CN109855603A - A kind of focusing measurement method and terminal - Google Patents
A kind of focusing measurement method and terminal Download PDFInfo
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- CN109855603A CN109855603A CN201910109939.4A CN201910109939A CN109855603A CN 109855603 A CN109855603 A CN 109855603A CN 201910109939 A CN201910109939 A CN 201910109939A CN 109855603 A CN109855603 A CN 109855603A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
Abstract
The present invention relates to field of measuring technique more particularly to a kind of focusing measurement methods and terminal.Comprising: obtain the space coordinate of preset target point on object to be measured object；Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and determines the focussing plane of the object to be measured object under current state；The image of the object to be measured object is shot, and according to the space coordinate of the target point and the rotation angle of holder, calculates the mapping relations between described image and the focussing plane；The coordinate value of object to be measured object in described image is obtained, and substitutes into the mapping relations, the measured value of the object to be measured object is calculated.A kind of focusing measurement method and terminal provided by the invention, can be realized object to be measured object in the measurement of space any position.
Description
Technical field
The present invention relates to field of measuring technique more particularly to a kind of focusing measurement methods and terminal.
Background technique
Image measurement is applied to every field.Single camera vision system structure is simple, using convenience, not by known standard
Under the premise of object, the target in single physical plane calibrated in image can only be measured.But in practical application scene,
Since object to be measured object is in space any position, or even it is not on any physical plane, above-mentioned single camera vision system
It cannot achieve the measurement to target object to be measured.
Summary of the invention
The technical problems to be solved by the present invention are: the present invention provides a kind of focusing measurement method and terminal, Neng Goushi
Measurement of the existing object to be measured object in space any position.
In order to solve the above-mentioned technical problems, the present invention provides a kind of focusing measurement methods, comprising the following steps:
S1: the space coordinate of preset target point on object to be measured object is obtained；
S2: rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and really
Determine the focussing plane of the object to be measured object under current state；
S3: the image of the object to be measured object is shot, and according to the rotation of the space coordinate of the target point and holder
Gyration calculates the mapping relations between described image and the focussing plane；
S4: obtaining the coordinate value of object to be measured object in described image, and substitute into the mapping relations, is calculated described
The measured value of object to be measured object.
The present invention also provides a kind of focusing measuring terminals, including memory, processor and storage are on a memory and can
The computer program run on a processor, the processor perform the steps of when executing the computer program
S1: the space coordinate of preset target point on object to be measured object is obtained；
S2: rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and really
Determine the focussing plane of the object to be measured object under current state；
S3: the image of the object to be measured object is shot, and according to the rotation of the space coordinate of the target point and holder
Gyration calculates the mapping relations between described image and the focussing plane；
S4: obtaining the coordinate value of object to be measured object in described image, and substitute into the mapping relations, is calculated described
The measured value of object to be measured object.
The invention has the benefit that
A kind of focusing measurement method and terminal provided by the invention, the space for obtaining target point on object to be measured object are sat
Mark；Rotary head in the visible area for the video camera for being located at the target to be measured body on holder, and determines the mesh to be measured
Mark the focussing plane of object；The image of the object to be measured object is shot, and according to the space coordinate and cloud of the target point
The rotation angle of platform calculates the mapping relations between described image and the focussing plane, so that target to be measured be calculated
The measured value of body.The focussing plane that the present invention is determined by the above method, and the image of object to be measured object is calculated and gathers
The mapping relations of focal plane, and according to the mapping relations, the image object to be measured object is mapped on focussing plane,
It can be realized the measurement to the object to be measured object of space any position.
Detailed description of the invention
Fig. 1 is the key step schematic diagram according to a kind of focusing measurement method of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram according to a kind of focusing measuring terminals of the embodiment of the present invention；
Fig. 3 is according to the coordinate system schematic diagram in the embodiment of the present invention one；
Fig. 4 is according to the coordinate system schematic diagram in the embodiment of the present invention two；
Fig. 5 is according to the coordinate system schematic diagram in the embodiment of the present invention three；
Label declaration:
1, memory；2, processor.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached
Figure is explained in detail.
The design of most critical of the present invention are as follows: obtain the space coordinate of target point on object to be measured object；Rotary head makes institute
In the visible area for stating the video camera that target to be measured body is located on holder, and determine that the focusing of the object to be measured object is flat
Face；The image of the object to be measured object is shot, and according to the space coordinate of the target point and the rotation angle of holder, meter
The mapping relations between described image and the focussing plane are calculated, so that the measured value of object to be measured object be calculated.
