming relationship between photo coordinate system and pixel coordinate system is as follows:
In formula (1), dx and dy are that each pixel is expert at respectively to the physical size upward with column;u0And v0For principal point Coordinate under pixel coordinate system.
Image space coordinate system S-xyz is for indicating that picture point in the position of image space, is fixed on optical lens and image On sensor, based on optical lens projection centre S and imaging sensor;The origin of image space coordinate system S-xyz is optics The key light overlapping of axles of the projection centre S of camera lens, z-axis and optical lens, perpendicular to as plane, x-axis, y-axis are flat with the picture respectively The x-axis of areal coordinate system is parallel with y-axis, and So is the effective focal length f of optical lens;
Object coordinates system O-XYZ, for describing measured target in the position of object space;
If coordinate (X, Y, Z) of the object space point P under object coordinates system, coordinate under image space coordinate system be (X ', Y ', Z '), coordinate of the corresponding picture point p in image space coordinate system is (x, y ,-f), seat of the projection centre S under object coordinates system Mark (XS,YS,ZS);According to object space point, projection centre, the three point on a straight line condition of picture point, object coordinates system and image space coordinate are obtained The relationship of transforming relationship and object space the point coordinate and picpointed coordinate of system:
In formula (2), R is the spin matrix that image space coordinate system is converted to object coordinates system, and the expression of spin matrix is used Around the rotation angle (ε of three reference axisxyz) indicate,
R=Rx·Ry·Rz,
The positive direction of rotation is set as right-handed helix direction, i.e., from the axis positive axis to origin in terms of be counter clockwise direction, R is Orthogonal matrix, R-1=RT;λ is scale factor,
Since in the actual imaging of camera, there are deviation (Δ x, Δ y) for its opposite theoretical position on as plane for picture point;It will Above formula (2) is unfolded and eliminates scale factor, meanwhile, take the influence of picture point systematic error into account, available collinearity equation formula:
Picture point SYSTEM ERROR MODEL can be 10 parameter models, in addition to principal point deviation (x0,y0) and camera effective focal length f It outside, further include radial distortion (k caused by lens shape mismachining tolerance1、k2、k3), bias caused by lens group optical center rigging error Distort (p1、p2) and pixel the length and width dimension scale factor and as plane x-axis and y-axis it is non-orthogonal caused by as plane distort (b1、b1);Using 10 parameter models, picture point systematic error is as follows:
In formula (4),
The laser ranging identifying body of the first location arrangements spherical shape of target point on the testee, then utilizes the picture The distance value of the laser ranging identifying body is measured away from measuring instrument, the distance value of measured laser ranging identifying body is considered as correspondence The distance value of target point.
The photography identifying body of the first location arrangements spherical shape of target point on the testee, is then surveyed using the image distance Amount instrument measures the distance value of the sharp photography identifying body, and the image of captured photography identifying body is considered as the figure of corresponding target point Picture.
The advantage of the application is:
The image distance instrument of the application design, during processing and manufacturing, be strict with the emergent ray of laser range finder with The primary optical axis of camera lens is coaxial, meanwhile, the primary optical axis of camera lens and the picture plane of imaging sensor are vertical.By processing and manufacturing and The method of later period compensation for calibrating errors realizes above-mentioned geometrical relationship.Therefore, during image distance measuring instrument list station is taken pictures, while to list A point carries out ranging, this can be improved in the precision of image distance instrument shooting direction.Meanwhile being swashed using the high-precision of image distance instrument itself Ligh-ranging value, when providing image calculation apart from benchmark and distance restraint, instead of the short baseline rod that existing technology uses, The range of large scale distance restraint is increased, precision is further improved.
Detailed description of the invention
Fig. 1 is this image distance measuring instrument of the embodiment of the present application
Structural schematic diagram.
Wherein: 1- fuselage, 2- camera lens, 3- imaging sensor, 4- laser range finder, 5- laser deflection mirror.
Specific embodiment
The application is described in further detail below by specific embodiment combination attached drawing.The application can be with a variety of Different forms is realized, however it is not limited to embodiment described in the present embodiment.The purpose of following specific embodiments is provided It is easy for becoming apparent from present disclosure thorough explanation, wherein the words of the indicating positions such as upper and lower, left and right is only needle To shown structure in respective figure for position.
