CN108627092A

CN108627092A - A kind of measurement method, system, storage medium and the mobile terminal of package volume

Info

Publication number: CN108627092A
Application number: CN201810344830.4A
Authority: CN
Inventors: 张帆
Original assignee: Nanjing Science And Technology Ltd Of A Fanda Robot
Current assignee: Nanjing Science And Technology Ltd Of A Fanda Robot
Priority date: 2018-04-17
Filing date: 2018-04-17
Publication date: 2018-10-09
Also published as: WO2019200837A1

Abstract

The present invention provides a kind of measurement method, system, storage medium and the mobile terminal of package volume, method includes：S100 acquires target image by the camera of mobile terminal；Target image includes two side surfaces of plane mark object, the upper surface of package to be measured equipped with plane mark object, the to be measured package adjacent with upper surface；S200 carries out image procossing to target image, to identify plane mark object in the target image；S300 carries out Image Edge-Detection to target image, to identify the angle point of package to be measured in the target image；S400 calculates the world coordinates of angle point according to plane mark object, the internal reference matrix and angle point of the camera obtained in advance, to obtain the volume of package to be measured according to the world coordinates of angle point.The present invention is real-time using the included camera of mobile terminal, accurately measures package volume to be measured, enriches usage scenario, is not required to newly-increased additional hardware facility, saves cost.

Description

A kind of measurement method, system, storage medium and the mobile terminal of package volume

Technical field

The present invention relates to computer vision field, espespecially a kind of measurement method, system, storage medium and the shifting of package volume Dynamic terminal.

Background technology

Develop swift and violent today in delivery industry, there is a large amount of express delivery package to be measured to need to send by post.Express delivery package to be measured Charging mode includes by weight or the mode of volume, courier can take the maximum value of the two to charge.Furthermore package to be measured Volume size etc. can follow the odd numbers Message Entry System of the package to be measured, facilitate subsequent entrucking and stocking arrangement.So Quickly calculating the volume of express delivery package to be measured becomes a kind of necessary technology.

Application No. is the patents of invention of CN20151088222.6 to disclose a kind of volume measuring method based on depth camera And its system.The patent is obtained by depth camera includes the depth map of object under test, then according to depth information by the object It is separated from depth image.According to the camera parameter demarcated in advance, the two-dimensional depth image coordinate of object under test is converted For the three-dimensional coordinate under camera coordinates system, the size of the object is then calculated according to the three-dimensional coordinate of the object to be measured.

This method has the disadvantage that：A. additional fitting depth camera is needed, depth camera price is more expensive, express delivery terminal The cost of equipment (or mobile phone) is relatively low, if all the upper depth camera cost of configuration is bigger.B. depth camera need with Computing module (mobile terminal devices such as mobile phone) carries out adaptation connection, realizes Technical comparing trouble.C. current depth camera is most Using structure light or the scheme of TOF, structure light is easily interfered by strong light, cannot be in outside work.And the precision of TOF depth cameras It is natively relatively low, the error bigger under the interference of outdoor strong light.

Invention content

The object of the present invention is to provide a kind of measurement method, system, storage medium and the mobile terminals of package volume, realize The camera carried using mobile terminals such as mobile phones in real time, accurately measure package volume to be measured, enrich usage scenario, need not be new Hardware facility outside increment saves cost.

Technical solution provided by the invention is as follows：

The present invention provides a kind of measurement method of package volume, is applied to measure the package to be measured equipped with plane mark object Volume, including step：S100 acquires target image by the camera of mobile terminal；The target image includes the plane mark Know object, the upper surface of package to be measured equipped with the plane mark object, the to be measured package adjacent with the upper surface two A side surface；S200 carries out image procossing to the target image, to identify the plane mark in the target image Know object；S300 carries out Image Edge-Detection to the target image, to identify the packet to be measured in the target image The angle point wrapped up in；S400 is according to the plane mark object, the internal reference matrix of the camera obtained in advance and the angle point, described in calculating The world coordinates of angle point, to obtain the volume of the package to be measured according to the world coordinates of the angle point.

Preferably, include step before the step S100 acquires target image by the camera of mobile terminal：S010 The camera is demarcated, the internal reference matrix of the camera is obtained.

Preferably, the step S200 carries out image procossing to the target image, to know in the target image Do not go out the plane mark object and specifically includes step：S210 carries out binary segmentation to the target image, and from two after segmentation Appearance profile is extracted in value image；The general character of appearance profiles of the S220 corresponding to the plane mark object to prestore is special Sign chooses the alternately profile of the appearance profile with the common feature from the appearance profile of extraction；Described in S230 is obtained The front view of alternative profile；S240 when the front view of the alternative profile is consistent with the plane mark object template to prestore, Identify that the corresponding image of the alternative profile is the image of the plane mark object.

Preferably, the plane mark object is square, and the plane mark object institute to prestore in the step S220 is right The default contour feature answered is quadrangle；The front view that the step S230 obtains the alternative profile is specially：S231 is read The pixel coordinate on four vertex of the alternative profile；S232 defines the alternative profile after projective transformation is front view The pixel coordinate on four vertex is the pixel coordinate on four vertex of the front view of the plane mark object to prestore；S233 will be upper The pixel coordinate for stating the pixel coordinate on four vertex of reading and four vertex of the definition substitutes into the change of plane projection respectively Formula (1) is changed, projective transform matrix M is sought：

Wherein, X is the homogeneous pixel coordinate on alternative profile vertex, and nonhomogeneous pixel coordinate is X ' is the homogeneous coordinates on vertex after projective transformation, and nonhomogeneous pixel coordinate is

S234 is according to the projective transform matrix M, all to all pixels of the corresponding binary image of the alternative profile Projective transformation is executed, the corresponding front view in region that the alternative profile includes is obtained.

Preferably, the step S300 carries out Image Edge-Detection to the target image, in the target image In identify that the angle point of the package to be measured specifically includes step：S310 carries out edge detection process to the target image, obtains To edge binary images；S320 searches the edge line corresponding to package edge to be measured from the edge binary images；S330 The position for calculating the intersection point of arbitrary two edge lines composition in the edge line, obtains the angle point of the package to be measured.

Preferably, S400 is according to the plane mark object, the internal reference matrix of the camera obtained in advance and the angle point, meter The world coordinates of the angle point is calculated, the volume to obtain the package to be measured according to the world coordinates of the angle point specifically includes Step：

S410 calculates the camera according to the plane mark object and the internal reference matrix of the camera obtained in advance The outer ginseng matrix of current field；The outer ginseng matrix includes spin matrix and translation vector；

Pixel coordinates of the S420 according to the angle point in pixel coordinate system, is obtained in conjunction with the spin matrix and translation vector Take the world coordinates of the angle point；

S430 calculates the length, width and height of the package to be measured according to the world coordinates of the angle point；

The length, width and height are substituted into the volume that cubature formula calculates the acquisition package to be measured by S440.