Fig. 1 is please referred to, the present invention provides a kind of focusing measurement methods, comprising the following steps:
S1: the space coordinate of preset target point on object to be measured object is obtained；
S2: rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and really
Determine the focussing plane of the object to be measured object under current state；
S3: the image of the object to be measured object is shot, and according to the rotation of the space coordinate of the target point and holder
Gyration calculates the mapping relations between described image and the focussing plane；
S4: obtaining the coordinate value of object to be measured object in described image, and substitute into the mapping relations, is calculated described
The measured value of object to be measured object.
As can be seen from the above description, a kind of focusing measurement method provided by the invention, obtains target point on object to be measured object
Space coordinate；Rotary head in the visible area for the video camera for being located at the target to be measured body on holder, and determines institute
State the focussing plane of object to be measured object；The image of the object to be measured object is shot, and is sat according to the space of the target point
Be marked with and the rotation angle of holder, calculate the mapping relations between described image and the focussing plane, thus be calculated to
Survey the measured value of target object.The focussing plane that the present invention is determined by the above method, and object to be measured object is calculated
The mapping relations of image and focussing plane, and according to the mapping relations, the image object to be measured object is mapped to poly-
On focal plane, the measurement to the object to be measured object of space any position can be realized.
Further, the S1 specifically:
Rotary head makes target point described in the laser alignment being arranged on holder, and records the rotation angle of holder, obtains
First holder rotates angle；
Ranging is carried out to the target point by the laser, obtains laser distance；
Angle is rotated according to the laser distance and the first holder, the space coordinate of the target point is calculated.
As can be seen from the above description, the space coordinate of target point can rapidly and accurately be calculated, mention by the above method
The high efficiency for focusing measurement.
Further, the S2 specifically:
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records
The rotation angle of holder obtains the second holder rotation angle；
Angle is rotated according to the space coordinate of the target point and the second holder, determines the object to be measured under current state
The focussing plane of object.
As can be seen from the above description, can determine the object to be measured object under any spatial position by the above method
Focussing plane, so that it is determined that shooting image and focussing plane between mapping relations, thus realize to space any position
Object to be measured object measurement.
Further, the S3 specifically:
Shoot the image of the object to be measured object by the camera, and according to the inner parameter of the video camera,
The space coordinate of target point, the first holder rotation angle and the second holder rotate angle, calculate described image and the focusing is flat
Mapping relations between face.
As can be seen from the above description, can quickly and accurately determine and image and the focusing is calculated by the above method
The mapping relations of plane, so that it is guaranteed that the measurement of the object to be measured object in some any position of space.
Further, the S1 specifically:
Rotary head makes preset first object point on the laser alignment object to be measured object being arranged on holder, and remembers
The rotation angle for recording holder obtains third holder rotation angle；Ranging is carried out to the first object point by the laser,
Obtain first laser distance；Angle is rotated according to the first laser distance and third holder, the target point is calculated
First space coordinate；
Rotary head makes preset second target point on the laser alignment object to be measured object being arranged on holder, and remembers
The rotation angle for recording holder obtains the 4th holder rotation angle；Ranging is carried out to second target point by the laser,
Obtain second laser distance；Angle is rotated according to the second laser distance and the 4th holder, the target point is calculated
Second space coordinate；
The S2 specifically:
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records
The rotation angle of holder obtains the 5th holder rotation angle；According to first space coordinate, the second space coordinate and
Five holders rotate angle, determine the focussing plane of the object to be measured object under current state；
The S3 specifically:
Shoot the image of the object to be measured object by the camera, and according to the inner parameter of the video camera,
First space coordinate, second space coordinate, third holder rotation angle, the 4th holder rotation angle and the 5th holder rotation angle
Degree calculates the mapping relations between described image and the focussing plane.
As can be seen from the above description, can be realized the survey to the object to be measured object of space any position by the above method
Amount, and can guarantee the precision of measurement.
Referring to figure 2., it the present invention also provides a kind of focusing measuring terminals, including memory 1, processor 2 and is stored in
On memory 1 and the computer program that can be run on processor 2, the realization when processor 2 executes the computer program
Following steps:
S1: the space coordinate of preset target point on object to be measured object is obtained；
S2: rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and really
Determine the focussing plane of the object to be measured object under current state；
S3: the image of the object to be measured object is shot, and according to the rotation of the space coordinate of the target point and holder
Gyration calculates the mapping relations between described image and the focussing plane；
S4: obtaining the coordinate value of object to be measured object in described image, and substitute into the mapping relations, is calculated described
The measured value of object to be measured object.