However, those skilled in the art may be aware that one or more detail description can be by Omit, or can also adopt with other methods, component or material.In some instances, some embodiments are not described Or it is not described later in detail.
In addition, technical characteristic described herein, technical solution can also be in one or more embodiments arbitrarily to close Suitable mode combines.For those skilled in the art, it should be readily appreciated that method related with embodiment provided herein Step or operation order can also change.Therefore, any sequence in drawings and examples is merely illustrative purposes, not secretly Show requirement in a certain order, is required unless expressly stated according to a certain sequence.
It is herein component institute serialization number itself, such as " first ", " second " etc., is only used for distinguishing described object, Without any sequence or art-recognized meanings.And " connection ", " connection " described in the application, unless otherwise instructed, include directly and It is indirectly connected with (connection).
Fig. 1 shows a specific embodiment of this image distance measuring instrument of the application (i.e. the measuring instrument of image and distance), The image distance measuring instrument includes fuselage 1 possessed by the photogrammetric equipment of traditional industry, and camera lens 2 and and mirror are provided in fuselage 1 Corresponding imaging sensor 3.
The key improvements of the present embodiment are: being additionally provided with a laser range finder 4 in above-mentioned fuselage 1, measure from the image distance Instrument outgoing, the primary optical axis of laser beam and camera lens 2 that is generated by aforementioned laser rangefinder 4 it is coaxial.
In view of the primary optical axis of camera lens 2 should be vertical with the picture plane of imaging sensor 3, clapped to obtain optimal image Take the photograph quality.If keeping the primary optical axis of the laser beam and camera lens 2 that are directly occurred by laser range finder 4 coaxially arranged, at least can There are problems that one of following two:
Problem one:, can be because of the screening of laser range finder 4 if laser range finder 4 is arranged between camera lens 2 and imaging sensor 3 Gear, and cause imaging sensor 3 that cannot receive the light entered from camera lens 2, it is unable to complete image taking.
Problem two:, can be because of the screening of imaging sensor 3 if imaging sensor 3 is arranged between camera lens 2 and laser range finder 4 Gear, and the laser beam for causing laser range finder 4 to emit can not go out project from camera lens, so that the ranging to objective body cannot be completed.
If the installation site of above-mentioned laser range finder 4 or imaging sensor 3 in fuselage 1 is adjustable, can lead to Overregulate the position of laser range finder 4 or imaging sensor 3, and make shooting when laser range finder 4 will not block from camera lens 2 into The light entered, imaging sensor 3 will not block the laser beam of the transmitting of laser range finder 4 when ranging.
But, because the figure of laser range finder 4 and imaging sensor 3 is all bigger, to guarantee laser range finder 4 or figure As installation site of the sensor 3 in fuselage 1 is adjustable, the figure of fuselage 1 will necessarily be arranged is very big, and disadvantage is obvious.
In view of the above-mentioned problems, the present embodiment uses a kind of simple and effective solution: being additionally provided with one in fuselage 1 Laser deflection mirror 5, the laser beam (original laser beam) that laser range finder 4 issues obtain after 5 deflection of laser deflection mirror processing The coaxial laser exit beam with the primary optical axis of camera lens 2.Above-mentioned laser deflection mirror 5 in fuselage 1 can be in first position and It is adjusted between two positions and aforementioned first position is between camera lens 1 and described image sensor 3.It is arranged in fuselage 1 useful In the repeated positioning device for adjusting laser deflection mirror 5 between the first position and the second position.
When laser deflection mirror 5 is in the above-mentioned first position between camera lens 1 and imaging sensor 3, laser range finder 4 is sent out The laser beam penetrated obtains the laser exit beam coaxial with the primary optical axis of camera lens 2 after 5 deflection of laser deflection mirror processing.Swash The original laser beam that light deflecting mirror 5 issues is not directly coaxial with the primary optical axis of camera lens 2, but passes through the inclined of laser deflection mirror 5 The laser exit beam coaxial with the primary optical axis of camera lens 2 is obtained after turning processing.