Preferably, the step S410 is according to the plane mark object and the internal reference square of the camera obtained in advance Battle array, it includes step to calculate the spin matrix of the camera current field and be translated towards measurer body：

S411 establishes world coordinate system using the midpoint of the plane mark object as origin；

S412 reads vertex pixel coordinate of each vertex of the plane mark object in pixel coordinate system and each Vertex world coordinates of the vertex in world coordinate system；

S413 is by the vertex pixel coordinate, the internal reference of vertex world coordinates and the camera obtained in advance Matrix substitutes into following formula (2) and formula (3) respectively, and the spin moment of the camera current field is obtained in conjunction with formula (4) Battle array and translation vector：

Wherein, (u, v, 1) indicates target point pixel in the pixel coordinate system of video camera described in the plane mark object The homogeneous coordinates of coordinate, (Xw, Yw, Zw, 1) indicate the homogeneous seat of target point world coordinates in the world coordinate system Mark, (Xc, Yc, Zc) indicate camera coordinates of the target point in the camera coordinates system of video camera；Fx indicates camera lens Physics focal length F and imager each unit size of X-direction product, fy indicate the physics focal length F of camera lens with For imager in the product of each unit size in y-axis direction, cx indicates imager center and the offset of optical axis in the X-axis direction, cy It indicates due to imager imager center and the offset of optical axis in the Y-axis direction；R indicates that world coordinate system arrives camera coordinates system Spin matrix, T indicate the world coordinate system to the translation vector of the camera coordinates system.

Preferably, pixel coordinates of the step S420 according to the angle point in pixel coordinate system, in conjunction with the rotation The world coordinates that matrix and translation vector obtain the angle point specifically includes step：

S421 reads the pixel coordinate of angle point of the angle point in the pixel coordinate system of video camera；

S422 is by the pixel coordinate of the angle point, the internal reference matrix of the camera obtained in advance and the camera The spin matrix and translation vector of current field substitute into the formula (4) and obtain the world coordinates of the angle point；Wherein, (u, V, 1) homogeneous coordinates of the pixel coordinate of the angle point are indicated, (Xw, Yw, Zw) is the world coordinates of the angle point, (Xw, Yw, Zw, 1) homogeneous coordinates of the world coordinates of the angle point are indicated；

The length, width and height that the step S430 calculates the package to be measured according to the world coordinates of the angle point specifically include step Suddenly：

S431 reads the corresponding world coordinates of any four angle point；Any one angle point is first jiao in four angle points Point, and the straight line that remaining three angle points connect generation two-by-two with first angle point respectively is respectively parallel to the world coordinate system XYZ axis；

The corresponding world coordinates of first angle point and the corresponding world coordinates of the second angle point are substituted into coordinate two by S432 Point range formula, calculates the length for obtaining the package to be measured；Second angle point connect the straight of generation with first angle point Line is parallel to the X-axis of the world coordinate system；

The corresponding world coordinates of first angle point and the corresponding world coordinates of third angle point are substituted into coordinate two by S433 Point range formula, calculates the width for obtaining the package to be measured；Second angle point connect the straight of generation with first angle point Line is parallel to the Y-axis of the world coordinate system；

S434 is by the corresponding world coordinates of fourth angle point and the pixel coordinate of angle point, in conjunction with the camera shooting obtained in advance The internal reference matrix of head, the spin matrix and translation vector of the camera current field substitute into the formula (4) and calculate acquisition institute State the height of package to be measured；The fourth angle point connect the straight line parallel generated with first angle point in the world coordinate system Z axis.

Second aspect, the present invention also provides a kind of measuring systems of package volume, are applied to measure equipped with plane mark object Package to be measured volume, it is described package volume measuring system include：Image collection module passes through the camera of mobile terminal Acquire target image；The target image include the plane mark object, package to be measured equipped with the plane mark object it is upper Two side surfaces on surface and the to be measured package adjacent with upper surface；

Picture recognition module carries out image procossing to the target image that described image acquisition module obtains, thus The plane mark object is identified in the target image；

Image processing module carries out Image Edge-Detection to the target image that described image acquisition module obtains, from And the angle point of the package to be measured is identified in the target image；

Cubing module, the plane mark object identified according to described image identification module, taking the photograph of obtaining in advance Internal reference matrix as head and the angle point, calculate the world coordinates of the angle point, to be obtained according to the world coordinates of the angle point To the volume of the package to be measured.

Preferably, the measuring system of the package volume further includes：Demarcating module demarcates the camera, Obtain the internal reference matrix of the camera.

Preferably, described image identification module includes：Binary segmentation submodule, the mesh that the extraction module is obtained Logo image carries out binary segmentation；Shape extracting sub-module extracts appearance profile from the binary image after segmentation；Store submodule Block stores the common feature of the appearance profile corresponding to the plane mark object, the plane mark object template；Judge processing Module, the common feature of the appearance profile corresponding to the plane mark object stored in the sub-module stored, from institute It states and chooses the alternately profile of the appearance profile with the common feature in the appearance profile of shape extracting sub-module extraction；Just View acquisition submodule obtains the front view of the alternative profile；Identify submodule, the front view when the alternative profile and institute State the plane mark object template that sub-module stored prestores it is consistent when, the corresponding image of the identification alternative profile is described flat The image of face marker.

Preferably, the plane mark object is square, and the plane mark object institute of the storage submodule storage is right The common feature for the appearance profile answered is quadrangle；The front view acquisition submodule includes：Reading unit is read described alternative The pixel coordinate on four vertex of profile；Definition unit defines four of the alternative profile after projective transformation is front view The pixel coordinate on a vertex is the pixel coordinate on four vertex of the front view of the plane mark object to prestore；Computing unit, The pixel on four vertex that the pixel coordinate on four vertex that the reading unit is read and the definition unit are defined is sat Mark substitutes into following Projection Transformation On Plane formula (1) respectively, seeks projective transform matrix M：

Converter unit, the projective transform matrix M sought according to the computing unit, to the alternative profile pair The all pixels for the binary image answered are carried out projective transformation, and the region that the acquisition alternative profile includes is corresponding to be faced Figure.

