CN106643665A - Camera shooting and measuring apparatus with converted light path based on reflector - Google Patents
Camera shooting and measuring apparatus with converted light path based on reflector Download PDFInfo
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- CN106643665A CN106643665A CN201710131318.7A CN201710131318A CN106643665A CN 106643665 A CN106643665 A CN 106643665A CN 201710131318 A CN201710131318 A CN 201710131318A CN 106643665 A CN106643665 A CN 106643665A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
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Abstract
The invention discloses a camera shooting and measuring apparatus with converted light path based on a reflector. The invention also discloses a camera shooting and measuring method with converted light path based on the reflector. The reflector is used for converting the light path into other directions in a space limitation position, so that a shooting unit is used for shooting a complete image of an imaging target at a corresponding position by using an optimum imaging angle and distance, the image is sent to a processing unit for carrying out measurement process, the shooting unit does not need to equip special wide-angle lens, lens with common focal length can satisfy the requirements, multiple shooting units are not needed to use for carrying out multi-azimuth shooting for the same object, and a single shooting unit can be used for shooting a complete image of the object; in actual usage, the measuring equipment has high precision, implement is easy, and operability is good.
Description
Technical field
The present invention relates to videographic measurment technical field, more particularly to a kind of light path videographic measurment dress of turning back based on speculum
Put and method.
Background technology
With the fast development of videographic measurment, and video camera, computer, digital signal processor (digital
Signal processor, DSP), the hardware such as field programmable gate array (Programmable Gate Array, FPGA)
The raising of energy is increasingly popularized with the reduction of cost, application of the videographic measurment in many fields.
Target is shot using image unit, so as to the digital picture for obtaining target is the basic of videographic measurment and is weighed
The link wanted, it directly affects the calibration request and image quality of target, between scientific and reasonable design image unit and target
Light path it is significant.In actual applications, due to the restriction of concrete application scene, be frequently encountered shooting distance it is short and
The big situation in visual field, is at this moment typically solved using following methods：(1) expanded using short focus wide-angle lens even fish eye lens
The angle of visual field of image unit, but the aberration of wide-angle lens is difficult control, especially distorts generally larger, and its image quality is more general
The camera lens of logical Jiao's section is poor, so as to not only put forward higher requirement target designation work and Measurement Algorithm, and affects to survey
The precision of amount.(2) shot from different azimuth using multiple video cameras, each video camera sets up respective mould after demarcation
Block coordinate system, then by under multiple one to one global coordinate system of module coordinate system.It improves image unit
Complexity and cost, increased the workload demarcated with Measurement Algorithm, while can also introduce some new errors.
For example, in noncontact four-wheel positioning measurement instrument development process, need to be shot using image unit and shone by structure light
The image of the wheel penetrated.If as shown in figure 1, adopt the camera lens (maximum field of view angle is 2 θ) of common burnt section, and allowing image unit C
Just wheel face (diameter W) is shot, now needing to leave longer space length d between wheel and image unit C could be by
Whole wheel is included in camera lens visual field.The Spatial General 6 R of the practical application scenes such as the vehicle detection area in view of user is compacter,
Automobile both sides limited space, it usually needs by the control of the distance between measuring apparatus and wheel side within relatively short distance d',
Now wheel is to opening the angle of visual field for 2 θ ' at d', many bigger than 2 θ, and being furnished with the image unit of common Jiao's section camera lens cannot clap
Take the photograph the complete image of wheel.In this case, the conveniency that the certainty of measurement of Traditional solutions is low, implements and operates is not
Foot, cost height of equipment etc. are not well positioned to meet demand.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill
Art.
The content of the invention
Present invention is primarily targeted at providing a kind of turn back light path image measuring device and method based on speculum, purport
When solving to measure process to imageable target at limited space position, certainty of measurement is low, the conveniency implementing and operate
The not enough, technical problem of the high cost of equipment.
For achieving the above object, the present invention provides a kind of light path image measuring device of turning back based on speculum, the dress
Put including：Plane mirror, image unit and processing unit；
The plane mirror, for the light path of imageable target to be turned back to direction residing for the image unit；
The image unit, the light path for being turned back according to the plane mirror shoots the image of the imageable target；
The processing unit, for measuring process to the image that the image unit shoots.
Preferably, it is in 45 degree between the optical axis of the light path and the plane mirror.
Preferably, the length of the plane mirror is not less than pre-set length threshold.
