CN113124821B - Structure measurement method based on curved mirror and plane mirror - Google Patents
Structure measurement method based on curved mirror and plane mirror Download PDFInfo
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- CN113124821B CN113124821B CN202110670566.5A CN202110670566A CN113124821B CN 113124821 B CN113124821 B CN 113124821B CN 202110670566 A CN202110670566 A CN 202110670566A CN 113124821 B CN113124821 B CN 113124821B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/60—Analysis of geometric attributes
Abstract
The invention belongs to the field of measurement, and provides a structure measurement method based on a curved mirror and a plane mirror, which comprises the following steps: acquiring first image information through a first lens, and acquiring second image information through a second lens; the first lens is a lens provided with a curved mirror, the first image information comprises image information of a measurement target object and image information of a virtual image of the measurement target in the curved mirror, the second lens is a lens provided with a plane mirror, and the second image information comprises image information of the measurement target object and image information of the virtual image of the measurement target in the plane mirror; the structural size of the measuring target is calculated through the collected first image information and the second image information, the structural characteristics of the far-field measuring target can be well obtained through the method, and the method has great significance for the research of the measuring target structure.
Description
Technical Field
The invention relates to the field of measurement, in particular to a structure measurement method based on a curved mirror and a plane mirror.
Background
Currently, monocular camera ranging is mostly implemented according to a triangulation method, and in the application of the traditional monocular ranging and optical flow method, only a pixel value and a moving speed of a measured object on an image plane can be obtained through a camera, and a reference size or a reference distance needs to be provided by depending on the outside. Under the condition that the target characteristics are unknown, methods such as laser radar and millimeter wave radar ranging are usually adopted for assistance, the equipment cost is relatively high, and the system is relatively complex. In the prior art, a method of arranging a laser on a vertical plane of an optical axis of a camera as an auxiliary indicator is adopted, so that the number of curved mirrors is reduced, but in the calculation process of the method, various optical path differences constructed based on the curved mirrors and the combination thereof are seriously dependent on the length of a basic line of a main shaft of an optical path. Meanwhile, in the analysis of the relationship of the projection points, more attention is paid to orthogonal projection, and the perspective projection relationship in monocular photography is not fully utilized, so that the structure of the existing method is relatively complex, and the application in engineering ranging is less.
In the prior art, a monocular camera is usually adopted to measure the distance between a camera and a target, and with the development of science and technology and the increase of demand, the structure size of some far-field large-size targets needs to be measured to build a model, so that the influence of the far-field large-size targets on related objects around the far-field large-size targets is further researched.
For example, the cloud in a far field plays an important role in the process of weather system development, precipitation formation, atmospheric radiation transmission and the like, the cloud information such as cloud bottom height and cloud shape are very important to more fields such as weather and civil aviation, the physical phenomena of special clouds such as wave cloud and bean pod cloud are frequently generated in the weather process, and the cloud bottom height and the cloud characteristic dimension are measured at the moment, valuable information can be provided for subsequent analysis of atmospheric high altitude activity, such as wave clouds due to the kelvin-helmholtz instability principle, when two layers of air or liquid with different densities meet and communicate with each other at different speeds, a shape similar to a garland is formed at the edge, the measurement of the height and the distance of the wave cloud is helpful for analyzing the shearing condition of the high-altitude airflow, basic data can be provided for cloud modeling, and then the cloud structure is further researched: the height of the cloud base is measured by two methods commonly adopted in the prior art, one method is an air balloon method, a hydrogen balloon with a fixed rising speed is put, and the height of the cloud base is calculated according to the time from the putting of the balloon to the entering of the cloud base and the rising speed of the balloon; the other method is a cloud curtain lamp method, namely, a cloud curtain lamp emits a beam of light column to vertically irradiate one point of the cloud bottom, and the height of the cloud bottom can be calculated according to a triangular method by observing the elevation angle of the point and the horizontal distance between the observation point and the cloud curtain lamp from the observed point. In the prior art, automatic cloud bottom height measuring instruments such as a laser cloud measuring instrument and an infrared radiation cloud measuring instrument are also arranged, the methods are similar to the cloud curtain lamp, the measurement is required to be arranged below the cloud, the measurement convenience is insufficient, and the structural outline of the cloud cannot be measured. With the development of digital camera shooting technology in recent years, the binocular imaging ranging technology is applied to the measurement of cloud base height and cloud structure, and has the advantages of high precision and low cost.