Preferably, described image processing module includes：Edge detection submodule, the mesh that the extraction module is obtained Logo image carries out edge detection process, obtains edge binary images；Straight line searches submodule, is obtained from the edge detection submodule To the edge binary images in search correspond to it is to be measured package edge edge line；Angle point acquisition submodule calculates institute The position that straight line searches the intersection point of arbitrary two edge lines composition in the edge line that submodule is found is stated, institute is obtained State the angle point of package to be measured.

Preferably, the cubing module includes：Outer ginseng matrix acquisition submodule, according to the plane mark object and in advance The internal reference matrix of the camera first obtained calculates the outer ginseng matrix of the camera current field；The outer ginseng matrix packet Include spin matrix and translation vector；

Angular coordinate acquisition submodule, according to pixel coordinate of the angle point in pixel coordinate system, in conjunction with the rotation Matrix and translation vector obtain the world coordinates of the angle point；

Length, width and height acquisition submodule calculates the length, width and height of the package to be measured according to the world coordinates of the angle point；

Volume acquisition submodule is wrapped up, the length, width and height are substituted into the body that cubature formula calculates the acquisition package to be measured Product.

Preferably, the outer ginseng matrix acquisition submodule includes：

Coordinate system determining unit establishes world coordinate system using the midpoint of the plane mark object as origin；

Apex coordinate reading unit reads vertex pixel of each vertex of the plane mark object in pixel coordinate system The vertex world coordinates of coordinate and each vertex in world coordinate system；

Arithmetic element, by the vertex pixel coordinate, vertex world coordinates and the camera obtained in advance Internal reference matrix substitute into following formula (2) and formula (3) respectively, obtain the camera current field in conjunction with formula (4) Spin matrix and translation vector：

Preferably, the angular coordinate acquisition submodule includes：

Corner pixels coordinate acquiring unit reads pixel coordinate of the angle point in the pixel coordinate system of video camera；

Angle point world coordinates acquiring unit, by the pixel coordinate of the angle point, the internal reference of the camera obtained in advance The spin matrix and translation vector of matrix and the camera current field substitute into the formula (4) and obtain the angle point World coordinates；Wherein, (u, v, 1) indicates the homogeneous coordinates of the pixel coordinate of the angle point, and (Xw, Yw, Zw) is the angle point World coordinates, (Xw, Yw, Zw, 1) indicate the homogeneous coordinates of the world coordinates of the angle point；

The length, width and height acquisition submodule includes：

Angle point world coordinates reading unit reads the corresponding world coordinates of any four angle point；Appoint in four angle points One angle point of meaning is the first angle point, and the straight line that remaining three angle points connect generation two-by-two with first angle point respectively is put down respectively Row is in the XYZ axis of the world coordinate system；

Length operation unit, by the corresponding world coordinates of first angle point and the corresponding world coordinates of the second angle point 2 range formulas of coordinate are substituted into, the length for obtaining the package to be measured is calculated；Second angle point connects with first angle point The straight line parallel delivered a child is in the X-axis of the world coordinate system；

Width arithmetic element, by the corresponding world coordinates of first angle point and the corresponding world coordinates of third angle point 2 range formulas of coordinate are substituted into, the width for obtaining the package to be measured is calculated；Second angle point connects with first angle point The straight line parallel delivered a child is in the Y-axis of the world coordinate system；

Height arithmetic element, by the corresponding world coordinates of fourth angle point and the pixel coordinate of angle point, in conjunction with described advance The spin matrix and translation vector of the internal reference matrix of the camera of acquisition, the camera current field substitute into the formula (4) Calculate the height for obtaining the package to be measured；The fourth angle point connect the straight line parallel generated with first angle point in described The Z axis of world coordinate system.

The third aspect, the present invention provide a kind of storage medium, and the storage medium is stored with a plurality of instruction, a plurality of finger Order is executed by one or more processor, to realize the step of present invention wraps up the measurement method of volume.

Fourth aspect, the present invention provide a kind of mobile terminal, including：Processor realizes each instruction；Storage medium, storage A plurality of instruction；Wherein：The processor executes the instruction of the storage medium storage, to realize the measurement of present invention package volume The step of method.

Measurement method, system, storage medium and the mobile terminal of a kind of package volume provided through the invention, being capable of band Carry out following at least one advantageous effect：

1) present invention by the way that a plane mark object is arranged in the upper surface of each package to be measured, wrap by then camera acquisition Include plane mark object surface and the mesh on any one or multiple to be measured package surfaces adjacent with plane mark object surface is equipped with Video is marked, providing target video to the translation of the rotation between world coordinate system, pixel coordinate system and camera coordinates system is calculated The length, width and height of package to be measured carry out to which the volume of package to be measured be calculated due to the use of the camera that mobile terminal carries Target video is acquired, package volume to be measured can in real time, be accurately measured.

2) present invention is acquired target video using the camera that mobile terminal carries, and does not need depth camera and is adopted Collection, and do not need when depth camera acquires package to be measured and must be positioned at the surface of package to be measured, therefore do not need complexity Arrangement, and the camera is not interfered by strong light, can enrich usage scenario in outside work, need not be increased newly additional Hardware facility saves cost..

Description of the drawings

Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of measurement of package volume Method, system, storage medium and mobile terminal above-mentioned characteristic, technical characteristic, advantage and its realization method give furtherly It is bright.

Fig. 1 is a kind of flow chart of one embodiment of the measurement method of package volume of the present invention；

Fig. 2 is a kind of flow chart of another embodiment of the measurement method of package volume of the present invention；

Fig. 3 is a kind of flow chart of another embodiment of the measurement method of package volume of the present invention；

Fig. 4 is a kind of flow chart of another embodiment of the measurement method of package volume of the present invention；

Fig. 5 is the angle point schematic diagram of a kind of measurement method of package volume of the present invention and the package to be measured of system；

Fig. 6 is a kind of measurement method for wrapping up volume and system of the invention using the midpoint of plane mark object as the generation of origin The schematic diagram of boundary's coordinate system；

Fig. 7 is a kind of flow chart of another embodiment of the measurement method of package volume of the present invention；

Fig. 8 is a kind of flow chart of another embodiment of the measurement method of package volume of the present invention；

Fig. 9 is the cubing of the package to be measured in a kind of another embodiment of the measurement method of package volume of the present invention The flow chart of step；

Figure 10 a are the plane reference sides Zhang Zhengyou in a kind of another embodiment of the measurement method of package volume of the present invention The calibrating template schematic diagram of method；

Figure 10 b are the plane reference sides Zhang Zhengyou in a kind of another embodiment of the measurement method of package volume of the present invention Characteristic point schematic diagram is detected in method；

Figure 11 is that the camera in a kind of another embodiment of the measurement method of package volume of the present invention measures posture Schematic diagram；

Figure 12 is the postrotational quadrangular configuration in a kind of another embodiment of the measurement method of package volume of the present invention Front view；

Figure 13 is a kind of structural schematic diagram of one embodiment of the measuring system of package volume of the present invention；

Figure 14 is a kind of structural schematic diagram of another embodiment of the measuring system of package volume of the present invention；

Figure 15 is a kind of structural schematic diagram of another embodiment of the measuring system of package volume of the present invention；

Figure 16 is a kind of structural schematic diagram of one embodiment of the mobile terminal of the measurement of package volume of the present invention.

