CN111307037B - Handheld volume measuring device based on 3D camera - Google Patents
Handheld volume measuring device based on 3D camera Download PDFInfo
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- 238000000034 method Methods 0.000 claims abstract description 16
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/20—Image enhancement or restoration using local operators
- G06T5/30—Erosion or dilatation, e.g. thinning
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- G—PHYSICS
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- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The invention relates to the technical field of measurement, in particular to a handheld volume measuring device based on a 3D camera, which comprises the following use methods: shooting a target object to obtain a target object image; calculating image corresponding total point cloud data of the target object through the target object image; acquiring ground plane point cloud data in the total point cloud data, and rejecting the ground plane point cloud data; acquiring noise point cloud data in the total point cloud data, removing the noise point cloud data, and obtaining the residual point cloud data which is accurate point cloud data of a target object; and calculating the size of the object through the accurate point cloud data. The handheld volume measuring device based on the 3D camera has the advantages of being capable of measuring the volume of an object in a non-contact mode, simple in operation of measuring the volume of the object, high in speed and accurate in measuring result.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a handheld volume measuring device based on a 3D camera.
Background
In the prior art, various scales are used for directly measuring the length, width and height of an object, and then the volume of the object is calculated.
Application scenario 1: and measuring the volume of the goods when the goods are collected in express delivery and logistics.
Explanation: in the express delivery and logistics industries, charging is sometimes required according to the volume of an object, so that the volume of collected goods needs to be measured.
Application scenario 2: warehousing, transporting and loading goods.
Explanation: when the goods are stored in a warehouse and transported and loaded, a customer needs to know whether the next batch of goods can be loaded in the warehouse or a carriage, and then needs to know the volume of the goods; when goods are loaded, in order to maximize the use of space, a customer needs to know the volume of the goods and therefore know how to load the goods so as to maximize the use of space, for example, when a truck is loaded and express is placed in an express cabinet.
The above application scenarios have the following disadvantages:
1. some objects are not allowed to touch, such as toxic substances; or the object needing to be measured cannot be reached, for example, the goods are arranged on the other side of the railing; furthermore, for soft objects, contact measurements can damage the surface of the object.
2. The measuring speed is slow, and people need use the scale to measure the length, width and height of the object in turn when measuring the object, which takes time.
3. The measuring is troublesome, when measuring large goods, two persons are needed to cooperate with the pull tape, otherwise, the object cannot be accurately measured.
4. For irregular objects, it is difficult for a human body to intuitively know how to measure the minimum length, width and height of the object.
Disclosure of Invention
In order to solve the problems, the handheld volume measuring device based on the 3D camera provided by the invention has the advantages of non-contact measurement of the volume of an object, simple operation of measuring the volume of the object, high speed and accurate measurement result.
A handheld volume measuring device based on a 3D camera is disclosed, and the using method is as follows:
step 1, taking a picture of a target object to obtain a target object image;
step 2, calculating total point cloud data corresponding to the image of the target object through the image of the target object;
step 3, acquiring ground plane point cloud data in the total point cloud data, and rejecting the ground plane point cloud data;
step 4, noise point cloud data in the total point cloud data are obtained, the noise point cloud data are removed, and the residual point cloud data are accurate point cloud data of the target object;
and 5, calculating the size of the object through accurate point cloud data.
Preferably, the method further comprises the step of
And taking a picture of the other side position of the target object to obtain a target object image, obtaining two groups of total point cloud data corresponding to the target object image through the target object images at two visual angles, and calculating the overall dimension and the volume of the target object through the two groups of total point cloud data.
Preferably, the target object image includes x-axis and y-axis coordinates, and the depth map acquired by the 3D camera includes Z-coordinate in a camera coordinate system.
Preferably, in step 3, ground corresponding point cloud data is calculated through the total point cloud data, a distance threshold of the point cloud data is set, and point cloud data smaller than the distance threshold in the total point cloud data is determined as ground point cloud data.
