CN108267083A - A kind of 3D cameras volume measuring method and system - Google Patents
A kind of 3D cameras volume measuring method and system Download PDFInfo
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- CN108267083A CN108267083A CN201711464284.XA CN201711464284A CN108267083A CN 108267083 A CN108267083 A CN 108267083A CN 201711464284 A CN201711464284 A CN 201711464284A CN 108267083 A CN108267083 A CN 108267083A
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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
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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
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
Abstract
The present invention relates to a kind of 3D cameras volume measuring method and systems.Include the following steps：The depth map of measured object is obtained, depth map includes the depth information of measured object；Measured object is extracted from depth map according to depth information, obtains the pixel region of measured object；According to the distance and the depth information of 3D cameras and measuring table, the height of measured object is obtained；According to the invariance of 3D viewing field of camera ratios and the pixel region, the length and width of measured object is obtained；The volume of measured object is obtained according to the length of measured object, width and height.Easy to operate, easy to implement, without manual measurement, accuracy, efficiency greatly promote.
Description
Technical field
The invention belongs to logistics field more particularly to a kind of 3D cameras volume measuring method and systems.
Background technology
As e-commerce is increasingly deep into daily life, logistic industry is fast-developing, is consigning or was transporting
Cheng Zhong needs to measure the measured objects such as package, but package quantity is growing now, and measurement work is heavy, Er Qiesuo
It states and measures work mostly still by the way of manual measurement, not only precision is low, and most importantly measuring speed is slow, efficiency is low, should
Situation needs to improve.
Invention content
In order to solve the above-mentioned technical problem, the purpose of the present invention is to provide a kind of 3D cameras volume measuring method and it is
System.
According to an aspect of the invention, there is provided a kind of measuring method of 3D cameras volume, includes the following steps：
The depth map of measured object is obtained, depth map includes the depth information of measured object；
Measured object is extracted from depth map according to depth information, obtains the pixel region of measured object；
According to the distance and the depth information of 3D cameras and measuring table, the height of measured object is obtained；
According to the invariance of 3D viewing field of camera ratios and the pixel region, the length and width of measured object is obtained；
The volume of measured object is obtained according to the length of measured object, width and height.
Further, measured object is extracted from depth map according to depth information, obtains the pixel region of measured object, including:
According to the depth data of acquisition, by the depth threshold of setting, using regional connectivity algorithm, connected region is determined,
Obtain the pixel region of the maximum circumscribed area, as measured object of connected region.
Further, between the depth value of progress regional connectivity algorithm between 0 and 3D cameras and the distance of measured object.
Further, according to the distance and the depth information of 3D cameras and measuring table, the height of measured object is obtained, is wrapped
It includes：
Obtain the minimum depth value of the pixel point set of measured object；
According to the distance and the minimum depth value of 3D cameras and measured object, the height of measured object is obtained.
Further, according to the invariance of 3D viewing field of camera ratios and the pixel region, obtain measured object length and
Width, including：
Obtain the resolution ratio of level of the 3D cameras under both set a distances, vertical field of view range and depth image；
According to level, vertical field of view range and the depth image of the pixel region and 3D cameras under both set a distances
The proportionate relationship of resolution ratio obtain the length of measured object, width.
Further, level, the vertical field of view range according to the pixel region and 3D cameras under both set a distances
The length of measured object, width are obtained with the proportionate relationship of the resolution ratio of depth image, including：
The lenth ratio of length and measured object based on pixel region and 3D camera vertical field of view models under both set a distances
The sum for enclosing interior pixel is identical with the lenth ratio of vertical field of view, obtains the length of measured object；
The width ratio of width and measured object based on pixel region and 3D camera horizontal field of view models under both set a distances
The sum for enclosing interior pixel is identical with the width ratio of horizontal field of view, obtains the width of measured object.
According to an aspect of the invention, there is provided a kind of measuring system of 3D cameras volume, including：
Collecting unit, is configured to obtain the depth map of measured object, and depth map includes the depth information of measured object；
Extraction unit is configured to extract measured object from depth map according to depth information, obtains the pixel region of measured object
Domain；
Height acquiring unit is configured to the distance according to 3D cameras and measuring table and the depth information, obtains quilt
Survey the height of object；
Length and width acquiring unit is configured to the invariance according to 3D viewing field of camera ratios and the pixel region,
Obtain the length and width of measured object；
The volume computing unit of measured object is configured to obtain measured object according to the length of measured object, width and height
Volume.