Disclosure of Invention
The embodiment of the invention provides a structure measuring method based on a curved mirror and a plane mirror, which comprises the following steps:
calibrating the optical axis and the internal parameters of the camera;
acquiring first image information through a first lens, and acquiring second image information through a second lens;
the first lens is a lens provided with a curved mirror, and the first image information comprises image information of a measurement target object and image information of a virtual image of the measurement target in the curved mirror;
the second lens is a lens provided with a plane mirror, and the second image information comprises image information of a measurement target object and image information of a virtual image of the measurement target in the plane mirror;
and calculating the structural size of the measurement target through the acquired first image information and the second image information.
Further, the measurement targets include a first measurement target and a second measurement target.
Further, the structural dimensions include: the method comprises the steps of measuring the horizontal distance between a target and a camera, measuring the vertical distance between any two points in the target and the camera, and measuring the horizontal distance between a first measuring target and a second measuring target.
Further, the vertical distances of the first measurement target and the second measurement target in the measurement targets relative to the optical center of the camera are the same.
Further, the horizontal distance between the first measurement target and the second measurement targetDThe calculation formula of (a) is as follows:
wherein the content of the first and second substances,pto measure the real image of the object-in the camera,qmeasuring a real image of a second target in the camera;
and
are respectively aspA horizontal distance from the camera optical center and a scale factor;
and
are respectively asqA horizontal distance from the camera optical center and a scale factor.
Further, the
And
the calculation formula of (a) is as follows:
wherein the content of the first and second substances,y 1 p andy 1 q are respectively asp、qVertical height relative to camera optical center;p'to measure the target-a virtual image made in the camera,q'to measure the virtual image of object two in the camera,y 2 p 'andy 2 q 'are respectively asp'、q'Vertical height relative to camera optical center;H 1 to measure the height of the target relative to the optical center of the camera.
Further, if the distance between the measurement target and the camera is smaller than a preset distance, or the feature definition of the acquired image information is smaller than a preset definition, the height of the measurement target relative to the optical center of the cameraH 1 Obtained by the following steps:
wherein the content of the first and second substances,mis the magnification of the curved mirror, and the power of the curved mirror,f c is the focal length of the curved mirror,H 1 to measure the reference height of the target height relative to the optical center of the camera,H 2 to measure the reference height of the virtual image of the object relative to the optical center of the camera,Sthe offset distance from the upper surface of the curved mirror to the optical center of the camera,x 1 to measure the reference height of the real image of the object in the camera relative to the optical center of the camera.
Further, if the distance between the measurement target and the camera is greater than a preset distance, or the feature definition of the acquired image information is greater than a preset definition, the height of the measurement target relative to the optical center of the cameraH 1 Obtained by the following steps:
step S1: calculating an initial scale factorM 0 The calculation formula is as follows:
wherein the content of the first and second substances,x 1 to measure the reference height of the real image of the object in the camera relative to the optical center of the camera,x 2 to measure the reference height of the virtual image of the object in the camera relative to the optical center of the camera,f c is the focal length of the curved mirror;
step S2: through the first stepiSub-scale factorMiCalculating the firstiSecondary correction factorα i Through said firstiSecondary correction factorα i And said firstiSub-scale factorM i Is calculated to obtaini+1Sub-scale factorM i+1 ；
H 1 i =M i* x 1
H 2 i =M i* x 2
M i+1 =α i M i
Wherein, the firstiHeight of sub-targetH 1 i And virtual image heightH 2 i ，SThe offset distance from the upper surface of the curved mirror to the optical center of the camera;
step S3: judging the firsti+1Sub-scale factorM i+1 Whether to converge or not: if converged, theni+1Sub-scale factorM i+1 Is the final scale factorM，H 1 i To a final heightH 1 (ii) a If not, theni=i+1，iN, n is the number of cycles, and step S2 is repeated.
