Surface shape measurement apparatus, surface shape measurement method, surface state graphic apparatus

1. A surface shape measuring apparatus, comprising:

a stereo-photographing unit for photographing a measuring object together with a calibration subject placed in the vicinity of the background of said measuring object in stereo and having reference points whose three-dimensional relative positional relation have been determined in advance from a specified direction;

a relative position changing part for changing a positional relation between said measuring object and said stereo-photographing unit;

a stereo-photographing control part for controlling said relative position changing part to move at least one of said measuring object and said stereo-photographing unit so that said stereo-photographing unit can photograph said measuring object from a plurality of directions;

a photographing parameter calculating part for extracting images of said reference points from image data of said calibration subject photographed in stereo by said stereo-photographing unit and obtaining stereo-photographing parameters which include a baseline length, photographing position and tilt of said stereo-photographing unit, in each of the stereo-photographing directions based on the positions of said reference points, with coplanar conditional equations; and

a surface shape calculating part for obtaining the surface shape of said measuring object based on said stereo-photographing parameters and an image position of said measuring object in said photographed image data from which said images of the reference points have been extracted.

2. The surface shape measuring apparatus as claimed in claim 1 , wherein said relative position changing part has a stage for changing the position of said stereo-photographing unit or the position of said object.

3. The surface shape measuring apparatus as claimed in claim 1 , wherein said stereo-photographing unit has at least two imaging devices attached to an imaging device fixing body in parallel to each other at a specific distance apart from each other.

4. The surface shape measuring apparatus as claimed in claim 1 , further comprising:

a parameter storing part for storing parameters calculated by comparing the position of reference points on said calibration subject stored in advance with positions of reference points calculated based on said stereo images of said reference points on said calibration subject photographed by said stereo-photographing unit.

5. The surface shape measuring apparatus as claimed in claim 1 , further comprising an orthogonal projection image generating part for generating an orthogonal projection image of said object from stereo images of said object photographed by said stereo-photographing unit.

6. The surface shape measuring apparatus as claimed in claim 1 , wherein a positional relation between said calibration subject and said stereo-photographing unit is fixed while said stereo-photographing unit is stereo-photographing from said plurality of directions.

7. A surface state plotting apparatus for plotting a surface state of the measuring object based on stereo images of said measuring object measured by the surface shape measuring apparatus according to claim 1 .

8. A surface shape measuring apparatus, comprising:

a single-lens imaging device for photographing a measuring object together with a calibration subject placed in the vicinity of the background of said measuring object and having reference points whose three-dimensional relative positional relation have been determined in advance from a specified direction;

a relative position changing part for changing the positional relation between said measuring object and said imaging device;

a stereo single direction control part for controlling said relative position changing part to change the positional relation between said measuring object and said single-lens imaging device so that said single-lens imaging device can photograph in stereo from first and second photographing directions;

a stereo-photographing control part for controlling said relative position changing part to move at least one of said measuring object and said single-lens imaging device, and for controlling said stereo single direction control part so that said single-lens imaging device can photograph said measuring object from a plurality of directions;

a photographing parameter calculating part for extracting images of said reference points from image data of said calibration subject photographed in stereo by said single-lens imaging device and obtaining stereo-photographing parameters which include a baseline length, photographing position and tilt of said single-lens imaging device, in each stereo-photographing directions based on the positions of said reference points, with coplanar conditional equations; and

a surface shape calculating part for obtaining the surface shape of said measuring object based on said stereo-photographing parameters and an image position of said measuring object in said photographed image data from which said images of the reference points have been extracted.

9. The surface shape measuring apparatus as claimed in claim 8 , further comprising:

a parameter storing part for storing parameters obtained by the steps of placing a calibration subject on which reference points are three-dimensionally arranged in a position where said measuring object is to be placed, photographing said calibration subject with said single-lens device, and calculating said stereo-photographing parameters in each of said photographing directions of said single-lens devices units based on said photographed stereo images of said calibration subject.

10. The surface shape measuring apparatus as claimed in claim 8 , further comprising:

a stereo photographing part having a plurality of the single-lens imaging devices;

a parameter storing part for storing values calculated by comparing the position of reference points on said calibration subject stored in advance with positions of reference points calculated based on said stereo images of said reference points on said calibration subject photographed by said stereo-photographing part as said stereo-photographing parameters.

11. The surface shape measuring apparatus as claimed in claim 8 , further comprising an orthogonal projection image producing part for producing an orthogonal projection image of said measuring object from stereo images of said measuring object.

12. A surface state plotting apparatus for plotting a surface state of the measuring object based on stereo images of said measuring object measured by the surface shape measuring apparatus according to claim 8 .