CN112055195B - Method for measuring distortion of surveying and mapping camera - Google Patents
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Abstract
The invention discloses a method for measuring the distortion of a mapping camera, which comprises the following steps: building a measuring system; installing a round hole target at the focal plane of the collimator, adjusting the optical axis of the camera system to be parallel to the optical axis of the collimator, and replacing the round hole target with a grid plate cross wire target; the image acquisition system acquires a cross-hair target image of the grid plate; adjusting the rotation angle of the grid plate cross hair target to enable the X axis of the grid plate cross hair target to be parallel to the horizontal direction of the focal plane of the camera system and the Y axis of the grid plate cross hair target to be parallel to the vertical direction of the focal plane of the camera system; obtaining the central position of the grid plate cross hair target by a centroid extraction algorithm on the grid plate cross hair target image, and imaging the central position of the grid plate cross hair target at the center of a camera system focal plane; and acquiring distortion data of a camera system at the position of the cross wire target of the grid plate. The invention solves the problem that the traditional precise angle measurement method is not suitable for the distortion measurement of a spliced mapping camera.
Description
Technical Field
The invention belongs to the technical field of photogrammetry, and particularly relates to a method for measuring distortion of a surveying and mapping camera.
Background
The inner orientation elements of the mapping camera are the main technical parameters of the camera, and the inner orientation elements must be tested before the camera leaves a factory. Especially for the measurement of the distortion of a mapping camera for high-precision mapping, the measurement precision of the distortion is of decisive significance for the geometric precision of the camera.
The laboratory distortion test of the mapping camera generally adopts a precision angle measurement method, and the principal point, the principal distance and the distortion parameters of the camera can be obtained through the precision angle measurement method. The method can be used for measuring a planar array type mapping camera or can be used for testing a linear array type mapping camera after improvement, but requires continuous and symmetrical focal planes of the cameras. For the splicing type mapping camera, because an outer view field or an inner view field is adopted to obtain a large width, multiple lenses or multiple detectors are generally needed, and the traditional precise angle measurement method is not suitable for measuring the distortion of the camera.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides the method for measuring the distortion of the surveying and mapping camera, and solves the problem that the traditional precise angle measurement method is not suitable for the distortion measurement of the spliced surveying and mapping camera.
The purpose of the invention is realized by the following technical scheme: a mapping camera distortion measurement method, the method comprising the steps of: the method comprises the following steps: constructing a measuring system, wherein the measuring system comprises an area array light source, a round hole target, a grid plate cross wire target, a collimator, a camera system and an image acquisition system; the light beam emitted by the area array light source passes through the cross wire target or the round hole target of the grid plate and then reaches the collimator, and then is emitted into the camera system after passing through the collimator, and the camera system is connected with the image acquisition system; step two: installing a round hole target at the focal plane of the collimator, adjusting the optical axis of the camera system to be parallel to the optical axis of the collimator, and replacing the round hole target with a grid plate cross wire target; step three: the method comprises the following steps that an area array light source uniform area light source passes through a grid plate cross hair target, a collimator and a camera system to obtain a grid plate cross hair target image, and an image acquisition system acquires the grid plate cross hair target image; step four: adjusting the rotation angle of the grid plate cross hair target through the grid plate cross hair target image in the third step, so that the X axis of the grid plate cross hair target is parallel to the horizontal direction of the focal plane of the camera system and the Y axis of the grid plate cross hair target is parallel to the vertical direction of the focal plane of the camera system; step five: obtaining the central position of the grid plate cross hair target by a centroid extraction algorithm on the grid plate cross hair target image, and adjusting the translation of the grid plate cross hair target in the X-axis and Y-axis directions to enable the central position of the grid plate cross hair target to be imaged in the center of a camera system focal plane; step six: and acquiring the distortion data of the camera system at the position of the cross wire target of the grid plate according to the imaging coordinates of the central position of the cross wire target of the grid plate in the camera system.