Specific implementation mode

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, control is illustrated below The specific implementation mode of the present invention.It should be evident that drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings Attached drawing, and obtain other embodiments.

To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented Its practical structures as product.In addition, so that simplified form is easy to understand, there is identical structure or function in some figures Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated " only this ", can also indicate the situation of " more than one ".

This programme is suitable for the volume that shape is the packages to be measured of rectangular shapes such as cuboid, square or four-prism It measures, the package of other complicated shapes, irregular shape is unable to measure.And since the package of current Express Logistics industry is general All over for the carton of rectangular shape, yoke etc., therefore it is generally applicable to the volume of the package of the rectangular shape of Express Logistics industry The measurement of size.

One embodiment of the present invention, as shown in Figure 1, a kind of measurement method of package volume, is equipped with applied to measurement The volume of the package to be measured of plane mark object, including：

S100 acquires target image by the camera of mobile terminal；The target image include the plane mark object, The upper surface of package to be measured equipped with the plane mark object, the to be measured package adjacent with the upper surface two side tables Face；

S200 carries out image procossing to the target image, to identify the plane mark in the target image Object；

S300 carries out Image Edge-Detection to the target image, described to be measured to be identified in the target image The angle point of package；

S400 is according to the plane mark object, the internal reference matrix of the camera obtained in advance and the angle point, described in calculating The world coordinates of angle point, to obtain the volume of the package to be measured according to the world coordinates of the angle point.

Specifically, in the present embodiment, plane mark object refers to that pre-designed having geometry in particular and encode is believed The pattern of breath, is typically printed in above a piece of paper.The front camera or rear camera carried by mobile terminal To be acquired target video, when being acquired target video using mobile terminal, need the camera shooting head mirror on mobile terminal Head is convenient for superscribing the upper table equipped with plane mark object by be measured in this way towards the oblique upper on the surface for being set to plane mark object Face is acquired with equipped with the adjacent any two side surface in the upper surface of package to be measured of plane mark object.Upper surface herein Be away from the upper surface on ground when not necessarily package to be measured is placed, and be defined as camera when acquiring target image It is to be measured package equipped with plane mark object any one camera can collected surface, if that is, by plane mark object be set to shape Shape is the upper surface of the separate bottom surface of the package to be measured of cuboid, then can be obtained from four side surfaces adjacent with upper surface Take any two or multiple side surfaces；If plane mark object to be set to any one side surface of the package to be measured of rectangle, Any two or multiple side tables so can be obtained from a upper surface adjacent with side surface and remaining three side surfaces Face.The shape for only enumerating package to be measured herein is the example of cuboid, and the package to be measured of other rectangular shapes is the present invention's In protection domain.

The present invention in order to it is comprehensive, completely collect target image, can by mobile terminal carry camera into Collected video is carried out image procossing and obtains target image, put down after target image is handled by row acquisition video The angle point of the image of face marker and package to be measured, to according to plane mark object and angle point and the video camera obtained in advance Internal reference matrix carries out the world coordinates that the angle point of package to be measured is calculated, and packet to be measured is calculated according to the world coordinates of angle point The volume wrapped up in.The present invention due to the use of mobile terminal carry camera be acquired target video, do not need depth camera into Row acquisition, and the surface that must be positioned at package to be measured when depth camera acquires package to be measured is not needed, therefore need not answer Miscellaneous arrangement, enriches usage scenario, need not increase additional hardware facility newly, saves cost.In addition, the present invention need not incite somebody to action Depth camera is installed and is adapted to connection with mobile terminal, when measuring the volume of package to be measured of user, not only to carry depth Camera and mobile terminal, it is also necessary to connection is adapted in real time with mobile terminal progress to depth camera when in use, the present invention adopts The camera and processor carried with mobile terminal, low cost while at low cost, simplify the step of package cubing to be measured Suddenly, measurement efficiency is high, and since the volume of package to be measured is automatically performed by the processor that mobile terminal carries, easy to operate, And testing result is intuitive, reliable, high certainty of measurement.Therefore, the volume for measuring package that the present invention can be full-automatic, it is accurate Really efficiently, while without other hardware devices are installed, simple and convenient, user experience is high.

Second embodiment of the present invention includes step before S100 acquires target image by the camera of mobile terminal Suddenly：

S010 demarcates the camera, obtains the internal reference matrix of the camera.

Specifically, the present embodiment is the optimal enforcement example of above-mentioned first embodiment, the present embodiment and above-mentioned first embodiment It compares, main improve is, has increased step S010 newly to be demarcated to camera, i.e., using the above scheme in the present embodiment Before the volume for measuring package to be measured, it is also necessary to being demarcated for the camera that acquires target video, specifically, logical It crosses and the camera is demarcated, obtain the internal reference matrix of the camera, that is, determine the geometry mould of the camera imaging Type.Camera calibration is the early-stage preparations stage of whole system, when select a camera carry out vision measurement must to its into Rower is fixed, the internal reference matrix of the parameters such as distortion factor and focal length to obtain video camera composition.It, can in the subsequent execution stage To use the internal reference matrix of the video camera to carry out corresponding vision measurement and calculating.Proving operation only needs to execute primary.

The present invention demarcates camera using the chessboard calibration method of Zhang Zhengyou, and Zhang Zhengyou standardizations are imaged by multiple The image acquired when head is relative to chessboard different angle calculates the internal reference coefficient of camera, finally obtains the interior of camera Join matrix.

The process of the plane reference method is as follows：

1. printing the template of sheet of planar calibration and pasting in one plane；

2. shooting several template images from different perspectives；

3. detecting the characteristic point in image；

4. according to characteristic point in world coordinate system coordinate position and its corresponding pixel coordinate in the picture, simultaneous equations Group finds out the internal reference matrix of video camera, and the internal reference matrix of video camera is the matrix K of a 3x3, and specific form is as follows：

Wherein, fx indicates the product of physics focal length F and imager in each unit size of X-direction of camera lens, Fy indicates that the product of physics focal length F and imager in each unit size in y-axis direction of camera lens, cx indicate in imager The heart and the offset of optical axis in the X-axis direction, cy are indicated due to imager imager center and the offset of optical axis in the Y-axis direction.

