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CN109682312A - A kind of method and device based on camera measurement length - Google Patents

A kind of method and device based on camera measurement length Download PDF

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Publication number
CN109682312A
CN109682312A CN201811525536.XA CN201811525536A CN109682312A CN 109682312 A CN109682312 A CN 109682312A CN 201811525536 A CN201811525536 A CN 201811525536A CN 109682312 A CN109682312 A CN 109682312A
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camera
length
endpoints
cameras
camera array
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CN109682312B (en
Inventor
余学儒
李琛
王鹏飞
段杰斌
王修翠
傅豪
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Shanghai IC R&D Center Co Ltd
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Shanghai Integrated Circuit Research and Development Center Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a kind of methods based on camera measurement length, include the following steps: S01: choosing two endpoints of length to be measured in object, the focal length for adjusting each camera is shot；S02: choosing any two camera in camera array, forms one and calculates pair, according to the coordinate and corresponding shooting picture for calculating two cameras of centering, calculates separately out the corresponding three-dimensional coordinate of two endpoints of length to be measured in picture；S03: processing unit calculates the length between the two endpoints according to the three-dimensional coordinate in two endpoints of length to be measured；S04: angle measuring device drives all cameras in camera array to be rotated simultaneously, repeats step S01-S03.A kind of method and device based on camera measurement length provided by the invention can be calculated the three-dimensional coordinate of object space using camera array, and correct existing drift angle, and then computational length using angle measuring device.

Description

A kind of method and device based on camera measurement length
Technical field
The present invention relates to field of data recognition, specifically design a kind of method and device based on camera measurement length.
Background technique
In daily life, it is often necessary to the information such as the length of object are measured, since measurement object length needs the works such as meter ruler Tool, and meter ruler may not be carried.Mobile phone almost manpower one at present, the camera on mobile phone can take pictures at any time, so can To calculate the three-dimensional coordinate of object using cell-phone camera function, and then calculate object length.But mobile phone camera is due to shooting Be three-dimensional space two-dimensional space a projection, so can be produced when plane where primary optical axis is not orthogonal to shooting object Raw biggish error.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of method and devices based on camera measurement length, can The three-dimensional coordinate of object space is calculated using camera array, and corrects existing drift angle, Jin Erji using angle measuring device Calculate object length.
To achieve the goals above, the present invention adopts the following technical scheme: it is a kind of based on camera measurement length method, Include the following steps:
S01: choosing two endpoints of length to be measured in object, the two endpoint regions are set as object under test Focus area, Graphic Pattern Matching module matches focus area in D camera of camera array, centered on focus area The focal length for adjusting separately each camera is shot, and shooting image is transmitted in processing unit；Wherein, each camera Primary optical axis it is parallel；D is the integer more than or equal to 2；
S02: processing unit establishes three-dimensional system of coordinate using the intersection point of camera lens and primary optical axis in reference camera as origin, In camera array choose any two camera, formed one calculate pair, according to calculate two cameras of centering coordinate with And corresponding shooting picture, calculate separately out the corresponding three-dimensional coordinate of two endpoints of length to be measured in picture；The reference camera shooting Head is a camera in the camera array；
S03: processing unit calculates the length between the two endpoints according to the three-dimensional coordinate in two endpoints of length to be measured；
S04: angle measuring device drives all cameras in camera array to be rotated simultaneously, one angle of every rotation Degree, the Graphic Pattern Matching module match focus area in D camera of camera array, repeat step S01-S03, calculate Length under the angle between corresponding two endpoints；
When the length between the two-end-point that the picture shot according to the camera array of rotation front and back calculates meets:When, export the average length between two-end-pointWherein, E is threshold value, L (i) length between two endpoints of i-th of moment calculating is indicated, k indicates the shooting number of camera array, shoots each time A corresponding moment.
Further, the step S02 includes choosing M calculating pair, and it is corresponding to calculate separately two endpoints of length to be measured Three-dimensional coordinate, and X is sought, the average value of Y, Z, and by X, the average value of Y, Z are as the corresponding three-dimensional of two endpoints of length to be measured Coordinate, wherein 0 < M≤D* (D-1)/2.
Further, the step S02 includes choosing M calculating pair, calculates separately and obtains two endpoints pair of length to be measured The M group three-dimensional coordinate answered；The step S03 includes that processing unit is calculated according to the M group three-dimensional coordinate of two endpoints of length to be measured It obtains M length between the two endpoints, averages to M length, and using average value as two endpoints of length to be measured Three-dimensional coordinate calculate the length between the two endpoints, wherein 0 < M≤D* (D-1)/2.