More specifically, as shown in Figure 1, when laser deflection mirror 5 is in above-mentioned first position, laser deflection mirror 5 is by laser The laser beam that rangefinder 4 generates carries out 90 ° of deflections.That is, original laser beam and camera lens 2 that laser deflection mirror 5 issues Primary optical axis is vertical.
When laser deflection mirror 5 removes from first position and is in said second position, from the ambient light of the entrance of camera lens 2 Without going past laser deflection mirror 5, and it is emitted directly toward imaging sensor 3.
But, if laser deflection mirror 5 is arranged it is sufficiently small, to not influence the incident light of camera lens 2 in image sensing Image quality on device 3, it is motionless can be fixed on a position for laser deflection mirror 5 in this case.
The primary optical axis of camera lens 2 is vertical with the picture plane of imaging sensor 3, to obtain optimal shooting quality.
The optical centre for defining camera lens 2 is defined as the centre of image distance instrument, then target measured by laser range finder 4 away from With a distance from for centre to target.
When carrying out image distance measurement using this image distance measuring instrument of the present embodiment, successively following steps:
1) image distance measuring instrument is arranged in the first measurement erect-position first, it, will be from image distance measuring instrument in the first measurement erect-position Laser beam being emitted, being generated by laser range finder 4 is successively directed at multiple (The more the better) target points on testee, thus The distance value of multiple target points on testee is measured respectively;Also, in the first measurement erect-position, also by image distance measuring instrument Camera lens 2 be directed toward testee from different perspectives, successively to shoot multiple pictures to testee, and guarantee captured photo In the photo comprising at least one target point on testee.It is surveyed in this way, obtaining multiple target points and first on testee The image measured the distance value of erect-position and measure multiple target points on the testee that erect-position is shot first.
" successively measuring " target point distance value each on testee described in above, does not imply that and is measuring a mesh And then the distance value of next target point is measured after gauge length value until all target point distance values are continuously measured and finished.Together Sample, above described " successively shoots " target point each on testee, does not also imply that after shooting a target point And then next target point is shot until all target points are continuously shot completion.And refer to range measurement and the figure of each target point Shooting successively carries out, it is impossible to carry out with time point.The measurement of above-mentioned a target point distance and the shooting of image, can phase interpenetrating Row is injected, all target point distance values can also measured and then target point is shot.
Specifically in the present embodiment, we first carry out ranging to first aim point, and image distance measuring instrument is fixed, immediately Take pictures to the first aim point.Then ranging is carried out to second target point, image distance measuring instrument is fixed, immediately Take pictures to the second target point.So operating is advantageous in that, image distance measuring instrument surveys the same target point Away from shooting when position and angle it is completely the same, ensure that postorder to the computational accuracy of testee model.
If do not handled the target point on testee, and directly by the laser beam directive measured object of image distance measuring instrument The target point (i.e. the location point of testee itself) of body, it is understood that there may be the laser beam of homed on its target point can only marginally or completely Image distance measuring instrument cannot be reflexed to, ranging quality and low precision are caused.So the position of the first target point on testee of the present embodiment The spherical laser ranging identifying body of arrangement is set, it is measured then using the distance value of image distance measuring instrument measurement laser ranging identifying body The distance value of laser ranging identifying body be considered as the distance value of corresponding target point Laser ranging identifying body has good laser reflection ability, its received laser beam can largely be reflexed to image distance measurement Instrument, accurately to measure distance value.
Similarly, if do not handled the target point on testee, and directly to target point (the i.e. quilt of testee Survey the location point of object itself) it takes pictures, it is difficult to guarantee the quality of shooting image, and is difficult to pick out target point in image Position.So the photography identifying body of the first location arrangements spherical shape of target point on testee of the present embodiment, then utilizes image distance Measuring instrument shooting photography identifying body, the image of captured photography identifying body are considered as the image of corresponding target point.
2) image distance measuring instrument is transferred to next measurement erect-position (image distance measuring instrument is moved to next measurement position), weight Multiple above-mentioned steps 1).
3) it repeats the above steps 2) several times, to measure each target on testee respectively in multiple measurement erect-positions The distance value of point, respectively takes pictures to target point each on testee in multiple measurement erect-positions.To obtain on testee The distance value and each target point on the testee of each measurement erect-position shooting of each target point and each measurement erect-position Image.