Further, a scale factorMThe calculation formula of (a) is as follows:
wherein:Mis a scale factor of the pixels of the camera to the physical dimensions of the spatial target.
Further, the horizontal distance between the optical center of the camera and the measurement target is calculated as follows:
L=f*M
wherein the content of the first and second substances,fis the focal length of the camera and is,Lthe distance between the optical center of the camera and the measurement target,Mis a scale factor of the pixels of the camera to the physical dimensions of the spatial target.
Further, the curved mirror and the plane mirror are installed on one side of the camera lens, and the axis of the curved mirror and the axis of the plane mirror are parallel to the optical axis of the camera.
The invention has the advantages of
(1) According to the invention, by utilizing the advantage that the curved mirror and the camera are suitable for far-field distance measurement in a matching manner, the image acquisition is carried out on the measuring target in the far field, the vertical distance of the measuring target relative to the optical center of the camera and the horizontal distance of the measuring target relative to the camera are calculated, then the information acquisition is carried out on the measuring target by the plane mirror, and by utilizing the large characteristics of plane mirror imaging and the like, the distortion of the virtual image of the measuring target in the plane mirror is small, the structural characteristics of the measuring target can be well obtained, and further different part structural characteristics of the measuring target are obtained by calculation on the basis of the height and the distance obtained by the curved mirror, so that the method has great significance for researching the structure of the measuring target, and solves the problem that the target characteristic matching algorithm is complex when a binocular camera is adopted to measure the large target in the far field in the prior art.
(2) In the invention, the measurement of the structure size of a measurement target is realized by combining a curved mirror and a plane mirror, the curved mirror and the plane mirror are generally adopted to be respectively matched with a camera to measure the distance of the measurement target in the prior art, and the curved mirror and the plane mirror are generally arranged on a vertical plane of an optical axis of the camera, so that the distance measurement calculation is seriously limited by the length of a light path main shaft base line when the camera is matched with the curved mirror and the plane mirror, and the measurement range is smaller and is only limited within the near distance in an approximate room; the invention only needs to install the curved mirror and the plane mirror at one side of the camera, the optical axis of the camera is parallel to the axes of the curved mirror and the plane mirror when in installation, the operation is simple, the precision of the distance measurement calculation result is improved, the length of the light path main shaft base line is not involved in the calculation process, the distance measurement can be realized in a near range and a far range, the range of the distance measurement is expanded, and the application range is wide.
(3) In the invention, the curved mirror and the plane mirror are matched with the camera to measure the structural dimension of the measured target, compared with the prior art, the invention not only utilizes the imaging principle of the curved mirror and the plane mirror, but also fully utilizes the perspective projection relation in the camera, in addition, the problem that the characteristic dimension or the reference distance of the target needs to be given when the dimension is measured is solved by taking the curved mirror and the plane mirror as the external dimension, and no additional active distance measurement auxiliary tool is needed, thereby not only maintaining the advantages of a passive distance measurement scheme, but also reducing the complexity of the distance measurement scheme.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic view of the measurement of a curved surface structure in the present invention;
FIG. 3 is a schematic view of a plane mirror structure measurement in the present invention;
fig. 4 is a schematic view of the imaging of the measurement target in the camera of fig. 3 in the present invention.
10-camera, 20-curved mirror, 30-measurement target, 40-plane mirror.
Detailed Description
The following description provides many different embodiments, or examples, for implementing different features of the invention. The particular examples set forth below are illustrative only and are not intended to be limiting.
The embodiment of the invention provides a structure measuring method based on a curved mirror and a plane mirror, which comprises the following steps as shown in figures 1-3:
calibrating the optical axis and the internal parameters of the camera 10;
acquiring first image information through a first lens, and acquiring second image information through a second lens;
the first lens is a lens provided with a curved mirror 20, and the first image information comprises image information of a real object of a measurement target 30 and a virtual image 30 of the measurement target in the curved mirror'The image information of (1);
the second lens is a lens provided with a plane mirror 40, and the second image information comprises image information of a measurement target object and image information of a virtual image of the measurement target in the plane mirror;
and calculating the structural size of the measurement target through the acquired first image information and the second image information.