The third embodiment of the present invention, is the optimal enforcement example of above-mentioned first, second embodiment, as shown in Fig. 2, a kind of The measurement method of volume is wrapped up, is applied to measure the volume of the package to be measured equipped with plane mark object, including：

The step S200 carries out image procossing to the target image, described to be identified in the target image Plane mark object specifically includes；

S210 carries out binary segmentation to the target image, and extracts appearance profile from the binary image after segmentation；

The common feature of appearance profiles of the S220 corresponding to the plane mark object to prestore, from the shape wheel of extraction The alternately profile of the appearance profile with the common feature is chosen in exterior feature；

S230 obtains the front view of the alternative profile；

For S240 when the front view of the alternative profile is consistent with the plane mark object template to prestore, identification is described standby It is the image of the plane mark object to select the corresponding image of profile；

Specifically, the present embodiment is the optimal enforcement example of above-mentioned first or second embodiments, the present embodiment and above-mentioned first Or second embodiment is compared, main improve is, increased newly step S210-S240 come to how to target image handled from And it identifies screen plane marker and has carried out further refinement explanation.The present embodiment carries out two-value point to the target image It cuts, binary segmentation sets the gray value of the pixel on image to 0 or 255, that is, whole image is showed obviously Black-white visual effect, and will be separated with the different zones of special connotation in image, these regions are mutually disjointed, Mei Gequ Domain all meets the consistency of specific region.Two-value point can also be carried out to the image that camera obtains using adaptivity threshold value It cuts.After carrying out binary segmentation processing to the target image, need to identify plane mark object, since camera may be from difference Angle (but can take plane mark object and the surface including plane mark object and other surfaces) shooting has obtained difference Target video, therefore, the appearance of the plane mark object not necessarily front view on the image/video frame of acquisition.So need The plane mark object shot from all angles is first extracted, and edge detection is carried out to the plane mark object, obtains the plane The common feature of the appearance profile of marker, then this common feature is stored in advance, convenient for right after acquiring video frame The plane mark object is identified.Specifically, after carrying out binary segmentation to video frame images, each image after segmentation is extracted Appearance profile finds out alternative appearance profile according to the common feature of plane mark object appearance profile, is carried out to profile more The fitting of side shape, give up those non-convex polygons and those be not quadrangle profile.Further, it is also possible to use some volumes Outer restrictive condition rejects the quadrangular configuration that those are unlikely to be plane mark object image, as quadrangle is significantly less than on one side Remaining side (shape is taller and thinner), profile perimeter or area are too small etc., remaining qualified profile is plane mark The possible corresponding alternative profile of object.For example, if the screen plane marker that we select is square, by edge The common feature that can get its appearance profile after detection is quadrangle, then we are just accordingly, from the appearance profile extracted, Those non-convex polygons are excluded, and are not the profiles etc. of quadrangle.After obtaining alternative profile, be exactly in next step obtain it is each The front view of alternative profile, that is to say, that the possible corresponding alternative contour images region of plane mark object is become into front view, from And further judge whether the alternative contour area is the corresponding image of plane mark object.Specifically, by each will alternatively take turns Wide front view is compared with the pre-stored plane mark object template, can sentence under unanimous circumstances when having to compare Break the appearance profile for that this alternative profile is plane mark object, and the corresponding image of this alternative profile is exactly plane mark object Image, so far, plane mark object is identified.The shape of plane mark object can be rectangle, diamond shape or square Etc. shape.

Preferably, on the basis of the above embodiments, the plane mark object on any one surface of package to be measured is arranged It is square, the plane mark to prestore in the common feature of the appearance profile corresponding to the plane mark object to prestore The common feature for knowing the appearance profile corresponding to object is that the appearance profile corresponding to the plane mark object is quadrangle.It is arranged Plane mark object is different, then the common feature of corresponding appearance profile also can be different.We use up when choosing plane mark object Amount selection is readily discernible, and the obvious plane mark object of characteristic point is preferred.Such as square, tool there are four vertex, due to Four length of sides of square are consistent, in addition four vertex comparatively facilitate subsequent positions calculations so that operation is got up also more Simply.

The 4th embodiment of the present invention, as shown in figure 3, being the optimal enforcement example of above-mentioned 3rd embodiment, a kind of package The measurement method of volume is applied to measure the volume of the package to be measured equipped with plane mark object, including：

S230 obtains the front view of the alternative profile；

The front view that the step S230 obtains the alternative profile is specially：

S231 reads the pixel coordinate on four vertex of the alternative profile；

The pixel coordinate that S232 defines four vertex of the alternative profile after projective transformation is front view is to prestore The plane mark object front view four vertex pixel coordinate；

S233 divides the pixel coordinate on four vertex of above-mentioned reading and the pixel coordinate on four vertex of the definition Not Dai Ru Projection Transformation On Plane formula (1), seek projective transform matrix M：

S234 is according to the projective transform matrix M, all to all pixels of the corresponding binary image of the alternative profile Projective transformation is executed, the corresponding front view in region that the alternative profile includes is obtained.S240 is faced when the alternative profile When scheming consistent with the plane mark object template to prestore, identify that the corresponding image of the alternative profile is the plane mark object Image；

Specifically, the present embodiment is the optimal enforcement example of above-mentioned 3rd embodiment, the present embodiment and above-mentioned 3rd embodiment Compare, main improve is, increased newly step S231-S234 come to the front view for how acquiring alternative profile carried out into Step refining explanation.The present embodiment continue the example that the plane mark object in above-described embodiment is square continue for example, According to the square characteristic of square-shaped planar marker, be converted to by projective transformation for example, we can define alternative profile The pixel coordinate on four vertex after front view, for example, square plane mark object front view four vertex pixel coordinates Respectively (0,0), (0,100), (100,100), (100,0), then can be alternative as quadrangle using this four apex coordinates The pixel coordinate on four vertex of profile, in addition, the pixel coordinate of the original image of the alternative profile of quadrangle can be read from image Out, by four groups of vertex correspondence relationships, can Simultaneous Equations solve photography transformation matrix M, utilize projective transform matrix M The all pixels of the alternative contour area of quadrangle can be carried out projective transformation, you can obtain the alternative profile of the quadrangle The corresponding front view in region, the front view are 100 × 100 as size, you can obtain the region pair of the alternative profile of the quadrangle Unanimously whether then the front view answered compares the front view with the plane mark object template to prestore, see, if consistent Then illustrate that this quadrangular configuration is exactly the profile of the plane mark object, then plane mark object is just identified.Here Selection front view is because the image for the plane mark object that camera is shot from all angles is different, if taken the photograph to compare As head is in the surface of plane mark object, then the image of plane mark object is also a rectangle, if camera shooting is in plane mark Know the oblique upper of object, then the image of rectangle plane marker is an irregular quadrilateral, obtains what front view was compared Purpose is exactly, no matter camera, in terms of that angle, the front view of plane mark object is all a kind of figure to look down from surface Picture, in this way, convenient for the identification of plane mark object.