4) after multistation is measured, entirety is carried out the images of all single station shootings and together with measured distance value It calculates, specific as follows:
Pixel coordinate system op- uv and photo coordinate system o-xy for indicating picture point as the position in plane, sit by pixel Mark system op- uv is established on the image plane, with image upper left corner opFor coordinate origin, pixel is coordinate unit, each pixel Coordinate (u, v) indicates pixel line number on the image and columns;In order to establish object space three-dimensional coordinate and image space Perspective projection relationship between two-dimensional coordinate needs to be converted to pixel coordinate the photo coordinate system o-xy indicated with mm unit, Using the primary optical axis of optical lens and imaging sensor as the intersection point o of plane is origin, x-axis, y-axis are respectively and image pixel coordinates U axis, the v axis of system are parallel;Transforming relationship between photo coordinate system and pixel coordinate system is as follows:
In formula (1), dx and dy are that each pixel is expert at respectively to the physical size upward with column;u0And v0For principal point Coordinate under pixel coordinate system.
Image space coordinate system S-xyz is for indicating that picture point in the position of image space, is fixed on optical lens and image On sensor, based on optical lens projection centre S and imaging sensor;The origin of image space coordinate system S-xyz is optics The key light overlapping of axles of the projection centre S of camera lens, z-axis and optical lens, perpendicular to as plane, x-axis, y-axis are flat with the picture respectively The x-axis of areal coordinate system is parallel with y-axis, and So is the effective focal length f of optical lens.
Object coordinates system O-XYZ, also referred to as global coordinate system, for describing measured target in the position of object space.
If coordinate (X, Y, Z) of the object space point P under object coordinates system, coordinate under image space coordinate system be (X ', Y ', Z '), coordinate of the corresponding picture point p in image space coordinate system is (x, y ,-f), seat of the projection centre S under object coordinates system Mark (XS,YS,ZS);According to object space point, projection centre, the three point on a straight line condition of picture point, object coordinates system and image space coordinate are obtained The relationship of transforming relationship and object space the point coordinate and picpointed coordinate of system:
In formula (2), R is the spin matrix that image space coordinate system is converted to object coordinates system, and the expression of spin matrix can With with the rotation angle (ε around three reference axisxyz) indicate, generally also write asR=Rx·Ry·Rz
The positive direction of rotation is set as right-handed helix direction, i.e., from the axis positive axis to origin in terms of be counter clockwise direction, R is Orthogonal matrix, R-1=RT;λ is scale factor.
Since in the actual imaging of camera, there are deviation (Δ x, Δ y) for its opposite theoretical position on as plane for picture point;It will Above formula (2) is unfolded and eliminates scale factor, meanwhile, take the influence of picture point systematic error into account, available collinearity equation formula:
Common picture point SYSTEM ERROR MODEL can be 10 parameter models, in addition to principal point deviation (x0,y0) and camera it is effective It further include radial distortion (k caused by lens shape mismachining tolerance outside focal length f1、k2、k3), lens group optical center rigging error causes Decentering distortion (p1、p2) and pixel the length and width dimension scale factor and as plane x-axis and y-axis it is non-orthogonal caused by as flat Area distortion (b1、b1);Using 10 parameter models, the systematic error of picture point is as follows:
In formula (4),
The present embodiment uses the thinking of multistation multi-class data fusion treatment, and digital picture and distance measurement value are carried out whole ask Solution, provides standard and dimensional constraints by the precision distance measurement value of laser range finder for image measurement, to improve most Whole measurement accuracy.
The foregoing is a further detailed description of the present application in conjunction with specific implementation manners, and it cannot be said that this Shen Specific implementation please is only limited to these instructions.For those of ordinary skill in the art to which this application belongs, it is not taking off Under the premise of from the application design, a number of simple deductions or replacements can also be made.