Firstly, acquiring image information of a measurement target object and image information of a virtual image of the measurement target in a curved mirror by a camera provided with the curved mirror, then calculating the vertical height and horizontal distance of the measurement target relative to the camera according to the imaging principle of the curved mirror, then moving the curved mirror away from a camera lens to enable the curved mirror not to be imaged in the camera, then arranging a plane mirror on one side of the camera, acquiring the image information of the measurement target object and the image information of the virtual image of the measurement target in the plane mirror, and then further calculating the structural size of the measurement target by using the imaging principle of the plane mirror on the basis of acquiring the height and horizontal distance of the measurement target relative to the camera; (2) the method comprises the steps of firstly obtaining image information, respectively obtaining image information of a measurement target object and image information of a virtual image of the measurement target in a curved mirror through a camera lens provided with the curved mirror, obtaining image information of the measurement target object and image information of the virtual image of the measurement target in the flat mirror through the camera lens provided with the flat mirror, then calculating the vertical height and the horizontal distance of the measurement target relative to a camera according to the image information obtained when the curved mirror is installed, and on the basis, calculating the structural size of the measurement target according to the image information obtained by the flat mirror.
According to the imaging characteristics of the curved mirror, when the distance between the measurement target and the optical center is farther, the image distortion of the image in the curved mirror in the camera is larger, the characteristic matching is difficult, the accurate structural size of the measurement target is difficult to obtain, the imaging characteristics of the plane mirror are that the image and the object are large, the image of the measurement target in the camera through the plane mirror is not distorted, and the characteristics are clear. Therefore, the distance information of the measurement target relative to the optical center of the camera is firstly acquired by combining the curved mirror and the camera, and on the basis, the structural dimension of the measurement target is acquired by combining the camera and the plane mirror. The data obtained by the embodiment of the invention has high accuracy, and the device has simple structure and is easy to operate.
The measurement target of the embodiment refers to a far-field large target with approximate vertical height, such as a layer cloud, a wave cloud, an approximately flat flying aircraft, a regular artificial building and the like.
Further, the measurement targets include a first measurement target and a second measurement target.
Further, the structural dimensions include: measuring target and camera optical centerOHorizontal distance between, measuring target and camera optical centerOVertical distance between them, horizontal distance between the first measurement target and the second measurement target.
Further, a first measurement target and a second measurement target in the measurement targets are optical centers relative to the cameraOAre the same.
As shown in FIG. 4, in order to obtain an image of a measurement target in a camera by using a lens with a flat mirror, the present embodiment is to measure the horizontal distance between any two measurement targets of the measurement target, and it is assumed that the first measurement target and the second measurement target are at the same horizontal plane, i.e. relative to the optical center of the cameraOAre the same in vertical distance, i.e.
=
。
The curved mirror in the embodiment of the present invention is illustrated by taking a convex mirror as an example.
Further, the horizontal distance between the first measurement target and the second measurement targetDThe calculation formula of (a) is as follows:
wherein the content of the first and second substances,pto measure the real image of the object-in the camera,qmeasuring a real image of a second target in the camera;
and
are respectively aspHorizontal distance from the optical center of the cameraAnd a scale factor;
and
are respectively provided withqA horizontal distance from the camera optical center and a scale factor.
In this embodiment, two measurement targets are selected from the measurement targets, and the two measurement targets are respectively set as a first measurement targetPAnd a measurement target 2QAcquiring image information of measurement targets of two measurement targets by using a lens having a flat mirror mounted thereonPAndQthe real images in the camera are respectivelyPAndq(ii) a Wherein the image scale factors of the first measurement target and the second measurement target in the camera are different.
The distance between two measurement targets in the measurement targets is calculated, so that important data are provided for the subsequent analysis modeling analysis of the measurement target structure, and the influence of the measurement target structure on related application products and fields can be further analyzed through modeling.
Further, the
And
the calculation formula of (a) is as follows:
wherein the content of the first and second substances,y 1 p andy 1 q are respectively asp、qRelative to the optical center of the cameraOThe vertical height of (d);p'for measuring the objectA virtual image formed in the camera, and,q'to measure the virtual image of object two in the camera,y 2 p 'andy 2 q 'are respectively asp'、q'Relative to the optical center of the cameraOThe vertical height of (d);H 1 for measuring the optical centre of the object relative to the cameraOOf (c) is measured.