Preferably, step 4 further comprises the following steps:
step 41: performing expansion operation on the depth map to obtain an image A, and subtracting the original image from the image A to obtain an image B, wherein the image B is a noise point larger than an actual value;
step 42: performing search operation on the depth map to obtain an image C, and subtracting the image C from the original image to obtain an image D, wherein the image D is a noise point smaller than an actual value;
step 43: and removing points contained in the images B and D on the original image to obtain the image after the noise is removed.
The invention has the beneficial effects that:
and (4) non-contact measurement. Traditional methods of measuring using a scale require contact with the object; this patent technique can measure the object in the certain distance apart from the object, need not to contact the object.
The measurement is quick and convenient. The traditional measuring method needs to measure the length, width and height of an object by sequentially using a graduated scale, and then manually calculates the volume of the object; the device can give the volume of the object within 0.3-1 second only by using the device of the invention and clicking the measuring button opposite to the object to be measured.
Drawings
Fig. 1 is a flow chart of the use of the handheld volume measuring device based on a 3D camera according to the present invention.
Detailed Description
The present invention is described in detail below with reference to the attached drawings.
As shown in fig. 1, the handheld volume measuring device based on a 3D camera according to the present embodiment is used as follows:
step 1, photographing a target object to obtain a target object image;
step 2, calculating image corresponding total point cloud data of the target object through the target object image;
step 3, acquiring ground plane point cloud data in the total point cloud data, and rejecting the ground plane point cloud data;
step 4, noise point cloud data in the total point cloud data are obtained, the noise point cloud data are removed, and the residual point cloud data are accurate point cloud data of the target object;
and 5, calculating the size of the object through accurate point cloud data.
Preferably, the method further comprises the step of
And shooting the other side position of the target object to obtain a target object image, obtaining two groups of total point cloud data corresponding to the target object image through the target object images at two visual angles, and calculating the overall dimension and the volume of the target object through the two groups of total point cloud data.
Preferably, the target object image includes x-axis and y-axis coordinates, and the depth map acquired by the 3D camera includes Z-coordinates in a camera coordinate system.
Preferably, in step 3, the ground corresponding point cloud data is calculated through the total point cloud data, a distance threshold of the point cloud data is set, and the point cloud data smaller than the distance threshold in the total point cloud data is determined as the ground point cloud data.
Preferably, step 4 further comprises the following steps:
step 41: performing expansion operation on the depth map to obtain an image A, and subtracting the original image from the image A to obtain an image B, wherein the image B is a noise point larger than an actual value;
step 42: performing search operation on the depth map to obtain an image C, and subtracting the image C from the original image to obtain an image D, wherein the image D is a noise point smaller than an actual value;
step 43: and removing points contained in the images B and D on the original image to obtain the image after the noise is removed.
Example 1
The use method of the device is as follows:
1. computing point clouds
The color picture in the RGB-D image provides the x, y coordinates in the pixel coordinate system, while the depth map directly provides the Z coordinate in the camera coordinate system, i.e. the camera-to-point distance.
According to the information of the RGB-D image and the internal reference of the camera, the coordinates of any pixel point in the camera coordinate system can be calculated.
The calculation formula of the point cloud is as follows:
2. finding ground planes
The fitting plane is the parameter of the plane estimation model, and the fitting plane can be obtained by any plane method in the prior art, such as the following documents:
martin A. Fischler & Robert C. Balls (June 1981). "method described in Random Sample Consensus: A partner for Model filing with Applications to Image Analysis and automated graphics".
3. Ground point removing method
Because the object to be measured is placed on the ground, most of the point clouds after the ground points are removed are the point clouds of the measuring target. The distance from the point cloud to the ground plane is solved by using a point normal equation of the plane. When the distance is less than a certain distance, the ground point is considered as a ground point and is directly eliminated. This allows the approximate target point cloud to be obtained.
4. Noise point cloud elimination
Due to the defects of the 3D data acquisition equipment based on the optical sensor, the data acquired by the sensor has certain noise, so that noise and non-target points need to be eliminated, and the method comprises the following steps:
the first step is as follows: and performing expansion operation on the depth map to obtain an image A, and subtracting the original image from the image A to obtain an image B, wherein the image B is a noise point larger than an actual value.