Further, lens distortion correction is carried out to camera array before the step S01.
Further, the Graphic Pattern Matching module is using feature matching method in D camera of camera array With focus area.
Further, the method for the corresponding three-dimensional coordinate of endpoint is calculated in the step S02 are as follows:
Wherein, W1、H1、w1、h1And f1Respectively indicate the picture of calculating first camera of centering shooting in the X-axis direction Total number of pixels, total number of pixels in the Y-axis direction, in the X-axis direction the number of pixel-shift, in the Y-axis direction as The number and focal length of element offset；W2、H2、w2、h2And f2The picture for calculating the shooting of second camera of centering is respectively indicated in X-axis side Upward total number of pixels, total number of pixels in the Y-axis direction, in the X-axis direction the number of pixel-shift, in Y direction The number and focal length of upper pixel-shift；Δ x indicate calculate second camera of centering with referring to camera in X-axis apart from origin Deviation, Δ y indicate calculate second camera of centering and referring to camera in Y-axis apart from the deviation of origin；Wherein, X-axis It is using the primary optical axis referring to camera as normal, using the putting down as origin referring to the intersection point of camera lens and primary optical axis in camera with Y-axis Face.
Further, in the S04 L (i) calculation method are as follows:
S041: the image at the i-th moment and the shooting of jth moment is chosen, it is corresponding that repetition step S03 calculates separately the two moment Two endpoints between length Li' and Lj'；Wherein, the i-th moment and jth moment, the angle of the angle measuring device rotation It is different；
S042: the length between two endpoints of the i-th moment is calculatedWherein, A is indicated The angle of straight line where the primary optical axis of i-th of moment and jth moment corresponding camera, and A ≠ 0.
Further, the angle measuring device can also be gyroscope or obliquity sensor.
It is provided by the invention it is a kind of based on camera measurement length device, including Graphic Pattern Matching module, camera array, Angle measuring device, display screen, storage unit and processing unit, the camera array include D camera, the angle Measuring device drives all cameras in the camera array to be rotated simultaneously, and the camera array and angle measurement are set Standby to connect processing unit described in the display screen, storage unit simultaneously, the display screen is used to show the camera shooting Photo, during the angle measuring device drives the camera array different rotation angle, one angle of every rotation, institute It states Graphic Pattern Matching module and matches focus area in D camera of camera array, the processing unit is referring to camera The intersection point of middle camera lens and primary optical axis is origin, establishes three-dimensional system of coordinate, and any two camera, shape are chosen in camera array At a calculating pair, the processing unit is calculated according to the coordinate and corresponding shooting picture for calculating two cameras of centering Length between two endpoints of length to be measured under different rotation angle out, and be stored in a storage unit, when according to rotation front and back The length between two-end-point that the picture of camera array shooting calculates meets: When, export the average length between two-end-pointWherein, E is threshold value, and L (i) indicates two calculated at i-th of moment Length between endpoint, k indicate the shooting number of camera array, shoot a corresponding moment each time.
The invention has the benefit that the present invention quickly calculates object length using camera array；When the number of camera When amount is more than or equal to 2, more accurate three-dimensional coordinate can be obtained, and as camera quantity increases, three-dimensional coordinate will approach standard Really value；After using angle measuring device as requested, deviation caused by inclination angle can be corrected.
Detailed description of the invention
Attached drawing 1 is a kind of flow chart that length method is measured based on camera of the present invention.
Attached drawing 2 is the schematic diagram that the one of camera of the present invention is reference camera.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, with reference to the accompanying drawing to specific reality of the invention The mode of applying is described in further detail.
As shown in Fig. 1, a kind of method based on camera measurement length provided by the invention, includes the following steps:
S01: choosing two endpoints of length to be measured in object, the two endpoint regions are set as object under test Focus area, Graphic Pattern Matching module matches focus area in D camera of camera array, centered on focus area The focal length for adjusting separately each camera is shot, and shooting image is transmitted in processing unit；Wherein, each camera Primary optical axis it is parallel；D is the integer more than or equal to 2.
Before this, lens distortion correction is carried out to camera array.Specifically using chessboard method in camera array All camera imagings carry out perspective distortion correction.