As can be seen from the above description, a kind of focusing measuring terminals provided by the invention, obtain target point on object to be measured object
Space coordinate；Rotary head in the visible area for the video camera for being located at the target to be measured body on holder, and determines institute
State the focussing plane of object to be measured object；The image of the object to be measured object is shot, and is sat according to the space of the target point
Be marked with and the rotation angle of holder, calculate the mapping relations between described image and the focussing plane, thus be calculated to
Survey the measured value of target object.The focussing plane that the present invention is determined by the above method, and object to be measured object is calculated
The mapping relations of image and focussing plane, and according to the mapping relations, the image object to be measured object is mapped to poly-
On focal plane, the measurement to the object to be measured object of space any position can be realized.
Further, a kind of focusing measuring terminals, the S1 specifically:
Rotary head makes target point described in the laser alignment being arranged on holder, and records the rotation angle of holder, obtains
First holder rotates angle；
Ranging is carried out to the target point by the laser, obtains laser distance；
Angle is rotated according to the laser distance and the first holder, the space coordinate of the target point is calculated.
As can be seen from the above description, the space coordinate of target point can rapidly and accurately be calculated, mention by above-mentioned terminal
The high efficiency for focusing measurement.
Further, a kind of focusing measuring terminals, the S2 specifically:
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records
The rotation angle of holder obtains the second holder rotation angle；
Angle is rotated according to the space coordinate of the target point and the second holder, determines the object to be measured under current state
The focussing plane of object.
As can be seen from the above description, can determine the object to be measured object under any spatial position by above-mentioned terminal
Focussing plane, so that it is determined that shooting image and focussing plane between mapping relations, thus realize to space any position
Object to be measured object measurement.
Further, a kind of focusing measuring terminals, the S3 specifically:
Shoot the image of the object to be measured object by the camera, and according to the inner parameter of the video camera,
The space coordinate of target point, the first holder rotation angle and the second holder rotate angle, calculate described image and the focusing is flat
Mapping relations between face.
As can be seen from the above description, can quickly and accurately determine and image and the focusing is calculated by above-mentioned terminal
The mapping relations of plane, so that it is guaranteed that the measurement of the object to be measured object in some any position of space.
Further, a kind of focusing measuring terminals, the S1 specifically:
Rotary head makes preset first object point on the laser alignment object to be measured object being arranged on holder, and remembers
The rotation angle for recording holder obtains third holder rotation angle；Ranging is carried out to the first object point by the laser,
Obtain first laser distance；Angle is rotated according to the first laser distance and third holder, the target point is calculated
First space coordinate；
Rotary head makes preset second target point on the laser alignment object to be measured object being arranged on holder, and remembers
The rotation angle for recording holder obtains the 4th holder rotation angle；Ranging is carried out to second target point by the laser,
Obtain second laser distance；Angle is rotated according to the second laser distance and the 4th holder, the target point is calculated
Second space coordinate；
The S2 specifically:
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records
The rotation angle of holder obtains the 5th holder rotation angle；According to first space coordinate, the second space coordinate and
Five holders rotate angle, determine the focussing plane of the object to be measured object under current state；
The S3 specifically:
Shoot the image of the object to be measured object by the camera, and according to the inner parameter of the video camera,
First space coordinate, second space coordinate, third holder rotation angle, the 4th holder rotation angle and the 5th holder rotation angle
Degree calculates the mapping relations between described image and the focussing plane.
As can be seen from the above description, can be realized the survey to the object to be measured object of space any position by above-mentioned terminal
Amount, and can guarantee the precision of measurement.
Please refer to Fig. 1 and Fig. 3, the embodiment of the present invention one are as follows:
The present invention provides a kind of focusing measurement methods, comprising the following steps:
S1: the space coordinate of preset target point on object to be measured object is obtained；
Wherein, the S1 specifically:
Holder is equipped with video camera and laser, and the holder is two axis rotary heads, can be rotated around horizontal direction