The second step: and performing search operation on the depth map to obtain an image C, and subtracting the image C from the original image to obtain an image D, wherein the image D is a noise point smaller than an actual value.
The third step: and removing points contained in the images B and D on the original image to obtain the image after the noise is removed.
5. Target point cloud size measurement
And solving the minimum external rectangle of the target point cloud to obtain the length and the width of the measured object. The minRreaRect method provided in the open source computer vision library OpenCv can be used directly for solving. The principle is that the convex hull of the point set is solved first, then an external rectangle is solved for each side of the convex polygon, and the rectangle with the smallest area is found to be the smallest external rectangle of the point set.
For the single-side photographing mode, the length and the width of the minimum external rectangle are the length and the width of the measured object, and the maximum distance from the target point cloud to the ground plane is the height of the measured object; for the double-sided photographing mode, the length of the external rectangle which is solved twice and is approximately perpendicular to the normal vector of the ground plane is the length of the measured object, the length of the external rectangle is the width of the measured object, and the average value of the two measurements of the length which is approximately parallel to the normal vector of the ground plane is the height of the measured object.
The foregoing is only a preferred embodiment of the present invention, and many variations in the detailed description and the application range can be made by those skilled in the art without departing from the spirit of the present invention, and all changes that fall within the protective scope of the invention are therefore considered to be within the scope of the invention.
Claims (3)
1. The utility model provides a handheld volume measurement device based on 3D camera which characterized in that: the using method comprises the following steps:
step 1, photographing a target object to obtain a target object image;
step 2, calculating total point cloud data corresponding to the image of the target object through the image of the target object;
step 3, acquiring ground plane point cloud data in the total point cloud data, and rejecting the ground plane point cloud data;
step 4, noise point cloud data in the total point cloud data are obtained, the noise point cloud data are removed, and the residual point cloud data are accurate point cloud data of the target object;
step 5, calculating the size of the object through accurate point cloud data;
in step 4, the method further comprises the following steps:
step 41: performing expansion operation on the depth map to obtain an image A, and subtracting the original image from the image A to obtain an image B, wherein the image B is a noise point larger than an actual value;
step 42: performing search operation on the depth map to obtain an image C, and subtracting the image C from the original image to obtain an image D, wherein the image D is a noise point smaller than an actual value;
step 43: removing points contained in the images B and D on the original image to obtain an image after noise removal;
step 5, photographing the other side of the target object to obtain a target object image, obtaining two groups of total point cloud data corresponding to the target object image through the target object images at two visual angles, and calculating the overall dimension and the volume of the target object through the two groups of total point cloud data;
solving by using a minRreaRecect method provided in an open source computer vision library OpenCv, firstly solving a convex hull of a point set, then solving an external rectangle for each edge of a convex polygon, and finding a rectangle with the minimum area as the minimum external rectangle of the point set;
for the single-side photographing mode, the length and the width of the minimum external rectangle are the length and the width of the measured object, and the maximum distance from the target point cloud to the ground plane is the height of the measured object; for the double-sided photographing mode, the length of the external rectangle which is approximately perpendicular to the normal vector of the ground plane in the two-time solving is the length of the object to be measured, the length of the external rectangle is the width of the object to be measured, and the average value of the two-time measurement of the length which is approximately parallel to the normal vector of the ground plane is the height of the object to be measured.
2. The 3D camera-based handheld volume measuring device of claim 1, wherein: the target object image comprises x-axis and y-axis coordinates, and the depth map acquired by the 3D camera comprises a Z coordinate in a camera coordinate system.
3. The 3D camera-based handheld volume measuring device of claim 1, wherein: in step 3, ground corresponding point cloud data is calculated through the total point cloud data, a distance threshold of the point cloud data is set, and point cloud data smaller than the distance threshold in the total point cloud data are judged as ground point cloud data.
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