The 5th embodiment of the present invention, as shown in figure 4, being above-mentioned first embodiment, second embodiment, 3rd embodiment Or the optimal enforcement example of fourth embodiment, including：

S400 is according to the plane mark object, the internal reference matrix of the camera obtained in advance and the angle point, described in calculating The world coordinates of angle point, to obtain the volume of the package to be measured according to the world coordinates of the angle point；

The S300 carries out Image Edge-Detection to the target image, described to be identified in the target image The angle point of package to be measured specifically includes；

S310 carries out edge detection process to the target image, obtains edge binary images；

S320 searches the edge line corresponding to package edge to be measured from the edge binary images；

S330 calculates the position of the intersection point of arbitrary two edge lines composition in the edge line, obtains the packet to be measured The angle point wrapped up in.

Specifically, the present embodiment is the optimal enforcement of any one embodiment in above-mentioned first embodiment to fourth embodiment Example, compared with any one embodiment in above-mentioned first embodiment to fourth embodiment, main improve is the present embodiment, passes through Step S310-S330 to how to detect identifies that the angle point of package to be measured has carried out further refinement explanation.In the present embodiment, Edge detection process is carried out to target image, obtains edge binary images, Canny edge detection algorithms can be used, that is, use height This filter smoothing target image detects apparent edge in target image, and gradient is calculated with the finite difference of single order local derviation Amplitude and direction carry out non-maxima suppression to gradient magnitude, are detected with dual threashold value-based algorithm and connect edge, due to package to be measured Edge and background contrast it is apparent, so by edge detection algorithm, these apparent object edges can be protruded, the process meeting Obtain including the bianry image at package edge to be measured in image.

Edge detection process is carried out to target image to obtain comprising after the edge binary images at package edge to be measured in image, All existing straight lines, Hough transform detection can be found from edge binary images with the method that Hough transform detects straight line The method of straight line present in edge binary images is that equation of the straight line under polar coordinate system is following equation (5)；

ρ=xcos θ+ysin θ (5)

For some (xi, yi), sine curve ρ=xicos θ+yisin θ can be calculated, and for two-value Change the point in edge image, different sine curves can be obtained, according to different θ, a series of ρ, root can be calculated A two-dimensional accumulator element array is set up according to obtained (ρ, θ), the size of wherein unit is fixed, if corresponding (ρ, θ) value is fallen in some unit, then the accumulator count of this unit adds one, and final accumulator value is more than one pre-defined The corresponding unit of threshold value T think to represent straight line.The of the method for Hough transform detection straight line have discussion more, this Place no longer thoroughly discusses.

It is a kind of preferred mode that Hough transform, which detects straight line also, and the method that other detection straight lines also can be selected obtains The edge binary images to be measured for wrapping up edge in comprising image, such as Hough line detection algorithm are sought in edge binary images Look for straight line.Hough line detection algorithm is based on apparent verge searching straight line, tiny or mixed and disorderly edge meeting in bianry image Automatically it is filtered.

Hough line detection algorithm detection straight line is as follows：

1, a characteristic point in image, i.e. marginal point are randomly selected, if the point has been demarcated as being that a certain item is straight Point on line, then continue a marginal point is randomly selected in remaining marginal point, until all marginal points all extract be over for Only；

2, Hough transformation is carried out to the point, and is added up and is calculated；

3, the maximum point of value in hough space is chosen to carry out step 4 if the point is more than threshold value, otherwise return to Step 1；

4, the maximum value obtained according to Hough transformation, from this point, along the direction displacement of straight line, to find straight line Two endpoints；

5, the length for calculating straight line, if it is greater than some threshold value, then the straight line output for being considered as returns to step 1.

It is also long since the edge of package to be measured is obvious, so being capable of detecting when that package edge to be measured is corresponding Edge line calculates the position of the intersection point of arbitrary two edge lines composition in edge line, is waited for as shown in Figure 5 and Figure 6 Angle point A1, A2, A3, the A4 for surveying package can also include other angle points A5, A6, the A7 of package to be measured, but be based on package to be measured Cubing efficiency consider, A1, A2, A3, A4 is only calculated.Certainly, if in order to verify the volume of package to be measured Whether calculating is correct, and A3, A5, A6, A7 can be used to be calculated again, compare and A1, A2, A3, A4 are calculated to be measured Whether the difference between the volume of package is less than preset difference value range, is waited for if can choose any one volume calculated value and be used as The volume measurement of package is surveyed, otherwise, needs to carry out video acquisition calculating to package to be measured again.The present invention passes through edge image Acquisition, straight-line detection determine candidate polygon and are verified to candidate polygon, eliminate cumbersome neural network training process And slide, directly the edge line of the package to be measured in target image is detected, more simple, intuitive, detection efficiency It is improved.

The 6th embodiment of the present invention is as shown in Figure 7 and Figure 8 above-mentioned first embodiment, second embodiment, third The optimal enforcement example of embodiment or fourth embodiment, including

The S400 is calculated according to the plane mark object, the internal reference matrix of the camera obtained in advance and the angle point The world coordinates of the angle point, the volume to obtain the package to be measured according to the world coordinates of the angle point specifically include：

Specifically, the step S410 is according to the plane mark object and the internal reference square of the camera obtained in advance Battle array, calculates the outer ginseng matrix of the camera current field；The outer ginseng matrix includes spin matrix and is translated towards measurer body packet Step is included, as shown in Figure 8：

Wherein, (u, v, 1) indicates target point pixel in the pixel coordinate system of video camera described in the plane mark object The homogeneous coordinates of coordinate, (Xw, Yw, Zw, 1) indicate the homogeneous seat of target point world coordinates in the world coordinate system Mark, (Xc, Yc, Zc) indicate camera coordinates of the target point in the camera coordinates system of video camera；Fx indicates camera lens Physics focal length F and imager each unit size of X-direction product, fy indicate the physics focal length F of camera lens with For imager in the product of each unit size in y-axis direction, cx indicates imager center and the offset of optical axis in the X-axis direction, cy It indicates due to imager imager center and the offset of optical axis in the Y-axis direction；R indicates that world coordinate system arrives camera coordinates system Spin matrix, T indicate the world coordinate system to the translation vector of the camera coordinates system；

For example, the center O1 for the face marker S that makes even is the origin of world coordinate system, which is also plane mark The plane mark article coordinate system of object S, then the Z axis coordinate of the point in the plane where plane mark object S is all 0.If plane mark The length of side for knowing object S is P, then the coordinate in its four vertex plane marker S coordinate systems O1 is respectively (- P/2 ,-P/2,0), (P/ 2 ,-P/2,0), (P/2, P/2,0), (- P/2, P/2,0).