Claims (10)

1.一种像距测量仪,包括机身(1),所述机身(1)中设置有镜头(2)以及与所述镜头相对应的图像传感器(3),其特征在于,所述机身(1)中还设置有激光测距仪(4),从该像距测量仪出射的、由所述激光测距仪(4)产生的激光束与所述镜头(2)的主光轴同轴。1. An image distance measuring instrument, comprising a body (1), wherein a lens (2) and an image sensor (3) corresponding to the lens are provided in the body (1), wherein the The fuselage (1) is also provided with a laser range finder (4), the laser beam emitted from the image distance measurer and generated by the laser range finder (4) and the main light of the lens (2) The shaft is coaxial. 2.根据权利要求1所述的像距测量仪,其特征在于,所述机身(1)中还设置有激光偏转镜(5),所述激光测距仪(4)发出的激光束经所述激光偏转镜(5)偏转处理后而得到与所述镜头(2)的主光轴同轴的激光出射光束。2. The image distance measuring instrument according to claim 1, characterized in that, a laser deflection mirror (5) is also provided in the body (1), and the laser beam emitted by the laser distance measuring instrument (4) is After the laser deflecting mirror (5) is deflected, a laser outgoing beam coaxial with the main optical axis of the lens (2) is obtained. 3.根据权利要求2所述的像距测量仪,其特征在于,于所述机身(1)中的所述激光偏转镜(5)可在第一位置和第二位置之间调节;3. The image distance measuring instrument according to claim 2, wherein the laser deflecting mirror (5) in the body (1) can be adjusted between a first position and a second position; 当所述激光偏转镜(5)处于所述镜头(1)和所述图像传感器(3)之间的所述第一位置时,所述激光测距仪(4)发射的激光束经所述激光偏转镜(5)偏转处理后而得到与所述镜头(2)的主光轴同轴的激光出射光束;When the laser deflecting mirror (5) is in the first position between the lens (1) and the image sensor (3), the laser beam emitted by the laser rangefinder (4) passes through the After the laser deflecting mirror (5) is deflected, a laser outgoing beam coaxial with the main optical axis of the lens (2) is obtained; 当所述激光偏转镜(5)处于所述第二位置时,从所述镜头(2)进入的环境光线不经过所述激光偏转镜(5)而直接射向所述图像传感器(3)。When the laser deflecting mirror (5) is in the second position, the ambient light entering from the lens (2) directly strikes the image sensor (3) without passing through the laser deflecting mirror (5). 4.根据权利要求3所述的像距测量仪,其特征在于,当所述激光偏转镜(5)处于所述第一位置时,所述激光偏转镜(5)将所述激光测距仪(4)产生的激光束进行90°偏转。4. The image distance measuring instrument according to claim 3, characterized in that, when the laser deflection mirror (5) is in the first position, the laser deflection mirror (5) (4) The generated laser beam is deflected by 90°. 5.根据权利要求1所述的像距测量仪,其特征在于,所述镜头(2)的主光轴与所述图像传感器(3)的像平面垂直。5. The image distance measuring instrument according to claim 1, wherein the main optical axis of the lens (2) is perpendicular to the image plane of the image sensor (3). 6.根据权利要求1所述的像距测量仪,其特征在于,定义所述镜头(2)的光学中心定义为像距仪的仪器中心,则所述激光测距仪(4)所测得的目标距离为所述仪器中心至目标的距离。6. The image distance measuring instrument according to claim 1, characterized in that, defining the optical center of the lens (2) as the instrument center of the image distance measuring instrument, then the laser distance measuring instrument (4) measures the The target distance is the distance from the center of the instrument to the target. 7.根据权利要求1所述的像距测量仪,其特征在于,所述机身(1)中设置有用于将所述激光偏转镜(5)在所述第一位置和第二位置之间调节的重复定位装置。7. The image distance measuring instrument according to claim 1, characterized in that, the body (1) is provided with a device for positioning the laser deflecting mirror (5) between the first position and the second position Adjustable repeat positioning device. 8.