The length for needing to measure in the present invention is the distance between two endpoints of length to be measured, and therefore, which needs It to be photographed in different pictures, and need to be accurately identified out in different pictures, just can be carried out subsequent Calculating, specifically, being marked in different pictures using feature matching method.Specifically, multiple pictures are being shot When it is general, need for object under test to be put into each camera center, and focus in the object, so that camera will be at a distance of adjusting Whole to best focusing position.
S02: processing unit establishes three-dimensional system of coordinate using the intersection point of camera lens and primary optical axis in reference camera as origin, In camera array choose any two camera, formed one calculate pair, according to calculate two cameras of centering coordinate with And corresponding shooting picture, calculate separately out the corresponding three-dimensional coordinate of two endpoints of length to be measured in picture；It is referring to camera A camera in the camera array.
Wherein, since each shooting image has two endpoints, each calculating centering is containing there are four three-dimensional coordinates. The calculation method of three-dimensional coordinate specifically:
Wherein, W1、H1、w1、h1And f1Respectively indicate the picture of calculating first camera of centering shooting in the X-axis direction Total number of pixels, total number of pixels in the Y-axis direction, in the X-axis direction the number of pixel-shift, in the Y-axis direction as The number and focal length of element offset；W2、H2、w2、h2And f2The picture for calculating the shooting of second camera of centering is respectively indicated in X-axis side Upward total number of pixels, total number of pixels in the Y-axis direction, in the X-axis direction the number of pixel-shift, in Y direction The number and focal length of upper pixel-shift；Δ x indicate calculate second camera of centering with referring to camera in X-axis apart from origin Deviation, Δ y indicate calculate second camera of centering and referring to camera in Y-axis apart from the deviation of origin；Wherein, X-axis It is using the primary optical axis referring to camera as normal, using the putting down as origin referring to the intersection point of camera lens and primary optical axis in camera with Y-axis Face.
Attached drawing 2 is please referred to, one of camera is the schematic diagram referring to camera.
Calculated in the present invention in two cameras of centering one of them can for referring to camera, can also two take the photograph As head is not for referring to camera；Because the relative distance in camera array referring to camera and remaining camera is determining , using the three-dimensional system of coordinate that the intersection point referring to camera lens in camera and primary optical axis is established by origin, remaining can be conversed and taken the photograph As the three-dimensional coordinate of head.
The present invention can reduce error using the method averaged repeatedly is calculated.The method that one of which is averaged Are as follows: M calculating pair is chosen, and seeks X, the average value of Y, Z, and by X, the average value of Y, Z are as two endpoints pair of length to be measured The three-dimensional coordinate answered, wherein 0 < M≤D* (D-1)/2.
S03: processing unit calculates the length between the two endpoints according to the three-dimensional coordinate of two endpoints of length to be measured.
It is provided by the invention another repeatedly calculate the method averaged are as follows: choose M calculating pair, calculate separately The corresponding M group three-dimensional coordinate of two endpoints of length to be measured out；Step S03 includes processing unit according to two endpoints of length to be measured M length between the two endpoints is calculated in M group three-dimensional coordinate, averages to M length, and using average value as The three-dimensional coordinate of two endpoints of length to be measured calculates the length between the two endpoints, wherein 0 < M≤D* (D-1)/2.
S04: angle measuring device drives all cameras in camera array to be rotated simultaneously, one angle of every rotation Degree, Graphic Pattern Matching module match focus area in D camera of camera array, repeat step S01-S03, and calculating should Length under angle between corresponding two endpoints；
When the length between the two-end-point that the picture shot according to the camera array of rotation front and back calculates meets:When, export the average length between two-end-pointWherein, E is threshold value, L (i) length between two endpoints of i-th of moment calculating is indicated, k indicates the shooting number of camera array, shoots each time A corresponding moment.
Wherein, the calculation method of L (i) is specifically as follows:
S041: the image at the i-th moment and the shooting of jth moment is chosen, it is corresponding that repetition step S03 calculates separately the two moment Two endpoints between length Li' and Lj'；Wherein, the i-th moment and jth moment, angle measuring device drive camera array The angle of rotation is different；
S042: the length between two endpoints of the i-th moment is calculatedWherein, A is indicated The angle of straight line where the primary optical axis of i-th of moment and jth moment corresponding camera, and A ≠ 0.
Wherein, angle measuring device can also be gyroscope or obliquity sensor or other direct or indirect measurement optical axis institutes In the equipment of included angle of straight line instrument.