In the above method for measuring distortion of a surveying and mapping camera, in the first step, the characteristic parameters of the collimator are as follows:
wherein f is Collimator Is parallel lightFocal length of the tube, phi Collimator Is the optically effective aperture, λ, of the collimator 1 collimator ～λ 2 collimator Is the operating wavelength of the collimator, f Camera with a camera module Is the focal length of the camera system, phi Camera with a camera module Is the optical effective aperture, lambda, of the camera system window 1 Camera ～λ 2 Camera Is the camera system operating wavelength.
In the distortion measuring method of the surveying and mapping camera, in the first step, the grid plate cross hair target comprises a glass substrate and a row A and a column B of cross hairs; wherein, A row and B column cross hairs are carved on the glass substrate;
to be provided with
The cross-shaped wire is an X axis,
Establishing a virtual rectangular coordinate system with the Y-axis cross hairs and the unit length L;
the line width of each cross wire is 0.01 mm; the length of each cross wire is 0.2 mm; the distance L between two adjacent cross wires is 5 mm; the cross hair is a dark line, the background is transparent, and the contrast is not less than 100: 1.
In the distortion measurement method of the surveying and mapping camera, in the fifth step, obtaining the central position of the grid plate cross hair target by the centroid extraction algorithm for the grid plate cross hair target image comprises the following steps:
(51) the size of the grid plate cross hair target image is mxn, and the initial behavior x of the grid plate cross hair target image 0 +1, end behavior x 0 + m, the starting column of the grid plate crosshair target image is y 0 +1, end column is y 0 + n; wherein m is the length of the grid plate cross hair target image, and n is the width of the grid plate cross hair target image;
(52) carrying out 10 times interpolation amplification on the grid plate cross wire target image to obtain an interpolated image, carrying out Gaussian filtering processing on the interpolated image to obtain a filtered image, wherein the size of the filtered image is (10m-9) x (10n-9), and the initial behavior of the filtered image isx 0 +10, end behavior x 0 +10m, the starting column of the filtered image being y 0 +10, end column y 0 +10n；
(53) Calculating a row-wise center position x of the filtered image center And the column direction center position y of the filtered image center ；
(54) From the line-wise centre position x of the filtered image center And the column direction center position y of the filtered image center The central position of the cross wire target of the grid plate is
In the above-mentioned mapping camera distortion measuring method, in step (53), the line direction center position x of the filtered image center Comprises the following steps:
wherein DN (x) 0 +i,y 0 + j) denotes the x-th 0 + i rows, y 0 A grayscale value of an image at + j column, where i is 10,11,12,.., 10m, j is 10,11,12,.., 10 n; and MAXX { } represents sorting to find the maximum value in the sequence and returning the abscissa corresponding to the maximum value, i is the incremental change of the abscissa of the image pixel, and j is the incremental change of the ordinate of the image pixel.
In the above-mentioned mapping camera distortion measuring method, in step (53), the column direction center position y of the filtered image center Comprises the following steps:
wherein DN (x) 0 +i,y 0 + j) denotes the x-th 0 + i rows, y 0 The gray scale value of the image at + j column, where i ═ 10,11, 12., 10m, j ═ 10,11, 12., 10 n; MAXY { } represents that the maximum value in the sequence is searched in a sorting mode, the ordinate corresponding to the maximum value is returned, and i is the abscissa of the image pixelIncremental change, j is the image pixel ordinate incremental change.
In the above mapping camera distortion measurement method, in step six, the camera system distortion data at the grid plate crosshair target position is:
wherein,
the cross hair with coordinate positions (p, q) in the virtual rectangular coordinate system is used as the actual imaging center coordinate of the focal plane of the detector of the camera system, (x) p ，y q ) And imaging the center of the cross hair with the coordinate position of (p, q) in the virtual rectangular coordinate system at an ideal position on the focal plane of the detector of the camera system.
