CN110296689B - Device and method for testing sweep image overlapping rate in aerial imaging camera - Google Patents
Device and method for testing sweep image overlapping rate in aerial imaging camera Download PDFInfo
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- CN110296689B CN110296689B CN201910471755.2A CN201910471755A CN110296689B CN 110296689 B CN110296689 B CN 110296689B CN 201910471755 A CN201910471755 A CN 201910471755A CN 110296689 B CN110296689 B CN 110296689B
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Abstract
The invention relates to a testing device, in particular to a device and a method for testing the overlapping rate of a sweep image in an aerial imaging camera; the problem of current aerial imaging camera formation of image overlap rate testing arrangement can't record two above point overlap rates of shooing in a shooting cycle, and the test procedure is more complicated, leads to image overlap rate test result error big easily to influence image concatenation precision and concatenation efficiency, lead to the technical problem of concatenation failure even. The invention discloses a device for testing the overlapping rate of a swept image in an aerial imaging camera, which comprises a base, an optical platform fixed on the base, a mounting bracket fixed on the base and positioned above the optical platform, N parallel light pipes fixed on the mounting bracket, and a target star point arranged on the focal plane of each parallel light pipe; an aerial imaging camera is arranged on the optical platform; the collimator is arranged on the mounting bracket, and the irradiation direction faces to the central point of the mounting bracket; the swinging and sweeping rotary point of the camera is positioned on the central point of the mounting bracket.
Description
Technical Field
The invention relates to a testing device, in particular to a device and a method for testing the overlapping rate of a sweep image in an aerial imaging camera.
Background
Along with the rapid development and the wide application of unmanned aerial vehicle aircraft, the optical imaging equipment for aerial remote sensing imaging is also developing rapidly, wherein, install the aerial remote sensing camera on unmanned aerial vehicle owing to can acquire ground image fast, consequently by fields such as wide application in aerial photography, geographical mapping, environmental monitoring and disaster response.
Traditional aerial remote sensing camera adopts fixed directional mode, and to long focus camera, the system has higher resolution, but, because optical system focus is longer, leads to the camera lens single width field angle to be smaller, consequently, to the regional formation of image of large tracts of land, little field of vision can lead to imaging efficiency lower, needs unmanned aerial vehicle to come and go many times and just can realize broad width formation of image, and the operating efficiency is low.
The aerial imaging camera continuously photographs and images the camera in a vertical course direction within a +/-theta range by swinging and scanning, and then splices the images through data post-processing software, thereby realizing wide-range imaging. Because the images acquired by the aerial imaging camera need to be spliced to acquire a large-size image in the later stage, a certain overlapping rate between two adjacent images in the sweeping process needs to be ensured according to the requirements of image splicing parameters, so that the images at different moments can be seamlessly spliced.
According to the technical requirements of image splicing, factors such as distortion of a camera lens, an error of a field angle, an error of a photographing point and position value and the like are considered, and the overlapping rate of two adjacent images acquired by scanning imaging is generally required to be more than 10%. Since the overlapping rate is determined according to the position of the photographing point of the camera sweeping mechanism, the overlapping rate index of the camera sweeping imaging needs to be accurately measured and the angle position of the photographing point of the camera needs to be corrected in the ground debugging stage.
When the actual test of the overlapping rate index is carried out, the position of the camera photographing overlapping area needs to be analyzed, a flat light pipe is arranged in the overlapping area to generate a star point target for image acquisition, and then the pixel coordinate positions of the star point target in the light pipe on two adjacent images are calculated and analyzed to realize the calculation of the overlapping rate index. Images with the overlapping rate not meeting the requirement cannot be used for wide image splicing, so that whether the overlapping rate index meets the requirement or not is accurately measured, and the overlapping rate index is a key factor influencing the wide image splicing.
The existing aerial imaging camera imaging overlapping rate testing device cannot measure the overlapping rate of more than two photographing points in one photographing period, the testing process is complex, and the error of the testing result of the image overlapping rate is easily caused to be large, so that the image splicing precision and the splicing efficiency are influenced, and even the splicing failure is caused.
Disclosure of Invention
The invention provides an aerial sweep imaging overlap rate testing device and method, and aims to solve the technical problems that an existing aerial imaging camera imaging overlap rate testing device cannot measure the overlap rate of more than two photographing points in one photographing period, the testing process is complex, and the error of an image overlap rate testing result is large easily caused, so that the image splicing precision and splicing efficiency are influenced, and even the splicing failure is caused.