It is provided by the invention it is a kind of based on camera measurement length device, including Graphic Pattern Matching module, camera array, Angle measuring device, display screen, storage unit and processing unit, camera array include D camera, angle measuring device band It moves all cameras in the camera array while being rotated, camera array and angle measuring device connect display simultaneously Screen, storage unit and processing unit, display screen are used to show the photo of camera shooting, drive camera in angle measuring device During array rotation different angle, one angle of every rotation, Graphic Pattern Matching module is in D camera of camera array With focus area, processing unit referring to the intersection point of camera lens and primary optical axis in camera, as origin, to establish three-dimensional system of coordinate, take the photograph As choosing any two camera in head array, a calculating pair is formed, processing unit is according to calculating two cameras of centering Coordinate and corresponding shooting picture calculate under different rotation angle length between two endpoints of length to be measured, and are stored in In storage unit, when the length between the two-end-point that the picture shot according to the camera array of rotation front and back calculates is full Foot:When, export the average length between two-end-pointWherein, E is threshold value, L (i) indicates the length between two endpoints that i-th of moment calculates, and k indicates the shooting number of camera array, claps each time Take the photograph a corresponding moment.
The present invention quickly calculates object length using camera array；When the quantity of camera is more than or equal to 2, can be obtained More accurate three-dimensional coordinate, and as camera quantity increases, three-dimensional coordinate will approach exact value；When as requested using folder After angular measurement equipment, deviation caused by inclination angle can be corrected.
The above description is only a preferred embodiment of the present invention, and the embodiment is not intended to limit patent protection of the invention Range, thus it is all with the variation of equivalent structure made by specification and accompanying drawing content of the invention, it similarly should be included in this In the protection scope of invention appended claims.

Claims (9)

1.一种基于摄像头测量长度的方法，其特征在于，包括如下步骤：1. a method for measuring length based on camera, is characterized in that, comprises the steps: S01：在物体中选取待测长度的两个端点，将这两个端点所在区域设定为待测物体的焦点区域，图形匹配模块在摄像头阵列的D个摄像头中匹配焦点区域，以焦点区域为中心分别调整各个摄像头的焦距进行拍摄，并将拍摄图像传输至处理单元中；其中，各个摄像头的主光轴平行；D为大于等于2的整数；S01: Select two endpoints of the length to be measured in the object, set the area where the two endpoints are located as the focus area of the object to be measured, and the graphic matching module matches the focus area in the D cameras of the camera array, taking the focus area as The center adjusts the focal length of each camera to shoot, and transmits the captured image to the processing unit; wherein, the main optical axes of each camera are parallel; D is an integer greater than or equal to 2; S02：处理单元以参照摄像头中镜头和主光轴的交点为原点，建立三维坐标系，在摄像头阵列中选取任意两个摄像头，形成一个计算对，根据计算对中两个摄像头的坐标以及对应的拍摄图片，分别计算出图片中待测长度两个端点对应的三维坐标；所述参照摄像头为所述摄像头阵列中的一个摄像头；S02: The processing unit takes the intersection of the lens and the main optical axis in the reference camera as the origin, establishes a three-dimensional coordinate system, selects any two cameras in the camera array to form a calculation pair, and calculates the coordinates of the two cameras in the pair and the corresponding Taking a picture, respectively calculating the three-dimensional coordinates corresponding to the two endpoints of the length to be measured in the picture; the reference camera is a camera in the camera array; S03：处理单元根据待测长度两个端点中的三维坐标计算这两个端点之间的长度；S03: The processing unit calculates the length between the two endpoints according to the three-dimensional coordinates in the two endpoints of the length to be measured; S04：夹角测量设备带动摄像头阵列中所有摄像头同时进行旋转，每旋转一个角度，所述图形匹配模块在摄像头阵列的D个摄像头中匹配焦点区域，重复步骤S01-S03，计算该角度下对应的两个端点之间的长度；S04: The included angle measurement device drives all cameras in the camera array to rotate at the same time, and each time an angle is rotated, the graphic matching module matches the focus area in the D cameras of the camera array, and steps S01-S03 are repeated to calculate the corresponding angle under the angle. the length between the two endpoints; 当根据旋转前后的摄像头阵列拍摄的图片计算出来的两端点之间的长度满足：时，输出两端点之间的平均长度其中，E为阈值，L(i)表示第i时刻计算的两个端点之间的长度，k表示摄像头阵列的拍摄次数，每一次拍摄对应一个时刻。