(being rotated around default second rotary shaft of holder), and can be rotated around vertical direction (i.e. around default the of holder
One rotary shaft is rotated), first rotary head, so that holder is in initial position, (horizontal direction and the rotation angle of vertical direction are equal
It is 0 degree), under current state, the direction where the laser beam of laser is ZOAxis, the first rotation that holder is rotated around vertical direction
Direction where shaft is XOAxis, holder are Y around the direction where the second rotary shaft that horizontal direction rotatesOAxis establishes initial sit
Mark system O-XOYOZO, O is coordinate origin；
Rotary head makes target point A described in the laser alignment being arranged on holder, and records the rotation angle of holder, obtains
Angle is rotated to the first holder, the first rotation angle includes the angle [alpha] that holder is rotated around vertical direction (the first rotary shaft)a
The angle beta rotated with holder around horizontal direction (the second rotary shaft)a；
Ranging is carried out to the target point by the laser, obtains laser distance
Angle is rotated according to the laser distance and the first holder, the target point A is calculated in coordinate system O-XoYoZo
Under coordinate
Wherein,
S2: rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and really
Determine the focussing plane of the object to be measured object under current state；
Wherein, the S2 specifically:
Rotary head makes holder be in initial position；
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records
The rotation angle of holder obtains the second holder rotation angle, and the second holder rotation angle includes holder around the first rotary shaft
The angle [alpha] of rotationeThe angle beta rotated with holder around the second rotary shafte；
With under current state, the direction where the first rotary shaft of holder is XeAxis, the direction where the second rotary shaft of holder
For YeAxis, the direction where the laser beam of laser are ZeAxis establishes coordinate system Oe-XeYeZe；According to A in coordinate system XoYoZoUnder
CoordinateAngle is rotated with the second holder, A point is calculated in XeYeZeUnder coordinate
Wherein,
With focus point A point for OwOrigin, to be parallel to XoAxis makees XwAxis, to be parallel to ZoAxis makees ZwAxis, by OwXwZwComposition is poly-
Focal plane π, YwPerpendicular to focussing plane π, coordinate system O is establishedw-XwYwZw；Obtain coordinate system Ow-XwYwZwWith Oe-XeYeZeBetween
Transformational relation:
Wherein
S3: the image of the object to be measured object is shot, and according to the rotation of the space coordinate of the target point and holder
Gyration calculates the mapping relations between described image and the focussing plane；
Wherein, the S3 specifically:
The image of the object to be measured object is shot by the camera, and establishes image coordinate system, and described image is sat
Mark system is using the point in the image most upper left corner as origin, and direction is u axis horizontally to the right, and vertically downward direction is v axis, the seat created
Mark system is uv coordinate system；
According to intrinsic parameters of the camera K, coordinate system uv and coordinate system O are obtainede-XeYeZeBetween mapping relations:Due to Y on focussing plane πw=0, coordinate system uv and coordinate system O can be obtainedw-XwYwZwMapping relations:
Wherein, describedIt is the intrinsic matrix of camera, (u0,v0) it is camera
Projected position of the optical centre on CCD imaging plane, f are the focal length of camera, dxAnd dyIt is each pixel of CCD respectively in water
Square to the physical size in vertical direction.The γ is preset zoom factor, and as γ=1, what is obtained is measured size
Size is identical as the size of object to be measured object；As γ=2, the obtained size that measures size is object to be measured object
Twice of size；As γ=3, what is obtained measures size three times of the size that size is object to be measured object；When γ=0.5
When, what is obtained measures size 0.5 times of the size that size is object to be measured object
S4: obtaining the coordinate value of object to be measured object in described image, and substitute into the mapping relations, is calculated described
The measured value of object to be measured object；
Wherein, the S4 specifically:
The image coordinate of object to be measured, the coordinate system uv and O obtained by step S3 are chosen on the imagew-XwYwZwBetween
Mapping relations are converted to coordinate system Ow-XwYwZwUnder coordinate, that is, realize object to be measured object measurement.
Please refer to Fig. 1 and Fig. 4, the embodiment of the present invention two are as follows:
The present invention provides a kind of focusing measurement methods, comprising the following steps:
S1: the space coordinate of preset target point on object to be measured object is obtained；
Wherein, the S1 specifically:
Holder is equipped with video camera and laser, and the holder is two axis rotary heads, can be rotated around horizontal direction,
And can be rotated around vertical direction, first rotary head, so that holder is in the initial position (rotation of horizontal direction and vertical direction
Corner is 0 degree), under current state, the direction where the laser beam of laser is ZOAxis, holder are rotated around vertical direction