Preferably, the pre-set length threshold according to following formula determine,
AB=l* (sin θ/sin α)+l* (sin θ/sin β)
Wherein, AB be the pre-set length threshold, l=dopt- d-(w/2), α=(π/4)-θ, β=(3 π/4)-θ, d is institute
State the minimum range between imageable target and default rectangle；The clinodiagonal of the default rectangle is the plane mirror；dopt
When realizing optimum imaging to the imageable target for image unit, the distance between the image unit and described imageable target；w
For the width of the imageable target；θ is the maximum angle of half field-of view of image unit.
Preferably, when the processing unit measures process to the image that the image unit shoots, by the shooting
The image of unit photographs is considered as by captured by virtual picture pick-up device, and the shooting of the virtual picture pick-up device and the image unit
Parameter is identical, the virtual image that the virtual picture pick-up device is formed by the image unit in the plane mirror.
Additionally, for achieving the above object, the present invention also provides a kind of light path photographing measurement method of turning back based on speculum,
The method comprising the steps of：
Plane mirror turns back the light path of imageable target to direction residing for image unit；
The image unit shoots the image of the imageable target according to the light path that the plane mirror is turned back；
Processing unit measures process to the image that the image unit shoots.
Preferably, it is in 45 degree between the optical axis of the light path and the plane mirror.
Preferably, the length of the plane mirror is not less than pre-set length threshold.
Preferably, the pre-set length threshold according to following formula determine,
AB=l* (sin θ/sin α)+l* (sin θ/sin β)
Wherein, AB be the pre-set length threshold, l=dopt- d-(w/2), α=(π/4)-θ, β=(3 π/4)-θ, d is institute
State the minimum range between imageable target and default rectangle；The clinodiagonal of the default rectangle is the plane mirror；dopt
When realizing optimum imaging to the imageable target for image unit, the distance between the image unit and described imageable target；w
For the width of the imageable target；θ is the maximum angle of half field-of view of image unit.
Preferably, when the processing unit measures process to the image that the image unit shoots, by the shooting
The image of unit photographs is considered as by captured by virtual picture pick-up device, and the shooting of the virtual picture pick-up device and the image unit
Parameter is identical, the virtual image that the virtual picture pick-up device is formed by the image unit in the plane mirror.
The present invention can be turned back light path to other directions using speculum at limited space position so that image unit energy
It is enough that the complete image of imageable target is shot using optimal imaging angle and distance in corresponding position, and image feeding is processed
Unit measures process, and image unit need not be equipped with special wide-angle lens, and can be met using common Jiao's section camera lens will
Ask, it is not required that multi-faceted shooting is carried out to same target using multiple image units, single image unit can intake target
Complete image, therefore, in actual use, the high precision of measuring apparatus, it is easy to implement, operability is more preferable.
In addition, the digitlization of the present invention and high degree of automation, can be set with image unit and processing unit as hardcore
It is standby, can easily using processing unit control image unit, and to the image unit obtain view data stored,
Replicate, transmit and automatic business processing.
Description of the drawings
Fig. 1 is the schematic diagram of prior art short-distance and medium-distance large-field shooting metering system；
Fig. 2 is structured flowchart of the present invention based on the light path image measuring device first embodiment of turning back of speculum；
Fig. 3 is the principle schematic of the light path videographic measurment mode of turning back in an embodiment of the present invention based on speculum；
Fig. 4 is the relation of mirror size and shooting distance in an embodiment of the present invention；
Fig. 5 is schematic flow sheet of the present invention based on the light path photographing measurement method first embodiment of turning back of speculum.
The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Specific embodiment
It should be appreciated that specific embodiment described herein is not intended to limit the present invention only to explain the present invention.
With reference to Fig. 2, first embodiment of the invention provides a kind of light path image measuring device of turning back based on speculum, described
Device includes：Plane mirror, image unit and processing unit；
The plane mirror, for the light path of imageable target to be turned back to direction residing for the image unit；
It will be appreciated that the imageable target is to need to carry out the object of videographic measurment, the light path of the imageable target
As described imageable target sends the propagation path of light.
The image unit, the light path for being turned back according to the plane mirror shoots the image of the imageable target；
In implementing, the camera lens of the image unit is towards the plane mirror such that it is able to according to described flat
The light path that face speculum is turned back shoots the image of the imageable target；
Certainly, the image unit can be video camera, certainly, alternatively imageing sensor, the present embodiment to this not in addition
Limit.