Collecting unit, extraction unit, height acquiring unit, length and width acquiring unit, the volume of measured object calculate single
Member configuration is in the terminal.
Further, measured object is extracted from depth map according to depth information, obtains the pixel region of measured object, including:
According to the depth data of acquisition, by the depth threshold of setting, using regional connectivity algorithm, connected region is determined,
Obtain the pixel region of the maximum circumscribed area, as measured object of connected region.
Further, according to the distance and the depth information of 3D cameras and measuring table, the height of measured object is obtained, is wrapped
It includes：
Obtain the minimum depth value of the pixel point set of measured object；
According to the distance and the minimum depth value of 3D cameras and measured object, the height of measured object is obtained.
Further, according to the invariance of 3D viewing field of camera ratios and the pixel region, obtain measured object length and
Width, including：
Obtain the resolution ratio of level of the 3D cameras under both set a distances, vertical field of view range and depth image；
According to level, vertical field of view range and the depth image of the pixel region and 3D cameras under both set a distances
The proportionate relationship of resolution ratio obtain the length of measured object, width.
According to an aspect of the invention, there is provided a kind of equipment, the equipment includes：
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are performed by one or more of processors so that one or more of places
It manages device and performs as above any one of them method.
According to an aspect of the invention, there is provided a kind of computer readable storage medium for being stored with computer program,
As above any one of them method is realized when the program is executed by processor.
Compared with prior art, the invention has the advantages that：
1st, the measuring method of the exemplary 3D cameras volume of the present invention, obtains the depth map of measured object, and depth map includes tested
The depth information of object；Measured object is extracted from depth map according to depth information, obtains the pixel region of measured object；According to 3D cameras
Distance and the depth information with measuring table obtain the height of measured object；According to the invariance of 3D viewing field of camera ratios and
The pixel region obtains the length and width of measured object；The body of measured object is obtained according to the length of measured object, width and height
Product.Easy to operate, easy to implement, without manual measurement, accuracy, efficiency greatly promote.
2nd, the measuring system of the exemplary 3D cameras volume of the present invention, collecting unit are configured to obtain the depth of measured object
Figure, depth map include the depth information of measured object；Extraction unit is configured to be extracted from depth map according to depth information tested
Object obtains the pixel region of measured object；Height acquiring unit is configured to distance according to 3D cameras and measuring table and described
Depth information obtains the height of measured object；Length and width acquiring unit is configured to according to the constant of 3D viewing field of camera ratios
Property and the pixel region obtain the length and width of measured object；The volume computing unit of measured object is configured to according to tested
Length, width and the height of object obtain the volume of measured object.Above-mentioned each unit is cooperated with each other, is coordinated, based on 3D viewing field of camera ratio
Be worth the principle of invariance, the length for calculating measured object finally obtains the volume of measured object, avoid manual measurement it is inefficient,
Low precision.
3rd, the exemplary equipment of the present invention performs as above any one of them method by one or more processors, reduces
Manual measurement error improves operating efficiency.Especially in logistics, storage sector, it can quickly realize that measured object wraps up ruler automatically
Very little measurement.
4th, the computer readable storage medium of the exemplary computer program of the present invention, the program are realized when being executed by processor
As above any one of them method, convenient for measurement and Technique Popularizing automatic, that fast, accurately carry out measured object product.
Description of the drawings
Fig. 1 is the measuring system structure chart of one 3D camera volumes of embodiment；
Fig. 2 is the schematic diagram of the pixel region of one measured object of embodiment.
Specific embodiment
In order to be better understood by technical scheme of the present invention, with reference to specific embodiment, Figure of description to the present invention
It is described further.