Direction where first rotary shaft is XOAxis, holder are Y around the direction where the second rotary shaft that horizontal direction rotatesOAxis is established
Initial coordinate system O-XOYOZO, O is coordinate origin；
Rotary head makes the preset first object point A of the laser alignment being arranged on holder, and records the rotation angle of holder
Degree obtains third holder rotation angle, and the third rotation angle includes that holder is rotated around vertical direction (the first rotary shaft)
Angle [alpha]aThe angle beta rotated with holder around horizontal direction (the second rotary shaft)a；
Ranging is carried out to the target point by the laser, obtains laser distance
Angle is rotated according to the laser distance and third holder, the first object point A is calculated in coordinate system
XoYoZoUnder coordinate
Wherein,
Rotary head makes holder be in initial position；
Rotary head makes the preset second target point B of the laser alignment being arranged on holder, and records the rotation angle of holder
Degree obtains the 4th holder rotation angle, and the 4th rotation angle includes that holder is rotated around vertical direction (the first rotary shaft)
Angle [alpha]bThe angle beta rotated with holder around horizontal direction (the second rotary shaft)b；
Ranging is carried out to the second target point B by the laser, obtains laser distance
Angle is rotated according to the laser distance and the 4th holder, the second target point B is calculated in seat system O-
XoYoZoUnder coordinate
Wherein,
S2: rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and really
Determine the focussing plane of the object to be measured object under current state；
Wherein, the S2 specifically:
Rotary head makes holder be in initial position；
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records
The rotation angle of holder obtains the 5th holder rotation angle, and the 5th holder rotation angle includes holder around the first rotary shaft
The angle [alpha] of rotationeThe angle beta rotated with holder around the second rotary shafte；
With under current state, the direction where the first rotary shaft of holder is XeAxis, the direction where the second rotary shaft of holder
For YeAxis, the direction where the laser beam of laser are ZeAxis establishes coordinate system Oe-XeYeZe；According to A in coordinate system XoYoZoUnder
CoordinateAngle is rotated with the 5th holder, A point is calculated in XeYeZeUnder coordinate
Wherein,
According to B in coordinate system XoYoZoUnder coordinateAngle is rotated with the 5th holder, B point is calculated and exists
XeYeZeUnder coordinate
Wherein,
A, B two o'clock are connected, straight line AB is obtained；Across A point or B point, obtain being parallel to YeThe straight line L of axis；By straight line AB and
Straight line L forms focussing plane π, obtains ZeThe intersection point O of axis and focussing plane πw；With OwFor origin, to be parallel to YeAxis direction is Yw
Direction makes ZwPerpendicular to focussing plane π, according to YwAnd ZwDetermine XwDirection, to establish coordinate system Ow-XwYwZw；Obtain coordinate system
Ow-XwYwZwWith Oe-XeYeZeBetween transformational relation:
Wherein
S3: the image of the object to be measured object is shot, and according to the rotation of the space coordinate of the target point and holder
Gyration calculates the mapping relations between described image and the focussing plane；
Wherein, the S3 specifically:
The image of the object to be measured object is shot by the camera, and establishes image coordinate system, and described image is sat
Mark system is using the point in the image most upper left corner as origin, and direction is u axis horizontally to the right, and vertically downward direction is v axis, the seat created
Mark system is uv coordinate system；
According to intrinsic parameters of the camera K, coordinate system uv and coordinate system O are obtainede-XeYeZeBetween mapping relations:Due to Z on focussing plane πw=0, coordinate system uv and coordinate system O can be obtainedw-XwYwZwMapping relations:
Wherein, describedIt is the intrinsic matrix of camera, (u0,v0) it is camera
Projected position of the optical centre on CCD imaging plane, f are the focal length of camera, dxAnd dyIt is each pixel of CCD respectively in water
Square to the physical size in vertical direction.The γ is preset zoom factor, and as γ=1, what is obtained is measured size
Size is identical as the size of object to be measured object；As γ=2, the obtained size that measures size is object to be measured object
Twice of size；As γ=3, what is obtained measures size three times of the size that size is object to be measured object；When γ=0.5
When, what is obtained measures size 0.5 times of the size that size is object to be measured object
S4: obtaining the coordinate value of object to be measured object in described image, and substitute into the mapping relations, is calculated described
The measured value of object to be measured object；
Wherein, the S4 specifically:
The image coordinate of object to be measured, the coordinate system uv and O obtained by step S3 are chosen on the imagew-XwYwZwBetween
Mapping relations are converted to coordinate system Ow-XwYwZwUnder coordinate, that is, realize object to be measured object measurement.