In the method for measuring the distortion of the surveying and mapping camera, the center of the cross wire with the coordinate position of (p, q) in the virtual rectangular coordinate system is at the imaging ideal position (x) of the focal plane of the detector of the camera system p ，y q ) Comprises the following steps:
wherein M is the number of lines of focal plane pixels of the detector of the camera system, N is the number of lines of focal plane pixels of the detector of the camera system, L is the space between the cross wires, a is the size of the focal plane pixels of the detector of the camera system, and f' Camera with a camera module Is the principal distance of the camera system, f Collimator The collimator focal length.
In the above mapping camera distortion measuring method, the interpolation amplification method is a bilinear interpolation method or a cubic interpolation method.
In the method for measuring distortion of a surveying and mapping camera, the coordinate value of the cross wire at the center position of the cross wire target of the grid plate is (0, 0).
Compared with the prior art, the invention has the following beneficial effects:
the distortion measurement is carried out through the special collimator, the distortion data is obtained by using the strictly calibrated grid plate cross wire target, and the problem that the traditional precise angle measurement method is not suitable for the distortion measurement of the spliced mapping camera is solved.
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Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a block diagram of a measurement system provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a circular hole target provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a grid plate cross-hair target provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of imaging a single cross-hair target on a grid plate provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a grid plate after interpolation of a single cross-hair target image according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of imaging of all cross-hair targets on a focal plane of a detector of a camera system in a grid plate according to an embodiment of the present invention;
fig. 7 is a schematic diagram of distortion measurement results provided by an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The implementation provides a method for measuring distortion of a mapping camera, which comprises the following steps:
the method comprises the following steps: constructing a measuring system, wherein the measuring system comprises an area array light source 1, a round hole target, a grid plate cross wire target 2, a collimator 3, a camera system 4 and an image acquisition system 5; the light beam emitted by the area array light source 1 passes through the grid plate cross wire target 2 or the round hole target to reach the collimator 3, then passes through the collimator 3 and then enters the camera system 4, and the camera system 4 is connected with the image acquisition system 5;
step two: installing a round hole target (shown in figure 2) at the focal plane of the collimator 3, adjusting the optical axis of the camera system to be parallel to the optical axis of the collimator, and replacing the round hole target with a grid plate cross wire target 2 (shown in figure 3);
step three: an area array light source 1 uniform area light source obtains a grid plate cross hair target image through a grid plate cross hair target 2, a collimator 3 and a camera system 4, and an image acquisition system 5 acquires the grid plate cross hair target image;
step four: adjusting the rotation angle of the grid plate cross hair target 2 through the grid plate cross hair target image in the third step to enable the X axis of the grid plate cross hair target to be parallel to the horizontal direction of the focal plane of the camera system and the Y axis of the grid plate cross hair target to be parallel to the vertical direction of the focal plane of the camera system;
step five: obtaining the central position of the grid plate cross hair target by a centroid extraction algorithm for the grid plate cross hair target image, and adjusting the translation of the grid plate cross hair target 2 in the X-axis and Y-axis directions to enable the central position of the grid plate cross hair target to be imaged in the center of a camera system focal plane;
step six: and acquiring the distortion data of the camera system at the position of the cross wire target of the grid plate according to the imaging coordinates of the central position of the cross wire target of the grid plate in the camera system.
In step one, the characteristic parameters of the collimator 3 are:
wherein f is Collimator Is the focal length of the collimator, phi Collimator Is the optical effective caliber of the collimator, lambda 1 collimator ～λ 2 collimator Is the operating wavelength of the collimator, f Camera with a camera module Is the focal length of the camera system, phi Camera with a camera module Is the optical effective aperture, lambda, of the camera system window 1 Camera ～λ 2 Camera Is the camera system operating wavelength.
For the strictly calibrated grid plate cross hair target, the target parameters are as follows:
the line width of the cross wire is 0.01 mm;
the length of the cross wire is 0.2 mm;
the distance L between the cross wires is 5 mm;
the cross hair is a dark line, the background is transparent, and the contrast is not less than 100: 1;
the cross hairs were engraved on a glass substrate, and had a total of row a and column B, and A, B were all odd numbers. To be provided with
The cross-shaped wire is an X axis,
And establishing a virtual rectangular coordinate system by taking the cross hairs as a Y axis and taking the L as a unit length, and naming the position coordinates of each cross hair. If the central cross hair target is number (0, 0).