The processing unit, for measuring process to the image that the image unit shoots.
It should be noted that the processing unit as equipment with image measurement processing function, for example：Host computer or
Server etc., the present embodiment is not any limitation as to this.
The present invention can be turned back light path to other directions using speculum at limited space position so that image unit energy
It is enough that the complete image of imageable target is shot using optimal imaging angle and distance in corresponding position, and image feeding is processed
Unit measures process, and image unit need not be equipped with special wide-angle lens, and can be met using common Jiao's section camera lens will
Ask, it is not required that multi-faceted shooting is carried out to same target using multiple image units, single image unit can intake target
Complete image, therefore, in actual use, the high precision of measuring apparatus, it is easy to implement, operability is more preferable.
In addition, the digitlization of the present invention and high degree of automation, can be set with image unit and processing unit as hardcore
It is standby, can easily using processing unit control image unit, and to the image unit obtain view data stored,
Replicate, transmit and automatic business processing.
For ease of obtaining described image, with reference to Fig. 3, the optical axis (corresponding to " optical axis 2 " in Fig. 3) of the light path with it is described
It is in 45 degree between plane mirror, can is also other angles certainly, the present embodiment is not any limitation as to this.
It is described in the present embodiment so as to cause described image imperfect to prevent the length of the plane mirror too small
The length of plane mirror is not less than pre-set length threshold.
For ease of determining the pre-set length threshold, in the present embodiment, the pre-set length threshold determines according to following formula,
AB=l* (sin θ/sin α)+l* (sin θ/sin β)
Wherein, AB be the pre-set length threshold, l=dopt- d-(w/2), α=(π/4)-θ, β=(3 π/4)-θ, d is institute
State the minimum range between imageable target and default rectangle；The clinodiagonal of the default rectangle is the plane mirror；dopt
When realizing optimum imaging to the imageable target for image unit, the distance between the image unit and described imageable target；w
For the width of the imageable target；θ is the maximum angle of half field-of view of image unit.
It will be appreciated that the derivation of the computing formula of the pre-set length threshold is as follows：
With reference to Fig. 3, wherein, W is imageable target, and M is plane mirror, and C is image unit, and C ' is flat for image unit C Jing
The virtual image formed by the speculum M of face, optical axis 1 is optical axis when C directly just shoots to W, and optical axis 2 is light of C when M shoots to W
Axle.
Assume in application scenarios, image unit C needs to be placed on Range Imaging target W for doptPosition when could be real
Existing optimum imaging (will C be placed in C ' places in Fig. 3), but due to the restriction of real space condition so that image unit C just to into
As the distance of target W is no more than dmax.In order to continue using the image unit C for being furnished with common Jiao's section camera lens, can be by one
Face is inserted in light path with the plane mirror M that optical axis 1 is in 45 degree of angles and center O is on optical axis 1, and makes image unit C around O
Point rotates counterclockwise to top, and optical axis 2 and M are in angle of 45 degrees, and this allows for light that imageable target W sends to the right by plane
Speculum M reflection is right so as to solve imageable target W finally in the new position focal imaging of image unit C to Fig. 3 tops
The problem of side insufficient space.According to plane mirror optical imaging properties, now image unit C Jing plane mirrors M institute into
Virtual image C ' be located exactly at doptPlace, it is achieved thereby that with directly C is placed in into doptIdentical effect when place shoots imageable target W,
For the convenience of analysis, C ' can be considered as the virtual picture pick-up device for having identical camera parameter with C, therefore, it is described to process single
When unit measures process to the image that the image unit shoots, the image that the image unit shoots can be considered as by virtual
Captured by picture pick-up device, and the virtual picture pick-up device is identical with the camera parameter of the image unit, and the virtual shooting sets
The standby virtual image formed in the plane mirror by the image unit.
If the maximum field of view angle of image unit is 2 θ, the visual field width at imageable target W is w, is so smaller in size than equal to w
All targets can be by image unit intake complete image.
Geometric parameter and its calculating that light path and measurement apparatus are shot in the present embodiment is illustrated below.
1st, the center O and image unit C of plane mirror M apart from l.
Centered on the center O of M, visual field width w is that the length of side draws a square (i.e. described " default rectangle "), its length of side
It is respectively parallel to optical axis 1 and optical axis 2.As described above, the angle of M and two optical axises is 45 degree, it is foursquare right that such M is just located at
On linea angulata.If d is the distance of target W and square left side length, then l=dopt–d–(w/2)。
2nd, minimum dimension AB of plane mirror M.