Please refer to Fig. 1 and Fig. 5, the embodiment of the present invention three are as follows:
The present invention provides a kind of focusing measurement methods, comprising the following steps:
S1: the space coordinate of preset target point on object to be measured object is obtained；
Wherein, the S1 specifically:
Holder is equipped with video camera and laser, and the holder is two axis rotary heads, can be rotated around horizontal direction,
And can be rotated around vertical direction, first rotary head, so that holder is in the initial position (rotation of horizontal direction and vertical direction
Corner is 0 degree), under current state, the direction where the laser beam of laser is ZOAxis, holder are rotated around vertical direction
Direction where first rotary shaft is XOAxis, holder are Y around the direction where the second rotary shaft that horizontal direction rotatesOAxis is established
Initial coordinate system O-XOYOZO, O is coordinate origin；
Rotary head makes the preset first object point A of the laser alignment being arranged on holder, and records the rotation angle of holder
Degree obtains the 6th holder rotation angle, and the 6th rotation angle includes that holder is rotated around vertical direction (the first rotary shaft)
Angle [alpha]aThe angle beta rotated with holder around horizontal direction (the second rotary shaft)a；
Ranging is carried out to the target point by the laser, obtains laser distance
Angle is rotated according to the laser distance and the 6th holder, the first object point A is calculated in coordinate system
XoYoZoUnder coordinate
Wherein,
Rotary head makes holder be in initial position；
Rotary head makes the preset second target point B of the laser alignment being arranged on holder, and records the rotation angle of holder
Degree obtains the 7th holder rotation angle, and the 7th rotation angle includes that holder is rotated around vertical direction (the first rotary shaft)
Angle [alpha]bThe angle beta rotated with holder around horizontal direction (the second rotary shaft)b；
Ranging is carried out to the second target point B by the laser, obtains laser distance
Angle is rotated according to the laser distance and the 7th holder, the second target point B is calculated in seat system O-
XoYoZoUnder coordinate
Wherein,
Rotary head makes holder be in initial position；
Rotary head makes the preset third target point C of the laser alignment being arranged on holder, and records the rotation angle of holder
Degree obtains the 8th holder rotation angle, and the 8th rotation angle includes that holder is rotated around vertical direction (the first rotary shaft)
Angle [alpha]cThe angle beta rotated with holder around horizontal direction (the second rotary shaft)c；
Ranging is carried out to the third target point C by the laser, obtains laser distance
Angle is rotated according to the laser distance and the 8th holder, the third target point C is calculated in seat system O-
XoYoZoUnder coordinate
Wherein,
S2: rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and really
Determine the focussing plane of the object to be measured object under current state；
Wherein, the S2 specifically:
Rotary head makes holder be in initial position；
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records
The rotation angle of holder obtains the 9th holder rotation angle, and the 9th holder rotation angle includes holder around the first rotary shaft
The angle [alpha] of rotationeThe angle beta rotated with holder around the second rotary shafte；Holder rotation angle degree is relative to holder in the present invention
Rotation angle under original state；
With under current state, the direction where the first rotary shaft of holder is XeAxis, the direction where the second rotary shaft of holder
For YeAxis, the direction where the laser beam of laser are ZeAxis establishes coordinate system Oe-XeYeZe；According to A in coordinate system XoYoZoUnder
CoordinateAngle is rotated with the 9th holder, A point is calculated in XeYeZeUnder coordinate
Wherein,
According to B in coordinate system XoYoZoUnder coordinateAngle is rotated with the 9th holder, B point is calculated and exists
XeYeZeUnder coordinate
Wherein,
According to C in coordinate system XoYoZoUnder coordinateAngle is rotated with the 9th holder, C point is calculated and exists
XeYeZeUnder coordinate
Wherein,
Focussing plane π is formed by 3 points of A, B, C, obtains ZeThe intersection point O of axis and focussing plane πw；With OwFor origin, make ZwIt hangs down
Directly in focussing plane π, on focussing plane π perpendicular to the direction of preset intersection be YwDirection, the intersection are focussing plane π
With plane OeXeZeIntersection, according to YwAnd ZwDetermine Xw, to establish coordinate system Ow-XwYwZw；Obtain coordinate system Ow-XwYwZwWith
Oe-XeYeZeBetween transformational relation:
Wherein
ω is YwAxis and plane OeXeZeThe complementary angle of angle,For focussing plane π and plane
OeXeZeIntersection and ZeThe angle of axis；
S3: the image of the object to be measured object is shot, and according to the rotation of the space coordinate of the target point and holder
Gyration calculates the mapping relations between described image and the focussing plane；
Wherein, the S3 specifically:
The image of the object to be measured object is shot by the camera, and establishes image coordinate system, and described image is sat
Mark system is using the point in the image most upper left corner as origin, and direction is u axis horizontally to the right, and vertically downward direction is v axis, the seat created
Mark system is uv coordinate system；
According to intrinsic parameters of the camera K, coordinate system uv and coordinate system O are obtainede-XeYeZeBetween mapping relations:Due to Z on focussing plane πw=0, coordinate system uv and coordinate system O can be obtainedw-XwYwZwMapping relations:
Wherein, describedIt is the intrinsic matrix of camera, (u0,v0) it is camera
Projected position of the optical centre on CCD imaging plane, f are the focal length of camera, dxAnd dyIt is each pixel of CCD respectively in water
Square to the physical size in vertical direction.The γ is preset zoom factor, and as γ=1, what is obtained is measured size
Size is identical as the size of object to be measured object；As γ=2, the obtained size that measures size is object to be measured object
Twice of size；As γ=3, what is obtained measures size three times of the size that size is object to be measured object；When γ=0.5
When, what is obtained measures size 0.5 times of the size that size is object to be measured object
S4: obtaining the coordinate value of object to be measured object in described image, and substitute into the mapping relations, is calculated described
The measured value of object to be measured object；
Wherein, the S4 specifically:
The image coordinate of object to be measured, the coordinate system uv and O obtained by step S3 are chosen on the imagew-XwYwZwBetween
Mapping relations are converted to coordinate system Ow-XwYwZwUnder coordinate, that is, realize object to be measured object measurement.