Wherein, thep'Is measured by a measuring targetPImage in plane mirrorP'The virtual image formed by the camera passes through the camera,q'is formed by a measurement target 2QImage in plane mirrorQ'A virtual image formed by passing through the camera.
H 1 The height acquisition of (1) is calculated according to a curved mirror imaging formula by passing image information of a measurement target acquired through a lens mounted with a curved mirror, and the embodiment is as follows:
further, if the measurement target and the camera optical centerOThe distance between the two is less than the preset distance, or when the definition of the collected image features is less than the preset definition, the measured target is relative to the optical center of the cameraOHeight of (2)H 1 Obtained by the following steps:
wherein the content of the first and second substances,mis the magnification of the curved mirror, and the power of the curved mirror,f c is the focal length of the curved mirror,H 1 for measuring the height of the target relative to the optical center of the cameraOIs measured with respect to the reference height of (c),H 2 to measure the reference height of the virtual image of the object relative to the optical center of the camera,Sfrom the upper surface of the curved mirror to the optical center of the cameraOThe offset distance of (a).
Wherein the curvature magnification can be calculated by the following method:
wherein the content of the first and second substances,x 2 for measuring virtual image of object in camera relative to optical center of cameraOA reference height of (d);d 2 the distance of the virtual image of the target relative to the reference straight line on the upper surface of the curved mirror is measured for one side of the curved mirror,d 1 measuring the distance between the target real image and a reference straight line on the upper surface of the curved mirror for the other side of the curved mirror;A 2 is the characteristic area of the virtual image,A 1 is the characteristic area of the real image.
In the above embodiment, (1) the magnification of the curved mirrormThe image height and the object height can be obtained through calculation in three modes, namely the ratio of the image height to the object height, the ratio of the image distance to the object distance, and the ratio of the image area to the object area; (2)H 1 the formula obtained by (1) uses a curved mirror imaging formula as shown below; (3) as shown in fig. 2, in the formulad 1 Andd 2 is expressed in the following relationshipd 1= H 1 +S，d2= H 2 -S(ii) a (4) As shown in fig. 2, in the embodimentx 1 Andx 2 the value of (d) can be obtained by the coordinate values in the camera; offset distanceSCan be directly obtained by measurement when the curved mirror is installed; (5) the selection of the coordinates of the real image and the virtual image of the measurement target can be obtained by a local feature extraction method or by an area center method.
Further, if the distance between the measurement target and the camera is greater than a preset distance or the definition of the collected image features is greater than a preset definition, the height of the measurement target relative to the optical center of the cameraH 1 Obtained by the following steps:
step S1: calculating an initial scale factorM 0 The calculation formula is as follows:
wherein the content of the first and second substances,x 1 to measure the reference height of the real image of the object in the camera relative to the optical center of the camera,x 2 to measure the reference height of the virtual image of the object in the camera relative to the optical center of the camera,f c is the focal length of the curved mirror;
step S2: through the first stepiSub-scale factorMiCalculating the firstiSecondary correction factorα i Through said firstiSecondary correction factorα i And said firstiSub-scale factorM i Is calculated to obtaini+1Sub-scale factorM i+1 ；
H 1 i =M i* x 1
H 2 i =M i* x 2
M i+1 =α i M i
Wherein, the firstiHeight of sub-targetH 1 i And virtual image heightH 2 i ，SFrom the upper surface of the curved mirror to the optical center of the cameraOThe offset distance of (d);
step S3: judging the firsti+1Sub-scale factorM i+1 Whether to converge or not: if converged, theni+1Sub-scale factorM i+1 Is the final scale factorM，H 1 i To a final heightH 1 (ii) a If not, theni=i+1，iN, n is the number of cycles, and step S2 is repeated.