From the index path between virtual picture pick-up device C ' and target W, the maximum angle of half field-of view θ of image unit=
arctan[(w/2)/dopt]=arctan { (w/2)/[d+ (w/2)+l] }.
If the angle of maximum field of view's arm of angle line of plane mirror M and image unit C is respectively α and β, due to ∠ COB=α
+ θ=π/4, then α=(π/4)-θ, and β=(3 π/4)-θ is understood by angular dependence in triangle COB.
Can be obtained by triangle sine, AO/sin θ=l/sin α, OB/sin θ=l/sin β, then AB=AO+OB=
l*(sinθ/sinα)+l*(sinθ/sinβ)。
3rd, plane mirror M two-end-points A, B distance objective M apart from dminAnd dmax。
If WO for plane mirror M center to the distance of target W, then have
dmin=WO-AO*cos (π/4)=d+ (w/2)-l* (sin θ/sin α) * cos (π/4)
dmax=WO+OB*cos (π/4)=d+ (w/2)+l* (sin θ/sin β) * cos (π/4)
4th, the relation of the size of measuring apparatus and shooting distance.
Assume w=700, the constant interval of d=250, l is [350,1550], then each geometric parameters extrapolated according to more than
Relation between number can draw plane mirror size AB and its two ends apart from target subject W apart from dmin、dmaxWith shoot away from
Relation between, referring to Fig. 4.The size of each parameter thus can be rationally set according to the condition of practical application scene.
In specific implementation process, can realize according to below scheme：
1st, the parameter such as visual field width size, angle of visual field of image unit reasonably clap to determine according to needed at imageable target
Photographic range dopt。
2nd, according to the space restrictive condition of actual scene calculating length AB and its two ends distance of required plane mirror
Length d of target subject Wmin、dmax。
3rd, holding plane speculum and image unit, now measuring system be apart from the maximum transversal distance of target subject W
dmax, so as to efficiently solve the imaging problem of the big visual field of short distance using the mode of light path of turning back.
4th, the attitude relation demarcated between image unit and plane mirror is so that the image of shot by camera can recover
Normal picture during just to shoot to target.
5th, the data obtained feeding processing unit is measured into process, draws information needed.
With reference to Fig. 5, first embodiment of the invention provides a kind of light path photographing measurement method of turning back based on speculum, described
Method is comprised the following steps：
S10：Plane mirror turns back the light path of imageable target to direction residing for image unit；
It will be appreciated that the imageable target is to need to carry out the object of videographic measurment, the light path of the imageable target
As described imageable target sends the propagation path of light.
S20：The image unit shoots the image of the imageable target according to the light path that the plane mirror is turned back；
In implementing, the camera lens of the image unit is towards the plane mirror such that it is able to according to described flat
The light path that face speculum is turned back shoots the image of the imageable target；
Certainly, the image unit can be video camera, certainly, alternatively imageing sensor, the present embodiment to this not in addition
Limit.
S30：Processing unit measures process to the image that the image unit shoots.
It should be noted that the processing unit as equipment with image measurement processing function, for example：Host computer or
Server etc., the present embodiment is not any limitation as to this.
The present invention can be turned back light path to other directions using speculum at limited space position so that image unit energy
It is enough that the complete image of imageable target is shot using optimal imaging angle and distance in corresponding position, and image feeding is processed
Unit measures process, and image unit need not be equipped with special wide-angle lens, and can be met using common Jiao's section camera lens will
Ask, it is not required that multi-faceted shooting is carried out to same target using multiple image units, single image unit can intake target
Complete image, therefore, in actual use, the high precision of measuring apparatus, it is easy to implement, operability is more preferable.
In addition, the digitlization of the present invention and high degree of automation, can be set with image unit and processing unit as hardcore
It is standby, can easily using processing unit control image unit, and to the image unit obtain view data stored,
Replicate, transmit and automatic business processing.
For ease of obtaining described image, with reference to Fig. 3, the optical axis (corresponding to " optical axis 2 " in Fig. 3) of the light path with it is described
It is in 45 degree between plane mirror, can is also other angles certainly, the present embodiment is not any limitation as to this.
It is described in the present embodiment so as to cause described image imperfect to prevent the length of the plane mirror too small
The length of plane mirror is not less than pre-set length threshold.