Referring to figure 2., the embodiment of the present invention four are as follows:
A kind of focusing measuring terminals provided by the invention, including memory 1, processor 2 and be stored on memory 1 and can
The computer program run on processor 2, the processor 2 realize the institute in embodiment one when executing the computer program
There is step.
The embodiment of the present invention five are as follows:
A kind of focusing measuring terminals provided by the invention, including memory 1, processor 2 and be stored on memory 1 and can
The computer program run on processor 2, the processor 2 realize the institute in embodiment two when executing the computer program
There is step.
The embodiment of the present invention six are as follows:
A kind of focusing measuring terminals provided by the invention, including memory 1, processor 2 and be stored on memory 1 and can
The computer program run on processor 2, the processor 2 realize the institute in embodiment three when executing the computer program
There is step.
In conclusion a kind of focusing measurement method provided by the invention and terminal, obtain target point on object to be measured object
Space coordinate；Rotary head in the visible area for the video camera for being located at the target to be measured body on holder, and determines institute
State the focussing plane of object to be measured object；The image of the object to be measured object is shot, and is sat according to the space of the target point
Be marked with and the rotation angle of holder, calculate the mapping relations between described image and the focussing plane, thus be calculated to
Survey the measured value of target object.The focussing plane that the present invention is determined by the above method, and object to be measured object is calculated
The mapping relations of image and focussing plane, and according to the mapping relations, the image object to be measured object is mapped to poly-
On focal plane, the measurement to the object to be measured object of space any position can be realized.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, similarly include
In scope of patent protection of the invention.
Claims (10)
1. a kind of focusing measurement method, which comprises the following steps:
S1: the space coordinate of preset target point on object to be measured object is obtained；
S2: rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and determination is worked as
The focussing plane of the object to be measured object under preceding state；
S3: the image of the object to be measured object is shot, and according to the space coordinate of the target point and the rotation angle of holder
Degree calculates the mapping relations between described image and the focussing plane；
S4: the coordinate value of object to be measured object in described image is obtained, and substitutes into the mapping relations, is calculated described to be measured
The measured value of target object.
2. a kind of focusing measurement method according to claim 1, which is characterized in that the S1 specifically:
Rotary head makes target point described in the laser alignment being arranged on holder, and records the rotation angle of holder, obtains first
Holder rotates angle；
Ranging is carried out to the target point by the laser, obtains laser distance；
Angle is rotated according to the laser distance and the first holder, the space coordinate of the target point is calculated.
3. a kind of focusing measurement method according to claim 2, which is characterized in that the S2 specifically:
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records holder
Rotation angle, obtain the second holder rotation angle；
Angle is rotated according to the space coordinate of the target point and the second holder, determines the object to be measured object under current state
Focussing plane.
4. a kind of focusing measurement method according to claim 3, which is characterized in that the S3 specifically:
The image of the object to be measured object is shot by the camera, and according to the inner parameter of the video camera, target
Space coordinate, the first holder rotation angle and the second holder of point rotate angle, calculate described image and the focussing plane it
Between mapping relations.
5. a kind of focusing measurement method according to claim 1, which is characterized in that the S1 specifically:
Rotary head makes preset first object point on the laser alignment object to be measured object being arranged on holder, and records cloud
The rotation angle of platform obtains third holder rotation angle；Ranging is carried out to the first object point by the laser, is obtained
First laser distance；Angle is rotated according to the first laser distance and third holder, the first of the target point is calculated
Space coordinate；
Rotary head makes preset second target point on the laser alignment object to be measured object being arranged on holder, and records cloud
The rotation angle of platform obtains the 4th holder rotation angle；Ranging is carried out to second target point by the laser, is obtained
Second laser distance；Angle is rotated according to the second laser distance and the 4th holder, the second of the target point is calculated
Space coordinate；
The S2 specifically:
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records holder
Rotation angle, obtain the 5th holder rotation angle；According to first space coordinate, the second space coordinate and the 5th cloud
Platform rotates angle, determines the focussing plane of the object to be measured object under current state；
The S3 specifically:
The image of the object to be measured object is shot by the camera, and according to the inner parameter of the video camera, first
Space coordinate, second space coordinate, third holder rotation angle, the 4th holder rotation angle and the 5th holder rotate angle, meter
Calculate the mapping relations between described image and the focussing plane.