According to pinhole camera modeling, if coordinates of the point P under camera coordinates system is Pc=(Xc, Yc, Zc) in space, Then its there are the relationships listed by formula (2) for pixel coordinate (u, v) in video camera imaging plane with the point, if P is in world coordinates The lower coordinate of system is Pw=(Xw, Yw, Zw), then P points coordinate Pw and coordinate Pc under camera coordinates system under world coordinate system exists public Transformational relation listed by formula (3), wherein the matrix R=(r1, r2, r3) of 3x3, matrix R are by world coordinate system to camera coordinates The spin matrix of system, T are the translation vector by world coordinate system to camera coordinates system, and formula (2) and formula (3) are incorporated in one It rises, you can obtain the conversion side of the point P coordinate Pw in world coordinate system and the pixel coordinate (u, v) on the corresponding plane of delineation Journey (4), the central point due to selecting plane mark object S is that origin establishes world coordinate system, then for four of plane mark object S All there is the corresponding equation of formula (4) in any vertex (Xw, Yw, 0) in vertex.Since four vertex are under world coordinate system Z axis coordinate Zw=0, and matrix R=(r1, r2, r3), so formula (4) is simplified to obtain following equation (6)：

Above by coordinate in a vertex pixel coordinate of plane mark object S and its corresponding plane mark article coordinate system An equation can be written.Four equation groups can be written by four vertex correspondences of plane mark object S, then pass through equation group Direct linear transformation (DLT) algorithm, so as to find out r1, r2, r3 and T.Wherein, spin matrix R is orthogonal matrix, column vector R1, r2, r3 are mutually orthogonal unit vectors, and when finding out r1, r2, r3 can be obtained by the vector product of r1, r2, to vertex picture In the case of plain coordinate and vertex world coordinates are known, the internal reference matrix of the camera obtained in advance is substituted into following public affairs respectively Formula (2) and formula (3), the spin matrix and translation vector of camera current field can be calculated in conjunction with formula (4).

Specifically, pixel coordinates of the step S420 according to the angle point in pixel coordinate system, in conjunction with the rotation The world coordinates that matrix and translation vector obtain the angle point specifically includes step, as shown in Figure 8：

As shown in Figure 5 and Figure 6, it is known that pixel coordinates (u1, v1) of the angle point A1 in pixel coordinate system is then substituted into public affairs In formula (4), since the internal reference matrix K of video camera is it is known that in addition, having acquired spin matrix R by S411-S413 and being translated towards T is measured, then the unknown quantity of the Matrix division is X_w、Y_w、Z_c, angle point A1 can be obtained in world coordinates by dematrix equation group World coordinates (X under system_w1, Y_w1, 0), similarly can also be according to angle point A2, the corresponding pixel of A3, A4 in pixel coordinate system Coordinate (ui, vi), i ∈ N (i≤2) seek out the world of the correspondence of each angle point of package to be measured on world coordinate system respectively Coordinate (X_wi, Y_wi, 0), i ∈ N (i≤2).

The length, width and height that the specific step S430 calculates the package to be measured according to the world coordinates of the angle point are specific Including step, as shown in Figure 8：

Specifically, the corresponding world coordinates of any four angle point is read in the present embodiment first, by four angle points of reading In any one angle point as the first angle point, remaining three angle points connect two-by-two with the first angle point respectively generation straight line difference It is parallel to the XYZ axis of the world coordinate system, the second angle point connect the straight line parallel generated with the first angle point in world coordinate system X-axis, the second angle point connect the straight line parallel generated with the first angle point in the Y-axis of world coordinate system, fourth angle point and first jiao The straight line parallel that point connection generates is in the Z axis of world coordinate system.Since each angle is calculated by step S421-S422 The world coordinates of point, as shown in fig. 5, it is assumed that the first angle point is A1, the second angle point is A3, and third angle point is A2, and fourth angle point is A4, then the world coordinates of the first angle point A1 is (X_w1, Y_w1, 0), the world coordinates of the second angle point A3 is (X_w3, Y_w3, 0), third The world coordinates of angle point A2 is (X_w2, Y_w2, 0), the world coordinates of fourth angle point A4 is (X_w4, Y_w4, 0),

The length L=of package to be measured can be acquired by 2 range formulas in following three dimensions | A₁A₃|, and wait for Survey the width W=of package | A₁A₂|。

Due to straight line A₁A₄It is parallel with world coordinate system Z-direction, so the Z axis coordinate of angle point A4 is height H, angle point The X axis coordinate and Y axis coordinate of A4 is identical as angle point A1, i.e. X_w4=X_w1, Y_w4=Y_w1.The pixels of known angle point A4 in the picture are sat It marks (u4, v4), is then substituted into formula (4), since the internal reference matrix of video camera is it is known that pass through step S411-S413 steps Spin matrix R and translation vector T is acquired, then the unknown quantity of the Matrix division is Z_w、Z_c.It obviously, only need to be by X_w4Or Y_w4Unknown quantity can be obtained by dematrix equation group by substituting into a value.Preferably, by turn twice respectively substitute into Xw4 and Yw4 calculates Zw, then takes the average value of the two as height H, promotes the accuracy and reliability of package elevation carrection to be measured.It is logical Length, width and height out calculated above are crossed, since package is cuboid or cube, can directly calculate the volume V of package =L × W × H.Equally, can also be according to angle point A5, the corresponding pixel coordinate (ui, vi) of A6, A7 in pixel coordinate system, i ∈ N (i≤2) calculate separately to obtain the world coordinates of angle point A5, A6, A7 in world coordinate system, and angle point A5 is calculated herein, After the corresponding world coordinate system of A6, A7, according to angle point A3, A5, A6, the volume of package to be measured is calculated in A7, will be according to angle point Whether the volume that the length, width and height that A3, A5, A6, A7 are calculated are used to verify the package to be measured being calculated is reliable, does not exist again It repeats one by one.