The technical solution of the invention is as follows:
a sweep image overlap ratio testing arrangement among aerial imaging camera, its characterized in that:
the device comprises a base, an optical platform fixed on the base, a mounting bracket fixed on the base and positioned above the optical platform, N parallel light tubes fixed on the mounting bracket, and a target star point arranged on the focal plane of each parallel light tube; target star points are respectively marked as I1 and … … IN, wherein N is an integer more than or equal to 2;
an aerial imaging camera is arranged on the optical platform;
the focal length f1 of the collimator and the focal length f2 of the aerial imaging camera satisfy the following relation: f1 is more than or equal to f 2;
the upper part of the mounting bracket is in a semi-annular shape; the parallel light tubes are arranged on the mounting bracket along the circumferential direction of the mounting bracket, and the irradiation direction faces to the central point of the semi-ring; and the sweep rotary point of the aerial imaging camera is positioned on the central point of the semi-ring.
Further, the focal length f1 of the collimator and the focal length f2 of the aerial imaging camera satisfy the following relationship: f1 is more than or equal to 3f 2.
Further, the target star point is illuminated by an LED.
Further, the optical platform includes a base plate and two ear plates fixed on the base plate.
Meanwhile, the invention also provides a method for testing the overlapping rate of the sweep images in the aerial camera, which is characterized by comprising the following steps of:
1) setting the position of a photographing point of an aerial imaging camera, enabling the sweeping direction of the photographing point to be consistent with the installation direction of at least two target star points, and meeting the requirement that all the target star points can be imaged in the sweeping process of the aerial imaging camera;
2) adjusting the position of a target star point, observing a real-time display image of the aerial imaging camera, and ensuring that each star point is imaged in an overlapping area of two images;
3) controlling the aerial imaging camera to continuously shoot at the set sweeping position, and storing the acquired images;
4) calculating the overlapping rate:
4.1) measuring the overlapping rate A1 according to the first target star point I1;
4.1.1) setting a P1 point as an imaging point of a first target star point I1 on a target surface, wherein the number of measured pixels of the target surface is LX×LYThe lower left corner of the target surface is a pixel origin (0, 0), and the upper right corner of the target surface is a pixel vertex (L)X，LY) The camera sweeping direction F is the length X direction of the target surface; the pixel coordinate of the P1 point center on the image PIC1 is (X)1，Y1) (ii) a The pixel coordinate of the P1 point center on the image PIC2 is (X)2，Y2)；
4.1.2) the pixel overlap width L1 in the X direction of the two images is calculated as follows:
L1＝(LX-X1)+X2
wherein: l isXIs the X-axis coordinate of the pixel vertex;
LYy-axis coordinates of the pixel vertices;
X1pixel X-axis coordinates on image PIC1 centered on point P1;
Y1pixel Y-axis coordinates on image PIC1 centered on point P1;
X2pixel X-axis coordinates on image PIC2 centered on point P1;
Y2pixel Y-axis coordinates on image PIC2 centered on point P1;
4.1.3) the overlapping ratio A1 of the two images is calculated as follows:
A1＝L1/LX；
4.2) obtaining the overlapping rates A2 and … … AN of the target star points I2 and … … IN IN sequence by adopting the method of the step 4.1);
5) respectively comparing the overlapping rates A1, A2 and … … AN with a design threshold, and if the overlapping rates A1, A2 and A … … AN are all larger than or equal to the design threshold, then the sweep direction of the aerial imaging camera does not need to be adjusted again; and if any value is smaller than the design threshold value, returning to the step 1).
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, at least two collimator tubes are arranged on the path in the camera sweeping direction through the mounting bracket, and each collimator tube is provided with the star point target, so that the overlapping rate of more than two photographing points can be measured in one photographing period, and the method has the advantages of simple test process, easiness in realization and strong operability.
2. In the invention, each star point target is imaged on two images, and then the measurement of the overlapping rate index is completed through the conversion calculation of the coordinate position of the image point, so that the method has pixel-level test precision and accurate and reliable results.
3. According to the invention, the position of the photographing point in the camera scanning process can be adjusted through the overlapping rate calculation result, and the failure of image splicing caused by the fact that the overlapping rate of the images acquired by the camera scanning process does not meet the requirement is avoided.
Drawings
FIG. 1 is a schematic block diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of test calculation in this embodiment;
the reference signs are:
1-optical platform, 101-bottom plate, 102-ear plate, 2-mounting bracket, 3-collimator, 4-base, 6-aerial imaging camera, I1-first target star point, I2-second target star point.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Referring to fig. 1, the testing device includes a base 4, an optical platform 1 fixed on the base 4, a mounting bracket 2 fixed on the base 4 and located above the optical platform 1, two collimator tubes 3 fixed on the mounting bracket 2, and two target star points I1 and I2 arranged on the focal plane of the collimator tubes 3. An aerial imaging camera 6 is arranged on the optical platform 1. The optical platform 1 comprises a base plate 101 and two ear plates 102 fixed to the base plate 101.