Embodiment one：
A kind of measuring system of 3D cameras volume is present embodiments provided, including：
Collecting unit, is configured to obtain the depth map of measured object, and depth map includes the depth information of measured object；
Extraction unit is configured to extract measured object from depth map according to depth information, obtains the pixel region of measured object
Domain；
Height acquiring unit is configured to the distance according to 3D cameras and measuring table and the depth information, obtains quilt
Survey the height of object；
Length and width acquiring unit is configured to the invariance according to 3D viewing field of camera ratios and the pixel region,
Obtain the length and width of measured object；
The volume computing unit of measured object is configured to obtain measured object according to the length of measured object, width and height
Volume.
Collecting unit, extraction unit, height acquiring unit, length and width acquiring unit, the volume of measured object calculate single
Member configuration is in the terminal.
Measured object is extracted from depth map according to depth information, obtains the pixel region of measured object, including:
According to the depth data of acquisition, by the depth threshold of setting, using regional connectivity algorithm, connected region is determined,
Obtain the pixel region of the maximum boundary rectangle, as measured object of connected region.
According to the distance and the depth information of 3D cameras and measuring table, the height of measured object is obtained, including：
Obtain the minimum depth value of the pixel point set of measured object；
According to the distance and the minimum depth value of 3D cameras and measured object, the height of measured object is obtained.
According to the invariance of 3D viewing field of camera ratios and the pixel region, the length and width of measured object is obtained, including：
Obtain the resolution ratio of level of the 3D cameras under both set a distances, vertical field of view range and depth image；
According to level, vertical field of view range and the depth image of the pixel region and 3D cameras under both set a distances
The proportionate relationship of resolution ratio obtain the length of measured object, width.
The system, which is as follows, to be stated described in method part.
Further, system hardware composition mainly includes：One computer, a 3D camera.
Computer：3D cameras is controlled to carry out depth image acquisition, data processing and to camera power supply etc..
3D cameras：Obtain depth image and corresponding point cloud data matrix and coloured image in real time by depth transducer.
Realization principle：Regional connectivity algorithm carries out tested analyte detection and the method for 3D viewing field of camera ratio invariance calculates quilt
Survey object length, that is, volume, wherein the depth image resolution ratio of 3D cameras for cols (sum of all pixels of horizontal direction) ×
Rows (sum of all pixels in vertical direction), and be all changeless.
A kind of measuring method of 3D cameras volume is present embodiments provided, is included the following steps：
S1, the depth map for obtaining measured object, depth map include the depth information of measured object.
S2, measured object is extracted from depth map according to depth information, obtains the pixel region of measured object.
Measured object is extracted from depth map according to depth information, obtains the pixel region of measured object, including:
According to the depth data of acquisition, by the depth threshold of setting, using regional connectivity algorithm, connected region is determined,
Obtain the pixel region of the maximum boundary rectangle, as measured object of connected region.
Between the depth value of progress regional connectivity algorithm between 0 and 3D cameras and the distance of measured object.
S3, distance and the depth information according to 3D cameras and measuring table obtain the height of measured object.
Including：
S31, obtain measured object pixel point set minimum depth value；
S32, distance and the minimum depth value according to 3D cameras and measured object obtain the height of measured object.
S4, the invariance according to 3D viewing field of camera ratios and the pixel region obtain the length and width of measured object.
Including：
S41, the resolution ratio for obtaining level of the 3D cameras under both set a distances, vertical field of view range and depth image；
S42, level, vertical field of view range and depth according to the pixel region and 3D cameras under both set a distances
The proportionate relationship of the resolution ratio of image obtains the length of measured object, width.
According to level, vertical field of view range and the depth image of the pixel region and 3D cameras under both set a distances
The proportionate relationship of resolution ratio obtain the length of measured object, width, including：
S421, based on the lenth ratio of the length of pixel region and measured object with 3D cameras are vertical under both set a distances regards
The sum of pixel is identical with the lenth ratio of vertical field of view in the range of, obtains the length of measured object；
The width ratio of S422, the width based on pixel region and measured object are regarded with 3D camera levels under both set a distances
The sum of pixel is identical with the width ratio of horizontal field of view in the range of, obtains the width of measured object.
S5, the volume of measured object is obtained according to the length of measured object, width and height.