For ease of determining the pre-set length threshold, in the present embodiment, the pre-set length threshold determines according to following formula,
AB=l* (sin θ/sin α)+l* (sin θ/sin β)
Wherein, AB be the pre-set length threshold, l=dopt- d-(w/2), α=(π/4)-θ, β=(3 π/4)-θ, d is institute
State the minimum range between imageable target and default rectangle；The clinodiagonal of the default rectangle is the plane mirror；dopt
When realizing optimum imaging to the imageable target for image unit, the distance between the image unit and described imageable target；w
For the width of the imageable target；θ is the maximum angle of half field-of view of image unit.
It will be appreciated that the derivation of the computing formula of the pre-set length threshold is as follows：
With reference to Fig. 3, wherein, W is imageable target, and M is plane mirror, and C is image unit, and C ' is flat for image unit C Jing
The virtual image formed by the speculum M of face, optical axis 1 is optical axis when C directly just shoots to W, and optical axis 2 is light of C when M shoots to W
Axle.
Assume in application scenarios, image unit C needs to be placed on Range Imaging target W for doptPosition when could be real
Existing optimum imaging (will C be placed in C ' places in Fig. 3), but due to the restriction of real space condition so that image unit C just to into
As the distance of target W is no more than dmax.In order to continue using the image unit C for being furnished with common Jiao's section camera lens, can be by one
Face is inserted in light path with the plane mirror M that optical axis 1 is in 45 degree of angles and center O is on optical axis 1, and makes image unit C around O
Point rotates counterclockwise to top, and optical axis 2 and M are in angle of 45 degrees, and this allows for light that imageable target W sends to the right by plane
Speculum M reflection is right so as to solve imageable target W finally in the new position focal imaging of image unit C to Fig. 3 tops
The problem of side insufficient space.According to plane mirror optical imaging properties, now image unit C Jing plane mirrors M institute into
Virtual image C ' be located exactly at doptPlace, it is achieved thereby that with directly C is placed in into doptIdentical effect when place shoots imageable target W,
For the convenience of analysis, C ' can be considered as the virtual picture pick-up device for having identical camera parameter with C, therefore, in step S30,
When the processing unit measures process to the image that the image unit shoots, the image that the image unit can be shot
It is considered as by captured by virtual picture pick-up device, and the virtual picture pick-up device is identical with the camera parameter of the image unit, it is described
The virtual image that virtual picture pick-up device is formed by the image unit in the plane mirror.
If the maximum field of view angle of image unit is 2 θ, the visual field width at imageable target W is w, is so smaller in size than equal to w
All targets can be by image unit intake complete image.
Geometric parameter and its calculating that light path and measurement apparatus are shot in the present embodiment is illustrated below.
1st, the center O and image unit C of plane mirror M apart from l.
Centered on the center O of M, visual field width w is that the length of side draws a square (i.e. described " default rectangle "), its length of side
It is respectively parallel to optical axis 1 and optical axis 2.As described above, the angle of M and two optical axises is 45 degree, it is foursquare right that such M is just located at
On linea angulata.If d is the distance of target W and square left side length, then l=dopt–d–(w/2)。
2nd, minimum dimension AB of plane mirror M.
From the index path between virtual picture pick-up device C ' and target W, the maximum angle of half field-of view θ of image unit=
arctan[(w/2)/dopt]=arctan { (w/2)/[d+ (w/2)+l] }.
If the angle of maximum field of view's arm of angle line of plane mirror M and image unit C is respectively α and β, due to ∠ COB=α
+ θ=π/4, then α=(π/4)-θ, and β=(3 π/4)-θ is understood by angular dependence in triangle COB.
Can be obtained by triangle sine, AO/sin θ=l/sin α, OB/sin θ=l/sin β, then AB=AO+OB=
l*(sinθ/sinα)+l*(sinθ/sinβ)。
3rd, plane mirror M two-end-points A, B distance objective M apart from dminAnd dmax。
If WO for plane mirror M center to the distance of target W, then have
dmin=WO-AO*cos (π/4)=d+ (w/2)-l* (sin θ/sin α) * cos (π/4)
dmax=WO+OB*cos (π/4)=d+ (w/2)+l* (sin θ/sin β) * cos (π/4)
4th, the relation of the size of measuring apparatus and shooting distance.