The grid plate cross wire target is illuminated from the back direction of the focal plane by using a uniform surface light source, an image of the grid plate cross wire target is obtained through an image acquisition system, and meanwhile, the perpendicularity of the grid plate cross wire target and an optical axis of a camera and the longitudinal focal depth position are adjusted, so that the grid plate cross wire target is clearly recognizable in a full field of view.
In the fifth step, obtaining the central position of the grid plate cross hair target by the center-of-mass extraction algorithm on the grid plate cross hair target image comprises the following steps:
the grid plate cross hair targets have a total of A rows and B columns, namely, a total of A multiplied by B cross hairs. The crosshairs are actually imaged on the focal plane of the detector of the camera system to obtain A multiplied by B crosshair images, and the actual imaging positions of the crosshair images on the focal plane of the detector of the camera system are respectively calculated. The imaging of all the crosshairs of the grid plate on the focal plane of the detector of the camera system is schematically shown in fig. 6, and as shown in fig. 3, (p, q) is the coordinate value of the actual imaging center of the crosshair target of the grid plate on the focal plane of the detector of the camera system, which is calculated as follows:
first, the single target imaging area image is cut out (p, q), the image size is m × n, the initial image behavior is x 0 +1, end behavior x 0 + m, image start column y 0 +1, end column is y 0 + n as shown in fig. 4.
And secondly, carrying out 10-time interpolation amplification on the area image, wherein the interpolation method is a conventional interpolation method such as a conventional bilinear interpolation method and a cubic interpolation method. And carrying out Gaussian filtering processing on the image after interpolation. As shown in FIG. 5, the processed image has a size of (10m-9) × (10n-9), and the image start line is renamed to x 0 +10, end row named x 0 +10m, the image start column is y 0 +10, end column y 0 +10n。
Thirdly, calculating the line direction center position of the cross hair target by the following formula:
wherein x p-center Representing the central position of the cross wire target in the row direction; DN (x) 0 +i,y 0 + j) denotes the x-th 0 + i rows, y 0 A grayscale value of an image at + j column, where i is 10,11,12,.., 10m, j is 10,11,12,.., 10 n; MAXX { } means that the sequence is sorted to find the maximum value in the sequence, and the abscissa corresponding to the maximum value is returned. i is the incremental change in the image pixel abscissa and j is the incremental change in the image pixel ordinate.
Likewise, the cross-hair target column direction center position is calculated:
wherein y is q-center Representing the central position of the cross wire target column direction; DN (x) 0 +i,y 0 + j) denotes the x-th 0 + i rows, y 0 A grayscale value of an image at + j column, where i is 10,11,12,.., 10m, j is 10,11,12,.., 10 n; and MAXY { } represents that the sequence finds the maximum value in the sequence and returns the ordinate corresponding to the maximum value. i is the incremental change in the image pixel abscissa and j is the incremental change in the image pixel ordinate.
Finally, the central coordinate value of the cross wire target is calculated as
The actual imaging position of the centers of all the cross-hair targets on the focal plane of the detector of the camera system is calculated by the formula
Wherein i represents the grid plate cross hair target abscissa number, and j represents the grid plate cross hair target ordinate number.
In step six, the camera system distortion data is calculated as follows:
firstly, the ideal imaging position of the center of the cross-hair target on the focal plane of a detector of a camera system is calculated. The grid plate cross hair targets have a total of a row and B columns, i.e., a total of a × B cross hair targets. The targets are respectively calculated at the ideal positions of the camera system detector focal plane imaging. The center of the cross-hair target is imaged at the ideal position (x) in the focal plane of the camera system detector as shown in fig. 3 (p, q) p ，y q ) Comprises the following steps:
wherein, (p, q) is the coordinate position of the cross-hair target on the grid plate, (x) p ，y q ) Imaging the center of a cross-hair target on the focal plane of a camera system detectorThe desired position is M, N, L and a distance between the cross wires, wherein M is the number of lines of focal plane pixels of the detector of the camera system, N is the number of columns of focal plane pixels of the detector of the camera system, a is the size of focal plane pixels of the detector of the camera system, and f' Camera with a camera module Is the principal distance of the camera system, f Collimator The collimator focal length.