During measurement, the mounting height of 3D cameras immobilizes, i.e., the distance between camera and measuring table are fixed,
Hm in as Fig. 1,
α is the horizontal view angle of 3D cameras,
β is the vertical angle of view of 3D cameras,
H is distance of the 3D cameras to measured object,
3D cameras (such as are apart from measured object height in respective distances：Visual field size when h) is also changeless, institute
The developed width of horizontal direction in field range can be obtained：
The physical length of vertical direction in field range：
The measurement process is specific as follows：
1st, Objective extraction traverses depth image first, when the depth value for having pixel (is more than 0, is less than in the reasonable scope
Hm), using regional connectivity algorithm, traversed point depth value is set to zero, you can the sum of all pixels that measured object includes is calculated,
Then the rectangle of the minimum area comprising pixel point set is obtained, and (rectangle is measured object minimum enclosed rectangle in Fig. 2, and wherein W is
The width of rectangle, H are the length of rectangle).
2nd, the height of the minimum depth value in point set (being the h in Fig. 1) so measured object is obtained in the height of measured object, traversal
Degree is represented by：H2=hm-h.
3rd, the length of measured object, width, can be according to 3D cameras in the distance using the invariance of 3D viewing field of camera ratios
Horizontal vertical field range and the proportionate relationship of resolution ratio of depth image ask for the length and width of measured object.That is target
The ratio of width (the rectangular horizontal direction number of pixels) W of the minimum rectangle of measured object and the width width of practical measured object and
The total number cols (immobilizing) of horizontal direction pixel and entire visual field water in the entire field range of 3D cameras under distance h
Square to width W1 ratios be equal；Length (rectangular vertical direction number of pixels) H of the minimum rectangle of target measured object
With the ratio of the height of practical measured object and under distance h total of vertical direction pixel in the entire field range of 3D cameras
Number rows (immobilizing) is equal with the width H1 ratios of entire visual field vertical direction；Ratio equation is such as i.e. in horizontal direction
Under
The width of measured object reality is：
Ratio equation is as follows in vertical direction
The physical length of measured object：
Finally the volume of measured object is：
V=h2 × width × height (7)
A kind of equipment is present embodiments provided, the equipment includes：
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are performed by one or more of processors so that one or more of places
It manages device and performs as above any one of them method.
A kind of computer readable storage medium for being stored with computer program is present embodiments provided, the program is by processor
As above any one of them method is realized during execution.
Embodiment two
The present embodiment feature identical with embodiment one repeats no more, and the present embodiment feature different from embodiment one exists
In：
Computer：3D cameras is controlled to carry out depth image acquisition, data processing.
The preferred embodiment and the explanation to institute's application technology principle that above description is only the application.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology that the specific combination of above-mentioned technical characteristic forms
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
The other technical solutions for arbitrarily combining and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
Energy.
Claims (13)
1. a kind of measuring method of 3D cameras volume, it is characterized in that, include the following steps：
The depth map of measured object is obtained, depth map includes the depth information of measured object；
Measured object is extracted from depth map according to depth information, obtains the pixel region of measured object；
According to the distance and the depth information of 3D cameras and measuring table, the height of measured object is obtained；
According to the invariance of 3D viewing field of camera ratios and the pixel region, the length and width of measured object is obtained；
The volume of measured object is obtained according to the length of measured object, width and height.
2. the measuring method of 3D cameras volume according to claim 1, it is characterized in that, according to depth information from depth map
Measured object is extracted, obtains the pixel region of measured object, including:
According to the depth data of acquisition, by the depth threshold of setting, using regional connectivity algorithm, determine connected region, obtain
The pixel region of the maximum circumscribed area, as measured object of connected region.
3. the measuring method of 3D cameras volume according to claim 2, it is characterized in that, the depth of progress regional connectivity algorithm
Between value between 0 and 3D cameras and the distance of measured object.
4. the measuring method of 3D cameras volume according to claim 1, it is characterized in that, according to 3D cameras and measuring table
Distance and the depth information obtain the height of measured object, including：
Obtain the minimum depth value of the pixel point set of measured object；
According to the distance and the minimum depth value of 3D cameras and measured object, the height of measured object is obtained.