一种像距测量方法,其特征在于,采用如权利要求1至7中任一所述的像距测量仪进行,该方法包括以下步骤:8. A method for measuring an image distance, characterized in that, using the image distance measuring instrument as described in any one of claims 1 to 7, the method comprises the following steps: 1)将所述像距测量仪布置在第一测量站位,在该第一测量站位,将从所述像距测量仪出射的、由所述激光测距仪(4)产生的激光束先后对准被测物体上的若干个目标点,从而分别测量出被测物体上若干目标点的距离值;并且,在该第一测量站位,还将所述像距测量仪的镜头(2)从不同角度指向被测物体,对被测物体拍摄包含目标点的多张照片;1) Arranging the image distance measuring instrument at a first measuring station where the laser beam emitted from the image distance measuring instrument and generated by the laser distance measuring instrument (4) Aim at several target points on the measured object successively, so as to measure the distance values of several target points on the measured object; and, at the first measurement station, the lens (2 ) Point to the object to be measured from different angles, and take multiple photos of the object to be measured including the target point; 2)将所述像距测量仪转移至下一测量站位,重复上述步骤1);2) Transfer the image distance measuring instrument to the next measuring station, and repeat the above step 1); 3)重复上述步骤2)若干次,从而在多个测量站位分别测量出被测物体上各个目标点的距离值,在多个测量站位分别对被测物体上各个目标点拍照;3) repeat above-mentioned step 2) several times, thereby measure the distance value of each target point on the measured object respectively at a plurality of measuring stations, and take pictures of each target point on the measured object at a plurality of measuring stations; 4)多站测量完成后,将所有单站拍摄的图像以及与所测得的距离值一起进行整体计算;4) After the multi-station measurement is completed, the images taken by all single stations and the measured distance values are calculated as a whole; 像素坐标系op-uv和像平面坐标系o-xy用于表示像点在像平面上的位置,像素坐标系op-uv建立在图像平面上,以图像左上角op为坐标原点,像素为坐标单位,每一个像素点坐标(u,v)表示该像素点在图像上的行数和列数;为了建立物体空间三维坐标与图像空间二维坐标间的透视投影关系,需要将像素坐标转换为以mm单位表示的像平面坐标系o-xy,以光学镜头的主光轴与图像传感器的像平面的交点o为原点,x轴、y轴分别和图像像素坐标系的u轴、v轴平行;像平面坐标系和像素坐标系之间的转化关系如下:The pixel coordinate system o p -uv and the image plane coordinate system o-xy are used to represent the position of the image point on the image plane. The pixel coordinate system o p -uv is established on the image plane, with the upper left corner of the image o p as the coordinate origin, Pixel is the coordinate unit, and the coordinates (u, v) of each pixel point represent the number of rows and columns of the pixel on the image; in order to establish the perspective projection relationship between the three-dimensional coordinates of the object space and the two-dimensional coordinates of the image space, it is necessary to convert the pixel The coordinates are converted into the image plane coordinate system o-xy expressed in mm units, and the intersection point o of the main optical axis of the optical lens and the image plane of the image sensor is the origin, and the x-axis and y-axis are respectively the u-axis and y-axis of the image pixel coordinate system. The v axis is parallel; the transformation relationship between the image plane coordinate system and the pixel coordinate system is as follows: 式(1)中,dx和dy为每一个像素分别在行向和列向上的物理尺寸;u0和v0为像主点在像素坐标系下的坐标。In formula (1), dx and dy are the physical dimensions of each pixel in the row and column directions, respectively; u 0 and v 0 are the coordinates of the image principal point in the pixel coordinate system. 像空间坐标系S-xyz用于表示像点在像方空间的位置,其固定在光学镜头和图像传感器上,以光学镜头投影中心S和图像传感器为基础;像空间坐标系S-xyz的原点为光学镜头的投影中心S,z轴和光学镜头的主光轴重合,垂直于像平面,x轴、y轴分别和所述像平面坐标系的x轴和y轴平行,So为光学镜头的有效焦距f;The image space coordinate system S-xyz is used to represent the position of the image point in the image space, which is fixed on the optical lens and the image sensor, and is based on the projection center S of the optical lens and the image sensor; the origin of the image space coordinate system S-xyz is the projection center S of the optical lens, the z-axis coincides with the main optical axis of the optical lens, and is perpendicular to the image plane, the x-axis and y-axis are respectively parallel to the x-axis and y-axis of the image plane coordinate system, So is the optical lens Effective focal length f; 物方坐标系O-XYZ,用于描述被测目标在物方空间的位置;The object coordinate system O-XYZ is used to describe the position of the measured target in the object space; 