When the length between the two ends calculated from the pictures taken by the camera array before and after the rotation satisfies: When , the average length between the two ends of the output Among them, E is the threshold, L(i) represents the length between the two endpoints calculated at the ith moment, and k represents the number of shots of the camera array, and each shot corresponds to a moment. 2.根据权利要求1所述的一种基于摄像头测量两个端点之间长度的方法，其特征在于，所述步骤S02包括选取M个计算对，分别计算待测长度两个端点对应的三维坐标，并求取X，Y，Z的平均值，并将X，Y，Z的平均值作为待测长度两个端点对应的三维坐标，其中，0<M≤D*(D-1)/2。2. a kind of method for measuring the length between two endpoints based on camera according to claim 1, it is characterized in that, described step S02 comprises selecting M calculation pairs, respectively calculates the corresponding three-dimensional coordinates of two endpoints of length to be measured , and obtain the average value of X, Y, Z, and use the average value of X, Y, Z as the three-dimensional coordinates corresponding to the two endpoints of the length to be measured, where 0<M≤D*(D-1)/2 . 3.根据权利要求1所述的一种基于摄像头测量两个端点之间长度的方法，其特征在于，所述步骤S02包括选取M个计算对，分别计算得出待测长度两个端点对应的M组三维坐标；所述步骤S03包括处理单元根据待测长度两个端点的M组三维坐标计算得出这两个端点之间的M个长度，对M个长度求平均值，并将平均值作为待测长度两个端点的三维坐标计算这两个端点之间的长度，其中，0<M≤D*(D-1)/2。3. a kind of method for measuring the length between two endpoints based on camera according to claim 1, it is characterized in that, described step S02 comprises choosing M calculation pairs, calculate respectively the corresponding length of two endpoints of length to be measured. M groups of three-dimensional coordinates; the step S03 includes that the processing unit calculates M lengths between the two endpoints according to the M groups of three-dimensional coordinates of the two endpoints of the length to be measured, averages the M lengths, and calculates the average value of the M lengths. Calculate the length between the two endpoints as the three-dimensional coordinates of the two endpoints of the length to be measured, where 0<M≤D*(D-1)/2. 4.根据权利要求1所述的一种基于摄像头测量两个端点之间长度的方法，其特征在于，所述步骤S01之前对摄像头阵列进行透镜畸变矫正。4 . The method for measuring the length between two endpoints based on a camera according to claim 1 , wherein, before the step S01 , lens distortion correction is performed on the camera array. 5 . 5.根据权利要求1所述的一种基于摄像头测量两个端点之间长度的方法，其特征在于，所述图形匹配模块采用特征匹配方法在摄像头阵列的D个摄像头中匹配焦点区域。5 . The method for measuring the length between two endpoints based on a camera according to claim 1 , wherein the pattern matching module uses a feature matching method to match the focus area in the D cameras of the camera array. 6 . 6.根据权利要求1所述的一种基于摄像头测量两个端点之间长度的方法，其特征在于，所述步骤S02中计算端点对应的三维坐标的方法为：6. a kind of method for measuring the length between two endpoints based on camera according to claim 1, is characterized in that, in described step S02, the method for calculating the three-dimensional coordinates corresponding to endpoint is: 其中，W1、H1、w1、h1和f1分别表示计算对中第一个摄像头拍摄的图片在X轴方向上的总像素个数、在Y轴方向上的总像素个数、在X轴方向上像素偏移的个数、在Y轴方向上像素偏移的个数和焦距；W2、H2、w2、h2和f2分别表示计算对中第二个摄像头拍摄的图片在X轴方向上的总像素个数、在Y轴方向上的总像素个数、在X轴方向上像素偏移的个数、在Y轴方向上像素偏移的个数和焦距；Δx表示计算对中第二个摄像头与参照摄像头在X轴上距离原点的偏差，Δy表示计算对中第二个摄像头与参照摄像头在Y轴上距离原点的偏差；其中，X轴和Y轴是以参照摄像头的主光轴为法线，以参照摄像头中镜头和主光轴的交点为原点的平面。