The ideal imaging position (x) of the centers of all the cross hair targets on the focal plane of the detector of the camera system is calculated by the formula i ，y j )，
Wherein i represents the grid plate cross hair target abscissa number, and j represents the grid plate cross hair target ordinate number. The center of the cross-hair target of the grid plate is imaged at an ideal position (x) on the focal plane of a detector of the camera system 0 ，y 0 )。
Second, the camera system distortion (Δ x) at the A × B crosshair target imaging positions is calculated i ，Δy j )：
Wherein i represents the grid plate cross hair target abscissa number, and j represents the grid plate cross hair target ordinate number.
Thus, measured distortion values of a × B points of the camera system are obtained, and a distortion measurement result is schematically shown in fig. 7.
The distortion measurement is carried out through the special collimator, the distortion data are obtained by using the strictly calibrated grid plate cross wire target, and the problem that the traditional precise angle measurement method is not suitable for the distortion measurement of the spliced mapping camera is solved.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make possible variations and modifications of the present invention using the method and the technical contents disclosed above without departing from the spirit and scope of the present invention, and therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention are all within the scope of the present invention.
Claims (7)
1. A method of measuring distortion in a mapping camera, the method comprising the steps of:
the method comprises the following steps: constructing a measuring system, wherein the measuring system comprises an area array light source (1), a round hole target, a grid plate cross wire target (2), a collimator (3), a camera system (4) and an image acquisition system (5); the light beam emitted by the area array light source (1) passes through the grid plate cross wire target (2) or the round hole target and then reaches the collimator (3), and then is emitted into the camera system (4) through the collimator (3), and the camera system (4) is connected with the image acquisition system (5);
step two: installing a round hole target at the focal plane of the collimator tube (3), adjusting the optical axis of the camera system to be parallel to the optical axis of the collimator tube, and replacing the round hole target with a grid plate cross wire target (2);
step three: an area array light source (1) uniform area light source obtains a grid plate cross hair target image through a grid plate cross hair target (2), a collimator (3) and a camera system (4), and an image acquisition system (5) acquires the grid plate cross hair target image;
step four: adjusting the rotation angle of the grid plate cross hair target (2) through the grid plate cross hair target image in the third step to ensure that the X axis of the grid plate cross hair target is parallel to the horizontal direction of the focal plane of the camera system and the Y axis of the grid plate cross hair target is parallel to the vertical direction of the focal plane of the camera system;
step five: obtaining the central position of the grid plate cross hair target by a centroid extraction algorithm on the grid plate cross hair target image, and adjusting the translation of the grid plate cross hair target (2) in the X-axis and Y-axis directions to enable the central position of the grid plate cross hair target to be imaged in the center of a camera system focal plane;
step six: acquiring camera system distortion data at the position of the grid plate cross hair target according to the imaging coordinate of the center position of the grid plate cross hair target in the camera system;
in the fifth step, obtaining the central position of the grid plate cross hair target by the center-of-mass extraction algorithm on the grid plate cross hair target image comprises the following steps:
(51) the size of the grid plate cross hair target image is mxn, the initial column of the grid plate cross hair target image is x 0 +1, end column is x 0 + m, initial behavior y of grid plate crosshair target image 0 +1, end behavior y 0 + n; wherein m is the length of the grid plate cross hair target image, and n is the width of the grid plate cross hair target image;
(52) carrying out 10-time interpolation amplification on the cross wire target image of the grid plate to obtain an interpolated image, carrying out Gaussian filtering processing on the interpolated image to obtain a filtered image, wherein the size of the filtered image is (10m-9) x (10n-9), and the initial column of the filtered image is x 0 +10, end column is x 0 +10m, filtered image start behavior y 0 +10, end behavior y 0 +10n；