设物方点P在物方坐标系下的坐标(X,Y,Z),在像空间坐标系下的坐标为(X′,Y′,Z′),其对应的像点p在像空间坐标系中的坐标为(x,y,-f),投影中心S在物方坐标系下的坐标(XS,YS,ZS);根据物方点、投影中心、像点的三点共线条件,得到物方坐标系与像空间坐标系的转化关系以及物方点坐标与像点坐标的关系:Set the coordinates (X, Y, Z) of the object point P in the object coordinate system, and the coordinates in the image space coordinate system are (X', Y', Z'), and the corresponding image point p is in the image space. The coordinates in the coordinate system are (x, y, -f), and the coordinates of the projection center S in the object coordinate system (X S , Y S , Z S ); according to the three points of the object point, the projection center, and the image point The collinear condition is used to obtain the transformation relationship between the object coordinate system and the image space coordinate system, and the relationship between the object point coordinates and the image point coordinates: 式(2)中,R为像空间坐标系向物方坐标系转化的的旋转矩阵,旋转矩阵的表达用绕三个坐标轴的旋转角(εxyz)来表示,In formula (2), R is the rotation matrix transformed from the image space coordinate system to the object coordinate system. The expression of the rotation matrix is expressed by the rotation angles (ε x , ε y , ε z ) around the three coordinate axes, R=Rx·Ry·RzR=R x · R y · R z , 设定旋转的正方向为右手螺旋方向,即从该轴正半轴向原点看是逆时针方向,R为正交矩阵,R-1=RT;λ为比例因子,The positive direction of rotation is set as the right-handed helical direction, that is, it is the counterclockwise direction from the positive semi-axis of the axis, R is an orthogonal matrix, R -1 = R T ; λ is the scale factor, 由于相机的实际成像中,像点在像平面上相对其理论位置存在偏差(Δx,Δy);将上式(2)展开并消去比例因子,同时,顾及像点系统误差的影响,可以得到共线方程式:In the actual imaging of the camera, there is a deviation (Δx, Δy) of the image point relative to its theoretical position on the image plane; by expanding the above formula (2) and eliminating the scale factor, at the same time, taking into account the influence of the system error of the image point, the common Line equation: 像点系统误差模型可以为10参数模型,除了像主点偏差(x0,y0)和相机有效焦距f外,还包括镜头形状加工误差引起的径向畸变(k1、k2、k3)、镜头组光心装配误差引起的偏心畸变(p1、p2)、以及像素的长宽尺度比例因子以及像平面x轴和y轴不正交引起的像平面畸变(b1、b1);采用10参数模型,像点系统误差如下:The image point system error model can be a 10-parameter model, in addition to the image principal point deviation (x 0 , y 0 ) and the camera’s effective focal length f, it also includes the radial distortion (k 1 , k 2 , k 3 ) caused by the lens shape processing error ), the eccentric distortion (p 1 , p 2 ) caused by the optical center assembly error of the lens group, and the aspect ratio factor of the pixel and the image plane distortion caused by the non-orthogonal x-axis and y-axis of the image plane (b 1 , b 1 ) ); using a 10-parameter model, the image point system error is as follows: 式(4)中, In formula (4), 9.根据权利要求8所述的像距测量方法,其特征在于,先在所述被测物体上目标点的位置布置球形的激光测距标识体,然后利用所述像距测量仪测量所述激光测距标识体的距离值,所测得的激光测距标识体的距离值视为对应目标点的距离值9 . The image distance measuring method according to claim 8 , wherein a spherical laser ranging marker is first arranged at the position of a target point on the measured object, and then the image distance measuring instrument is used to measure the image distance. 10 . The distance value of the laser ranging marker, the measured distance value of the laser ranging marker is regarded as the distance value of the corresponding target point 10.根据权利要求8所述的像距测量方法,其特征在于,先在所述被测物体上目标点的位置布置球形的摄影标识体,然后利用所述像距测量仪拍摄所述摄影标识体,所拍摄的摄影标识体的图像视为对应目标点的图像。10 . The image distance measurement method according to claim 8 , wherein a spherical photographic marker is first arranged at the position of the target point on the measured object, and then the photographic marker is photographed by the image distance measuring instrument. 11 . The captured image of the photographic marker is regarded as the image corresponding to the target point.
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