The focal length f1 of the collimator 3 and the focal length f2 of the aerial imaging camera 6 satisfy the following relationship: f1 is more than or equal to 3f 2. The upper part of the mounting bracket 2 is semi-annular. The collimator 3 is arranged on the mounting bracket 2 along the circumferential direction of the mounting bracket 2 and the irradiation direction is directed toward the center point of the semi-ring. The sweep pivot point of the aerial imaging camera 6 is located at the center point of the semi-circle. Both target stars I1 and I2 are illuminated by LEDs.
The height and the left-right position of the optical platform 1 can be adjusted, the scanning direction F of the aerial imaging camera 6 is ensured to be consistent with the installation direction of the collimator 3, and the requirement that the aerial imaging camera 6 can image star points in the two collimators 3 at different positions in the scanning process is met.
When the collimator 3 is installed, the aerial imaging camera 6 needs to be respectively swept to two angles for continuous photographing and imaging in a static state, the installation position of the collimator 3 is adjusted, and the camera image is displayed in real time for observation, so that the star point target of the collimator 3 is positioned in the overlapping area of the two images.
During the overlapping rate test, the target star point in the flat light tube 3 is lighted through LED illumination, the illumination intensity is adjusted, the image is ensured to be clear and visible through the image display of the camera, the aerial imaging camera 6 is controlled to continuously shoot at the set sweeping position, and the image collected by the camera is recorded and stored on the computer.
Referring to fig. 1 and 2:
the invention also provides a method for testing the overlapping rate of the sweep images in the aerial camera, which comprises the following steps:
1) setting the position of a sweeping photographing point of the aerial imaging camera 6, enabling the sweeping direction of the position to be consistent with the installation direction of two target star points I1 and I2, and meeting the requirement that the aerial imaging camera 6 can image both the target star points I1 and I2 in the sweeping process;
2) adjusting the positions of target star points I1 and I2, observing a real-time display image of the aerial imaging camera 6, and ensuring that each star point is imaged in an overlapping area of the two images;
3) controlling the aerial imaging camera 6 to continuously shoot at the set sweeping position, and storing the acquired images;
4) calculating the overlapping rate:
4.1) measuring the overlapping rate A1 according to the first target star point I1;
4.1.1) setting a P1 point as an imaging point of a first target star point I1 on a target surface, wherein the number of measured pixels of the target surface is LX×LYThe lower left corner of the target surface is a pixel origin (0, 0), and the upper right corner of the target surface is a pixel vertex (L)X，LY) Camera sweep squareThe direction F is the length X direction of the target surface; the pixel coordinate of the P1 point center on the image PIC1 is (X)1，Y1) (ii) a The pixel coordinate of the P1 point center on the image PIC2 is (X)2，Y2)；
4.1.2) the pixel overlap width L1 in the X direction of the two images is calculated as follows:
L1＝(LX-X1)+X2
wherein: l isXIs the X-axis coordinate of the pixel vertex;
LYy-axis coordinates of the pixel vertices;
X1pixel X-axis coordinates on image PIC1 centered on point P1;
Y1pixel Y-axis coordinates on image PIC1 centered on point P1;
X2pixel X-axis coordinates on image PIC2 centered on point P1;
Y2pixel Y-axis coordinates on image PIC2 centered on point P1;
4.1.3) the overlapping ratio A1 of the two images is calculated as follows:
A1＝L1/LX；
4.2) measuring the overlapping ratio A2 according to the second target star point I2;
4.2.1) setting a P2 point as an imaging point of a second target star point on the target surface, and the number of measured pixels of the target surface is LX×LYThe lower left corner of the target surface is a pixel origin (0, 0), and the upper right corner of the target surface is a pixel vertex (L)X，LY) The swinging direction of the camera is the length X direction of the target surface; the pixel coordinate of the P1 point center on the image PIC1 is (X)3，Y3) (ii) a The pixel coordinate of the P1 point center on the image PIC2 is (X)4，Y4)；
4.2.2) the pixel overlap width L2 in the X direction of the two images is calculated as follows:
L2＝(LX-X3)+X4
wherein: l isXIs the X-axis coordinate of the pixel vertex;
LYy-axis coordinates of the pixel vertices;
X3pixel X-axis coordinates on image PIC1 centered on point P2;
Y3pixel Y-axis coordinates on image PIC1 centered on point P2;
X4pixel X-axis coordinates on image PIC2 centered on point P2;
Y4pixel Y-axis coordinates on image PIC2 centered on point P2;
4.2.3) the overlapping ratio A2 of the two images is calculated as follows:
A2＝L2/LX；
5) respectively comparing the overlapping rates A1 and A2 with a design threshold, and if the overlapping rates A1 and A2 are both greater than or equal to the design threshold, then the sweep direction of the aerial imaging camera does not need to be adjusted; and if any value is smaller than the design threshold value, returning to the step 1).