The above steps are exemplified below by (1) first ignoring the curved mirror offset distanceSThe approximate camera optical axis is a reference straight line on the upper surface of the curved mirror, and can be directly obtained on the image plane of the camerax 1 、x 2 Obtaining the corresponding focal length of the curved mirror according to the curvature radius of the curved mirrorf c Substituting the known quantity into a curved mirror imaging formula to obtain an initial scale factorM 0 (ii) a (2) According to an initial scale factorM 0 Calculating the target heightH 1 0 And virtual image heightH 2 0 (ii) a (3) Introducing an offset distance S at one side of a measurement target, and calculating a correction coefficient according to a curved mirror imaging formulaα 0 (ii) a (4) Correcting coefficient obtained by the stepsα 0 And an initial scale factorM 0 Substitution formulaM i+1 =α i M i In (1), the 1 st initial scale factor is obtainedM 1 If, ifM 1 =M 0 Illustrate the scaling factorMConvergence of the scale factorM=M 1 ,H=H 1 0 (ii) a If it isM 1 ≠M 0 According to the scale factorM 1 Calculating the target heightH 1 1 And virtual image heightH 2 1 (ii) a Calculating correction coefficient according to curved mirror imaging formulaα 1 In combination with a scaling factorM 1 To obtainM 2 Then, the scale factor is judgedMWhether to converge, and so on.
Further, a scale factorMThe calculation formula of (a) is as follows:
wherein:Mis a scale factor of the pixels of the camera to the physical dimensions of the spatial target.
Further, the optical center of the cameraOThe horizontal distance to the measurement target is calculated as follows:
L=f*M
wherein the content of the first and second substances,fis the focal length of the camera and is,Lis the optical center of cameraOThe distance to the measurement target is measured,Mis a scale factor of the pixels of the camera to the physical dimensions of the spatial target.
Further, the curved mirror and the plane mirror are installed on one side of the camera lens, and the axis of the curved mirror and the axis of the plane mirror are parallel to the optical axis of the camera.
The curved mirror and the plane mirror are arranged on one side of the camera lens, the reflecting surfaces of the curved mirror and the plane mirror are arranged towards the camera lens, and the axis (bus) of the curved mirror and the axis of the plane mirror are parallel to the optical axis of the camera; wherein, the installation of curved mirror and plane mirror in one side of camera lens can be specifically: as long as the measurement target can be imaged in the camera through the curved mirror and the plane mirror, the specific positions of the curved mirror and the plane mirror installed on one side of the camera lens are not limited herein.
In the embodiment of the invention, the curved mirror can be a convex mirror, a concave mirror and a flexible curved mirror with controllable curvature.
In the distance measurement, under the condition of higher requirement on the field of view of a camera, the embodiment of the invention preferentially adopts the convex mirror; if the requirement on the field of view of the camera is low and the distance resolution is required to be high, the concave mirror is preferentially adopted in the embodiment of the invention.
For a better understanding of embodiments of the invention, the following description is given with large target wave clouds in the far field as measurement targets:
step S1: acquiring image information of wave cloud on the curved mirror through a lens provided with the curved mirror;
step S2: calculating the height of the cloud to the optical center of the cameraH 1 And horizontal distanceL；
Step S3: moving the curved mirror, installing a plane mirror at one side of the camera, and acquiring the image information of the wave cloud at the moment
Step S4: selecting two wave cloudsPAndQ；
step S5: height of cloud of waves to optical center of camera calculated according to curved mirrorH 1 Namely, the height of the wave cloud is obtained through the matching of the curved mirror and the camera; on the basis, two wave clouds are further calculated through images obtained when the plane mirrors are matched with the cameraPAndQhorizontal distance therebetweenD；
Step S6: repeating the steps S4-S5 to obtain the horizontal distance between any two wave clouds;
step S7: the height from the obtained wave cloud to the optical center of the cameraH 1 Horizontal distance ofLAnd inputting the distance D between the two wave clouds into the system for modeling.