5. the measuring method of 3D cameras volume according to claim 1, it is characterized in that, according to 3D viewing field of camera ratio not
Denaturation and the pixel region obtain the length and width of measured object, including：
Obtain the resolution ratio of level of the 3D cameras under both set a distances, vertical field of view range and depth image；
According to point of level under both set a distances of the pixel region and 3D cameras, vertical field of view range and depth image
The proportionate relationship of resolution obtains the length of measured object, width.
6. according to the measuring method of any 3D camera volumes of claim 1-5, it is characterized in that, according to the pixel region
And the proportionate relationship of the resolution ratio of level of the 3D cameras under both set a distances, vertical field of view range and depth image obtains quilt
Length, the width of object are surveyed, including：
Under the lenth ratio of length and measured object based on pixel region and both set a distances in the range of 3D camera vertical field of view
The sum of pixel is identical with the lenth ratio of vertical field of view, obtains the length of measured object；
Under the width ratio of width and measured object based on pixel region and both set a distances in the range of 3D camera horizontal field of view
The sum of pixel is identical with the width ratio of horizontal field of view, obtains the width of measured object.
7. a kind of measuring system of 3D cameras volume, it is characterized in that, including：
Collecting unit, is configured to obtain the depth map of measured object, and depth map includes the depth information of measured object；
Extraction unit is configured to extract measured object from depth map according to depth information, obtains the pixel region of measured object；
Height acquiring unit is configured to the distance according to 3D cameras and measuring table and the depth information, obtains measured object
Height；
Length and width acquiring unit is configured to the invariance according to 3D viewing field of camera ratios and the pixel region, obtains
The length and width of measured object；
The volume computing unit of measured object is configured to obtain the volume of measured object according to the length of measured object, width and height.
8. the measuring system of 3D cameras volume according to claim 7, it is characterized in that, collecting unit, extraction unit, height
Acquiring unit, length and width acquiring unit, measured object volume computing unit configuration in the terminal.
9. the measuring system of 3D cameras volume according to claim 7, it is characterized in that, according to depth information from depth map
Measured object is extracted, obtains the pixel region of measured object, including:
According to the depth data of acquisition, by the depth threshold of setting, using regional connectivity algorithm, determine connected region, obtain
The pixel region of the maximum circumscribed area, as measured object of connected region.
10. the measuring system of 3D cameras volume according to claim 7, it is characterized in that, according to 3D cameras and measuring table
Distance and the depth information, obtain the height of measured object, including：
Obtain the minimum depth value of the pixel point set of measured object；
According to the distance and the minimum depth value of 3D cameras and measured object, the height of measured object is obtained.
11. according to the measuring system of any 3D camera volumes of claim 7-10, it is characterized in that, according to 3D viewing field of camera
The invariance of ratio and the pixel region obtain the length and width of measured object, including：
Obtain the resolution ratio of level of the 3D cameras under both set a distances, vertical field of view range and depth image；
According to point of level under both set a distances of the pixel region and 3D cameras, vertical field of view range and depth image
The proportionate relationship of resolution obtains the length of measured object, width.
12. a kind of equipment, it is characterized in that, the equipment includes：
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are performed by one or more of processors so that one or more of processors
Perform the method as described in any one of claim 1-6.
13. a kind of computer readable storage medium for being stored with computer program, it is characterized in that, when which is executed by processor
Realize the method as described in any one of claim 1-6.
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| CN110349205A (en) * | 2019-07-22 | 2019-10-18 | 杭州光珀智能科技有限公司 | A kind of measurement method and device of object volume |
| CN113155247A (en) * | 2021-04-21 | 2021-07-23 | 武汉理工大学 | Object weighing method, state evaluation method, weighing system and state evaluation system |
| CN115215562A (en) * | 2022-08-09 | 2022-10-21 | 江阴瑞兴塑料玻璃制品有限公司 | Direct glass melting system for metal surfaces |
| CN117368199A (en) * | 2023-12-04 | 2024-01-09 | 清华大学 | Device and method for detecting compaction state of filling engineering in real time |
| CN117368199B (en) * | 2023-12-04 | 2024-03-19 | 清华大学 | Device and method for detecting compaction state of filling engineering in real time |
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