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (5)
1. The utility model provides a sweep image overlap ratio testing arrangement in aerial imaging camera which characterized in that:
the device comprises a base (4), an optical platform (1) fixed on the base (4), a mounting bracket (2) fixed on the base (4) and positioned above the optical platform (1), N parallel light tubes (3) fixed on the mounting bracket (2), and target star points respectively arranged on the focal plane of each parallel light tube (3); target star points are respectively marked as I1 and … … IN, wherein N is an integer more than or equal to 2;
an aerial imaging camera (6) is arranged on the optical platform (1);
the focal length f1 of the collimator (3) and the focal length f2 of the aerial imaging camera (6) satisfy the following relation: f1 is more than or equal to f 2;
the upper part of the mounting bracket (2) is semi-annular; the collimator (3) is arranged on the mounting bracket (2) along the circumferential direction of the mounting bracket (2), and the irradiation direction faces to the central point of the semi-ring; the sweep rotary point of the aerial imaging camera (6) is positioned on the central point of the semi-ring.
2. The device for testing the overlapping rate of the swept images in the aerial imaging camera according to claim 1, characterized in that: the focal length f1 of the collimator (3) and the focal length f2 of the aerial imaging camera (6) satisfy the following relation: f1 is more than or equal to 3f 2.
3. The device for testing the overlapping rate of the swept images in the aerial imaging camera according to claim 2, characterized in that: the target star points are all illuminated through LEDs.
4. The device for testing the overlapping rate of the swept images in the aerial imaging camera according to claim 3, characterized in that: the optical platform (1) comprises a base plate (101) and two ear plates (102) fixed on the base plate (101).
5. A method for testing the overlapping rate of a sweep image in an aerial camera is characterized by comprising the following steps:
1) setting the position of a photographing point of the aerial imaging camera (6), enabling the sweeping direction of the photographing point to be consistent with the installation direction of at least two target star points, and meeting the requirement that all the target star points can be imaged in the sweeping process of the aerial imaging camera (6);
2) adjusting the position of a target star point, observing a real-time display image of the aerial imaging camera (6), and ensuring that each star point is imaged in an overlapping area of two images;
3) controlling the aerial imaging camera (6) to continuously shoot at the set sweeping position, and storing the acquired images;
4) calculating the overlapping rate:
4.1) measuring the overlapping rate A1 according to the first target star point I1;
4.1.1) setting a P1 point as an imaging point of a first target star point I1 on a target surface, wherein the number of measured pixels of the target surface is LX×LYThe lower left corner of the target surface is a pixel origin (0, 0), and the upper right corner of the target surface is a pixel vertex (L)X，LY) The camera sweeping direction F is the length X direction of the target surface; image of P1 point centered on image PIC1The element coordinate is (X)1，Y1) (ii) a The pixel coordinate of the P1 point center on the image PIC2 is (X)2，Y2)；
4.1.2) the pixel overlap width L1 in the X direction of the two images is calculated as follows:
L1＝(LX-X1)+X2
wherein: l isXIs the X-axis coordinate of the pixel vertex;
LYy-axis coordinates of the pixel vertices;
X1pixel X-axis coordinates on image PIC1 centered on point P1;
Y1pixel Y-axis coordinates on image PIC1 centered on point P1;
X2pixel X-axis coordinates on image PIC2 centered on point P1;
Y2pixel Y-axis coordinates on image PIC2 centered on point P1;
4.1.3) the overlapping ratio A1 of the two images is calculated as follows:
A1＝L1/LX；
4.2) obtaining the overlapping rates A2 and … … AN of the target star points I2 and … … IN IN sequence by adopting the method of the step 4.1);
5) respectively comparing the overlapping rates A1, A2 and … … AN with a design threshold, and if the overlapping rates A1, A2 and A … … AN are all larger than or equal to the design threshold, then the position of a photographing point of the aerial imaging camera does not need to be adjusted; and if any value is smaller than the design threshold value, returning to the step 1).
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| CN111721266B (en) * | 2020-05-28 | 2021-04-20 | 中国科学院西安光学精密机械研究所 | Splicing method of space astronomical camera guide CCD and detection CCD |
| CN111664871A (en) * | 2020-06-16 | 2020-09-15 | 中国科学院上海天文台 | Overlapped photography measurement method for calibrating dome fixed star simulation system |
| CN114935331B (en) * | 2022-05-27 | 2023-05-26 | 中国科学院西安光学精密机械研究所 | Aviation camera dynamic imaging ground test method |
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