Through the comprehensive analysis to the above-mentioned structure size of wave cloud, can further learn the produced influence of cloud to weather and civil aviation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (1)
1. A structure measuring method based on a curved mirror and a plane mirror is characterized by comprising the following steps:
calibrating the optical axis and the internal parameters of the camera;
acquiring first image information through a first lens, and acquiring second image information through a second lens;
the first lens is a lens provided with a curved mirror, and the first image information comprises image information of a measurement target object and image information of a virtual image of the measurement target in the curved mirror;
the second lens is a lens provided with a plane mirror, and the second image information comprises image information of a measurement target object and image information of a virtual image of the measurement target in the plane mirror;
calculating the structural size of a measurement target through the acquired first image information and the second image information;
the curved mirror and the plane mirror are arranged on one side of a camera lens, and the axis of the curved mirror and the axis of the plane mirror are perpendicular to the optical axis of the camera; the reflecting surfaces of the curved mirror and the plane mirror are arranged towards the camera lens;
the measurement target comprises a first measurement target and a second measurement target;
the structural dimensions include: horizontal distance between the measurement target and the camera optical center, height of the measurement target relative to the camera optical centerH 1 A horizontal distance between the first measurement target and the second measurement target;
the vertical distances of the first measurement target and the second measurement target relative to the optical center of the camera are the same;
horizontal distance between the first measurement target and the second measurement targetDThe calculation formula of (a) is as follows:
wherein the content of the first and second substances, pto measure the real image of the object-in the camera, qmeasuring a real image of a second target in the camera;
the above-mentioned
And
the calculation formula of (a) is as follows:
wherein the content of the first and second substances,y 1 p andy 1 q are respectively asp、qVertical height relative to camera optical center;p'to measure the target-a virtual image made in the camera,q'to measure the virtual image of object two in the camera,y 2 p' andy 2 q' are respectively asp'、q'Vertical height relative to camera optical center;H 1 to measure the height of the target relative to the optical center of the camera;
if the distance between the measurement target and the optical center of the camera is smaller than a preset distance, or the feature definition of the acquired image information of the measurement target object is smaller than a preset definition, the height H1 of the measurement target relative to the optical center of the camera is obtained through the following steps:
wherein the content of the first and second substances,mis the magnification of the curved mirror, and the power of the curved mirror,f c is the focal length of the curved mirror,H 1 to measure the reference height of the target height relative to the optical center of the camera,H 2 to measure the reference height of the virtual image of the object relative to the optical center of the camera,Sthe offset distance from the upper surface of the curved mirror to the optical center of the camera,x 1 measuring the reference height of a real image of a target in a camera relative to the optical center of the camera;
if the distance between the measurement target and the optical center of the camera is greater than a preset distance, or the feature definition of the acquired image information of the measurement target object is greater than a preset definition, the height H1 of the measurement target relative to the optical center of the camera is obtained through the following steps:
step S1: calculating an initial scale factorM 0 The calculation formula is as follows:
wherein the content of the first and second substances,x 1 to measure the reference height of the real image of the object in the camera relative to the optical center of the camera,x 2 to measure the reference height of the virtual image of the object in the camera relative to the optical center of the camera,f c is the focal length of the curved mirror;
step (ii) ofS2: through the first stepiSub-scale factorMiCalculating the firstiSecondary correction factorα i Through said firstiSecondary correction factorα i And said firstiSub-scale factorM i Is calculated to obtaini+1Sub-scale factorM i+1 ；
H 1 i =M i* x 1
H 2 i =M i* x 2
M i+1 =α i M i
Wherein, the firstiHeight of sub-targetH 1 i And virtual image heightH 2 i ，SThe offset distance from the upper surface of the curved mirror to the optical center of the camera;
step S3: judging the firsti+1Sub-scale factorM i+1 Whether to converge or not: if converged, theni+1Sub-scale factorM i+1 Is the final scale factorM，H 1 i To a final heightH 1 (ii) a If not, theni=i+1，iN, n is the number of cycles, and step S2 is repeated;
scaling factorMThe calculation formula of (a) is as follows:
wherein:Ma scale factor of a pixel of the camera to a physical dimension of the spatial target;
the horizontal distance between the optical center of the camera and the measuring target is calculated according to the following formula:
L=f*M
wherein the content of the first and second substances,fis the focal length of the camera and is,Lthe distance between the optical center of the camera and the measurement target,Mis a scale factor of the pixels of the camera to the physical dimensions of the spatial target.
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