Assume w=700, the constant interval of d=250, l is [350,1550], then each geometric parameters extrapolated according to more than
Relation between number can draw plane mirror size AB and its two ends apart from target subject W apart from dmin、dmaxWith shoot away from
Relation between, referring to Fig. 4.The size of each parameter thus can be rationally set according to the condition of practical application scene.
In specific implementation process, can realize according to below scheme：
1st, the parameter such as visual field width size, angle of visual field of image unit reasonably clap to determine according to needed at imageable target
Photographic range dopt。
2nd, according to the space restrictive condition of actual scene calculating length AB and its two ends distance of required plane mirror
Length d of target subject Wmin、dmax。
3rd, holding plane speculum and image unit, now measuring system be apart from the maximum transversal distance of target subject W
dmax, so as to efficiently solve the imaging problem of the big visual field of short distance using the mode of light path of turning back.
4th, the attitude relation demarcated between image unit and plane mirror is so that the image of shot by camera can recover
Normal picture during just to shoot to target.
5th, the data obtained feeding processing unit is measured into process, draws information needed.
It should be noted that herein, term " including ", "comprising" or its any other variant are intended to non-row
His property is included, so that a series of process, method, article or system including key elements not only include those key elements, and
And also include other key elements being not expressly set out, or also include for this process, method, article or system institute inherently
Key element.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
Also there is other identical element in the process of key element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
The preferred embodiments of the present invention are these are only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of light path image measuring device of turning back based on speculum, it is characterised in that described device includes：Plane reflection
Mirror, image unit and processing unit；
The plane mirror, for the light path of imageable target to be turned back to direction residing for the image unit；
The image unit, the light path for being turned back according to the plane mirror shoots the image of the imageable target；
The processing unit, for measuring process to the image that the image unit shoots.
2. device as claimed in claim 1, it is characterised in that be in 45 between the optical axis of the light path and the plane mirror
Degree.
3. device as claimed in claim 2, it is characterised in that the length of the plane mirror is not less than preset length threshold
Value.
4. device as claimed in claim 3, it is characterised in that the pre-set length threshold determines according to following formula,
AB=l* (sin θ/sin α)+l* (sin θ/sin β)
Wherein, AB be the pre-set length threshold, l=dopt- d-(w/2), α=(π/4)-θ, β=(3 π/4)-θ, d for it is described into
As the minimum range between target and default rectangle；The clinodiagonal of the default rectangle is the plane mirror；doptTo take the photograph
When realizing optimum imaging to the imageable target as unit, the distance between the image unit and described imageable target；W is institute
State the width of imageable target；θ is the maximum angle of half field-of view of image unit.
5. the device as any one of Claims 1 to 4, it is characterised in that the processing unit is to the image unit
When the image of shooting measures process, the image that the image unit shoots is considered as by captured by virtual picture pick-up device, and
The virtual picture pick-up device is identical with the camera parameter of the image unit, and the virtual picture pick-up device exists for the image unit
The virtual image that the plane mirror is formed.
6. a kind of light path photographing measurement method of turning back based on speculum, it is characterised in that the method comprising the steps of：
Plane mirror turns back the light path of imageable target to direction residing for image unit；
The image unit shoots the image of the imageable target according to the light path that the plane mirror is turned back；
Processing unit measures process to the image that the image unit shoots.
7. method as claimed in claim 6, it is characterised in that be in 45 between the optical axis of the light path and the plane mirror
Degree.
8. method as claimed in claim 7, it is characterised in that the length of the plane mirror is not less than preset length threshold
Value.
9. method as claimed in claim 8, it is characterised in that the pre-set length threshold determines according to following formula,
AB=l* (sin θ/sin α)+l* (sin θ/sin β)
Wherein, AB be the pre-set length threshold, l=dopt- d-(w/2), α=(π/4)-θ, β=(3 π/4)-θ, d for it is described into
As the minimum range between target and default rectangle；The clinodiagonal of the default rectangle is the plane mirror；doptTo take the photograph
When realizing optimum imaging to the imageable target as unit, the distance between the image unit and described imageable target；W is institute
State the width of imageable target；θ is the maximum angle of half field-of view of image unit.
10. the method as any one of claim 6～9, it is characterised in that the processing unit is to the image unit
When the image of shooting measures process, the image that the image unit shoots is considered as by captured by virtual picture pick-up device, and
The virtual picture pick-up device is identical with the camera parameter of the image unit, and the virtual picture pick-up device exists for the image unit
The virtual image that the plane mirror is formed.
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