(53) Calculating a line-direction center position x of the filtered image center And the column direction center position y of the filtered image center ；
(54) From the line-wise centre position x of the filtered image center And the column direction center position y of the filtered image center The central position of the cross wire target of the grid plate is obtained
In step (53), the line direction center position x of the filtered image center Comprises the following steps:
wherein DN (x) 0 +i,y 0 + j) denotes the x-th 0 + i rows, y 0 The gray scale value of the image at + j column, where i ═ 10,11, 12., 10m, j ═ 10,11, 12., 10 n; MAXX { } represents the maximum value in the sequence searched in the sorting mode, and returns the abscissa corresponding to the maximum value, i is the incremental change of the abscissa of the image pixel, and j is the incremental change of the ordinate of the image pixel;
in step (53), the column direction center position y of the filtered image center Comprises the following steps:
wherein DN (x) 0 +i,y 0 + j) denotes the x-th 0 + i rows, y 0 A grayscale value of an image at + j column, where i is 10,11,12,.., 10m, j is 10,11,12,.., 10 n; and MAXY { } represents the maximum value in the sequence searched by sorting and returns the vertical coordinate corresponding to the maximum value, i is the incremental change of the horizontal coordinate of the image pixel, and j is the incremental change of the vertical coordinate of the image pixel.
2. The method of measuring distortion of a mapping camera of claim 1, wherein: in the first step, the characteristic parameters of the collimator (3) are as follows:
wherein f is Collimator Is the focal length of the collimator, phi Collimator Is the optically effective aperture, λ, of the collimator 1 collimator ～λ 2 collimator Is the operating wavelength of the collimator, f Camera with camera module Is the focal length of the camera system, phi Camera with a camera module Is the optical effective aperture, lambda, of the camera system window 1 Camera ～λ 2 Camera Is the camera system operating wavelength.
3. The method of measuring distortion of a mapping camera of claim 1, wherein: in step one, the grid plate cross hair target (2) comprises a glass substrate and a row A and a column B of cross hairs; wherein, A row and B column cross hairs are carved on the glass substrate;
to be provided with
The cross-shaped wire is an X axis,
Establishing a virtual rectangular coordinate system with the Y-axis cross hairs and the unit length L;
the line width of each cross wire is 0.01 mm; the length of each cross wire is 0.2 mm; the distance L between two adjacent cross wires is 5 mm; the cross hair is a dark line, the background is transparent, and the contrast ratio is not less than 100: 1.
4. A method of distortion measurement of a mapping camera according to claim 3, characterized in that: in step six, the distortion data of the camera system at the cross-hair target position of the grid plate is as follows:
wherein,
the cross hair with the coordinate position of (p, q) in the virtual rectangular coordinate system is the real imaging center coordinate of the detector focal plane of the camera system, (x) p ，y q ) And imaging the center of the cross hair with the coordinate position of (p, q) in the virtual rectangular coordinate system to form an ideal position on the focal plane of the detector of the camera system.
5. The method of measuring distortion of a mapping camera of claim 4, wherein: the center of the cross hair with the coordinate position of (p, q) in the virtual rectangular coordinate system is positioned at the cameraSystem detector focal plane imaging ideal position (x) p ，y q ) Comprises the following steps:
wherein M is the number of lines of focal plane pixels of the detector of the camera system, N is the number of columns of focal plane pixels of the detector of the camera system, L is the distance between the cross wires, a is the size of the focal plane pixels of the detector of the camera system, and f' Camera with a camera module Is the principal distance of the camera system, f Collimator The collimator focal length.
6. The method of measuring distortion of a mapping camera of claim 1, wherein: the interpolation amplification method is a bilinear interpolation method or a cubic interpolation method.
7. A method of distortion measurement of a mapping camera according to claim 3, characterized in that: and the coordinate value of the cross wire at the central position of the cross wire target of the grid plate is (0, 0).
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