6. a kind of focusing measuring terminals, can run on a memory and on a processor including memory, processor and storage
Computer program, which is characterized in that the processor performs the steps of when executing the computer program
S1: the space coordinate of preset target point on object to be measured object is obtained；
S2: rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and determination is worked as
The focussing plane of the object to be measured object under preceding state；
S3: the image of the object to be measured object is shot, and according to the space coordinate of the target point and the rotation angle of holder
Degree calculates the mapping relations between described image and the focussing plane；
S4: the coordinate value of object to be measured object in described image is obtained, and substitutes into the mapping relations, is calculated described to be measured
The measured value of target object.
7. a kind of focusing measuring terminals according to claim 6, which is characterized in that the S1 specifically:
Rotary head makes target point described in the laser alignment being arranged on holder, and records the rotation angle of holder, obtains first
Holder rotates angle；
Ranging is carried out to the target point by the laser, obtains laser distance；
Angle is rotated according to the laser distance and the first holder, the space coordinate of the target point is calculated.
8. a kind of focusing measuring terminals according to claim 7, which is characterized in that the S2 specifically:
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records holder
Rotation angle, obtain the second holder rotation angle；
Angle is rotated according to the space coordinate of the target point and the second holder, determines the object to be measured object under current state
Focussing plane.
9. a kind of focusing measuring terminals according to claim 8, which is characterized in that the S3 specifically:
The image of the object to be measured object is shot by the camera, and according to the inner parameter of the video camera, target
Space coordinate, the first holder rotation angle and the second holder of point rotate angle, calculate described image and the focussing plane it
Between mapping relations.
10. a kind of focusing measuring terminals according to claim 6, which is characterized in that the S1 specifically:
Rotary head makes preset first object point on the laser alignment object to be measured object being arranged on holder, and records cloud
The rotation angle of platform obtains third holder rotation angle；Ranging is carried out to the first object point by the laser, is obtained
First laser distance；Angle is rotated according to the first laser distance and third holder, the first of the target point is calculated
Space coordinate；
Rotary head makes preset second target point on the laser alignment object to be measured object being arranged on holder, and records cloud
The rotation angle of platform obtains the 4th holder rotation angle；Ranging is carried out to second target point by the laser, is obtained
Second laser distance；Angle is rotated according to the second laser distance and the 4th holder, the second of the target point is calculated
Space coordinate；
The S2 specifically:
Rotary head is located at the target to be measured body in the visible area for the video camera being arranged on holder, and records holder
Rotation angle, obtain the 5th holder rotation angle；According to first space coordinate, the second space coordinate and the 5th cloud
Platform rotates angle, determines the focussing plane of the object to be measured object under current state；
The S3 specifically:
The image of the object to be measured object is shot by the camera, and according to the inner parameter of the video camera, first
Space coordinate, second space coordinate, third holder rotation angle, the 4th holder rotation angle and the 5th holder rotate angle, meter
Calculate the mapping relations between described image and the focussing plane.
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| CN202010064114.8A CN111220129B (en) | 2019-01-31 | 2019-01-31 | Focusing measurement method with rotating holder and terminal |
| CN201910109939.4A CN109855603B (en) | 2019-01-31 | 2019-01-31 | Focus measurement method and terminal |
| CN202010062399.1A CN111220127B (en) | 2019-01-31 | 2019-01-31 | Laser focusing measurement method and terminal |
| CN202010064115.2A CN111220130B (en) | 2019-01-31 | 2019-01-31 | Focusing measurement method and terminal capable of measuring object at any position in space |
| CN202010062400.0A CN111220128B (en) | 2019-01-31 | 2019-01-31 | Monocular focusing measuring method and terminal |
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| CN202010064115.2A Division CN111220130B (en) | 2019-01-31 | 2019-01-31 | Focusing measurement method and terminal capable of measuring object at any position in space |
| CN202010062399.1A Division CN111220127B (en) | 2019-01-31 | 2019-01-31 | Laser focusing measurement method and terminal |
| CN202010062400.0A Division CN111220128B (en) | 2019-01-31 | 2019-01-31 | Monocular focusing measuring method and terminal |
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| CN202010062399.1A Active CN111220127B (en) | 2019-01-31 | 2019-01-31 | Laser focusing measurement method and terminal |
| CN202010064115.2A Active CN111220130B (en) | 2019-01-31 | 2019-01-31 | Focusing measurement method and terminal capable of measuring object at any position in space |
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| CN111220130B (en) | 2022-09-13 |
| CN111220128A (en) | 2020-06-02 |
| CN111220128B (en) | 2022-10-25 |
| CN111220129A (en) | 2020-06-02 |
| CN111220127A (en) | 2020-06-02 |
| CN111220129B (en) | 2022-10-25 |
| CN109855603B (en) | 2019-12-13 |
| CN111220130A (en) | 2020-06-02 |
| CN111220127B (en) | 2022-07-26 |
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