Among them, W 1 , H 1 , w 1 , h 1 and f 1 respectively represent the total number of pixels in the X-axis direction, the total number of pixels in the Y-axis direction, and The number of pixel offsets in the X-axis direction, the number of pixel offsets in the Y-axis direction, and the focal length; W 2 , H 2 , w 2 , h 2 and f 2 represent the second camera in the calculation alignment, respectively. The total number of pixels in the X-axis direction, the total number of pixels in the Y-axis direction, the number of pixel offsets in the X-axis direction, the number of pixel offsets in the Y-axis direction, and the focal length of the picture; Δx represents the deviation between the second camera in the calculation alignment and the reference camera on the X axis from the origin, Δy represents the deviation from the origin on the Y axis between the second camera in the calculation alignment and the reference camera; where the X and Y axes are The plane with the main optical axis of the reference camera as the normal and the intersection of the lens and the main optical axis in the reference camera as the origin. 7.根据权利要求6所述的一种基于摄像头测量两个端点之间长度的方法，其特征在于，所述S04中L(i)的计算方法为：7. a kind of method based on camera measurement of length between two endpoints according to claim 6, is characterized in that, the calculation method of L (i) in described S04 is: S041：选取第i时刻和第j时刻拍摄的图像，重复步骤S03分别计算这两个时刻对应的两个端点之间的长度Li’和Lj’；其中，第i时刻和第j时刻，所述夹角测量设备旋转的角度不同；S041: select the images taken at the i-th moment and the j-th moment, and repeat step S03 to calculate the lengths L i ' and L j ' between the two endpoints corresponding to these two moments respectively; wherein, the i-th moment and the j-th moment, The angle of rotation of the included angle measuring device is different; S042：计算第i时刻两个端点之间的长度其中，A表示第i个时刻和第j时刻分别对应的摄像头的主光轴所在直线的夹角，且A≠0。S042: Calculate the length between two endpoints at the i-th moment Among them, A represents the angle between the lines where the main optical axis of the camera is located at the ith moment and the jth moment, and A≠0. 8.根据权利要求6所述的一种基于摄像头测量两个端点之间长度的方法，其特征在于，所述夹角测量设备为陀螺仪或倾角传感器。8 . The method for measuring the length between two endpoints based on a camera according to claim 6 , wherein the included angle measuring device is a gyroscope or an inclination sensor. 9 . 9.一种基于摄像头测量长度的装置，其特征在于，包括图形匹配模块、摄像头阵列、夹角测量设备、显示屏、存储单元和处理单元，所述摄像头阵列包括D个摄像头，所述夹角测量设备带动所述摄像头阵列中所有摄像头同时进行旋转，所述摄像头阵列和夹角测量设备同时连接所述显示屏、存储单元和所述处理单元，所述显示屏用于显示所述摄像头拍摄的照片，在所述夹角测量设备带动所述摄像头阵列旋转不同角度过程中，每旋转一个角度，所述图形匹配模块在摄像头阵列的D个摄像头中匹配焦点区域，所述处理单元以参照摄像头中镜头和主光轴的交点为原点，建立三维坐标系，在摄像头阵列中选取任意两个摄像头，形成一个计算对，所述处理单元根据计算对中两个摄像头的坐标以及对应的拍摄图片，计算出旋转不同角度下待测长度两个端点之间长度，并存储在存储单元中，当根据旋转前后的摄像头阵列拍摄的图片计算出来的两端点之间的长度满足：时，输出两端点之间的平均长度其中，E为阈值，L(i)表示第i个时刻计算的两个端点之间的长度，k表示摄像头阵列的拍摄次数，每一次拍摄对应一个时刻。9. A device for measuring length based on a camera, characterized in that it comprises a pattern matching module, a camera array, an included angle measuring device, a display screen, a storage unit and a processing unit, and the camera array includes D cameras, and the included angle The measuring device drives all the cameras in the camera array to rotate at the same time, the camera array and the angle measuring device are connected to the display screen, the storage unit and the processing unit at the same time, and the display screen is used to display the images shot by the cameras. In the photo, in the process that the included angle measuring device drives the camera array to rotate at different angles, the pattern matching module matches the focus area in the D cameras of the camera array for each angle of rotation, and the processing unit uses the reference camera in the camera. The intersection of the lens and the main optical axis is the origin, and a three-dimensional coordinate system is established. Any two cameras are selected in the camera array to form a calculation pair. The processing unit calculates the coordinates of the two cameras in the calculation pair and the corresponding captured pictures. The length between the two end points of the length to be measured under different rotation angles is obtained and stored in the storage unit. When the length between the two end points calculated according to the pictures taken by the camera array before and after the rotation satisfies: When , the average length between the two ends of the output Among them, E is the threshold value, L(i) represents the length between the two endpoints calculated at the ith moment, k represents the number of shots of the camera array, and each shot corresponds to a moment.
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