Further, since the straight line that angle point A1 and angle point A4 connections generate is parallel with world coordinate system Z-direction, so angle point The height of package to be measured can also be calculated with angle point A4 distances by A1, i.e.,：

It is illustrated in the following, lifting an example, the cubing step of package to be measured is as shown in Figure 9：

S1, camera calibration：

Camera calibration is the early-stage preparations stage of whole system, must be right when selecting a camera to carry out vision measurement It is demarcated, the internal reference matrix of the parameters such as distortion factor and focal length to obtain video camera composition.In subsequent execution rank Section, can use the internal reference matrix of the video camera to carry out corresponding vision measurement and calculating, and proving operation only needs to execute primary.

1. printing the template of sheet of planar calibration and pasting in one plane, schematic diagram is as shown in Figure 10 a；

2. shooting several template images from different perspectives；

3. detecting the characteristic point in image；Schematic diagram is as shown in fig. lob；

S2, video frame is obtained：

Plane mark object S is placed on the upper surface for the package to be measured that express delivery measures package dimensions, with plane mark object S Center O1 as world coordinate system origin.Since the thickness of plane mark object can be ignored than relatively thin, then that wraps up is upper Surface and the X-Y plane of world coordinate system O1 are coplanar, and package to be measured is cuboid or cube, the then directions height H wrapped up It is parallel with the Z-direction of world coordinate system O1.

As shown in figure 11, courier is in package to be measured using the camera of self-contained handheld terminal (or mobile phone) Oblique upper, guarantee to see the upper surface (including plane mark object) of package to be measured and any two it is adjacent with upper surface two A side surface total of three surface.

S3, quadrangle detection：

Plane mark object identifies：The step determines plane mark for identifying specific plane mark object in the picture Four angle points of object, detailed process are as follows：Binary segmentation is carried out to the image that camera obtains using adaptivity threshold value, then Quadrangular configuration of the shape similar to plane mark object is extracted from bianry image, by four vertex of quadrangular configuration, by the figure As converting the front view being square after projective transformation.By analyze front view picture in coding, finally determine this four The corresponding plane mark object of side shape image.

1. quadrangular configuration detects

The process detects that plane mark object may corresponding quadrangular configuration in image.Utilize adaptivity threshold method pair Image carries out binary segmentation, then extracts appearance profile from the bianry image obtained above.Polygon approach is carried out to profile, Give up those non-convex polygons and those be not quadrangle profile.The restrictive condition that has used some additional is rejected Those are unlikely to be the quadrangular configuration of plane mark object image, and as quadrangle is significantly less than remaining side on one side, (shape compares It is tall and thin), profile perimeter or area are too small etc..Remaining qualified profile be plane mark object may be corresponding it is alternative Profile.

2. obtaining the front view in quadrangular configuration region

The process is used to the possible corresponding quadrangular image region of plane mark object becoming the front view being square, to Further judge whether the quadrilateral area is the corresponding image of plane mark object.Quadrangular configuration is defined by photography transformation to turn It is respectively (0,0), (0,100), (100,100), (100,0) to be changed to four vertex pixel coordinates after front view.In original image Four vertex pixel coordinates of middle quadrangular configuration for each group of point correspondence it is known that meet projective transform matrix M：

Wherein, X is the homogeneous pixel coordinate on alternative profile vertex, and nonhomogeneous pixel coordinate is X is the homogeneous coordinates on vertex after projective transformation, and nonhomogeneous pixel coordinate is

By four groups of vertex correspondence relationships, can Simultaneous Equations solve projective transform matrix M, to all pictures of original image Element is carried out projective transformation M, you can obtains the corresponding front view in quadrangular configuration region, the plane which is square Mark object image, i.e. front view are 100 × 100 as size.

Because the image for the plane mark object that camera is shot from all angles is different, if camera is in mark Know the surface of object, then the image of marker is also a rectangle；If camera is sideling seen, rectangle plane marker Image is an irregular quadrilateral.The purpose of acquisition front view is exactly in this step：No matter camera in terms of which angle, obtains To front view be all a kind of image to look down from surface.Convenient for the identification of subsequent plane mark object, i.e. image is returned One changes.

S4, the identification of plane mark object：

As shown in figure 12, the front view picture of the plane mark object of acquisition is rotated by 90 ° successively, 180 °, 270 ° to most Four width images are obtained eventually.The four width images obtained above are matched with the image template of plane mark object respectively.When with appoint When one sub-picture successful match, the quadrangular configuration, that is, corresponding is the plane mark object.

S5：Calculate outer ginseng matrix (spin matrix R and translation vector T)

Calculate the spin moment using the midpoint of plane mark object S as the world coordinate system O1 of origin relative to camera coordinates system O2 Battle array R1 and translation vector T1：

Make even face marker S center O1 be world coordinate system origin, then in the plane where plane mark object S Point Z axis coordinate is all 0.If the length of side of plane mark object S is 80mm, then in its four vertex plane marker S coordinate systems O1 Coordinate is respectively (- 40, -40,0), (40, -40,0), (40,40,0), (- 40,40,0).

According to pinhole camera modeling, if in space coordinates of the point P under camera coordinate system be Pc=(Xc, Yc, Zc), then its there are following relationships for pixel coordinate (u, v) in video camera imaging plane with the point：

If P coordinates under world coordinate system are Pw=(Xw, Yw, Zw), then P points coordinate Pw and camera shooting under world coordinate system There are following transformational relations by coordinate Pc under machine coordinate system：

Formula (2) and formula (3) are combined together, you can obtain coordinate Pws of the point P in world coordinate system with it is corresponding The plane of delineation on pixel coordinate (u, v) relation equation：

By the vertex pixel coordinate, the internal reference matrix of vertex world coordinates and the camera obtained in advance Substitute into following formula (2) and formula (3) respectively, in conjunction with formula (4) obtain the camera current field spin matrix and Translation vector.

The coordinate system O1 of selected plane mark object S is world coordinate system Ow, then in four vertex of plane mark object S Any vertex (Xw, Yw, 0), all there is the equation of formula (4).Due to Z axis coordinate Zw of four vertex under world coordinate system =0, so formula (4) is simplified to obtain following equation (6)：

Above by a vertex of plane mark object S, vertex pixel coordinate and its vertex exist in pixel coordinate system An equation can be written in vertex world coordinates in world coordinate system, then four vertex correspondences of plane mark object S can be written Four equation groups, by direct linear transformation (DLT) algorithm of equation group, so as to find out r1, r2, r3 and T.Wherein, spin moment Battle array R=[r1r2r3] is orthogonal matrix, and column vector r1, r2, r3 are mutually orthogonal unit vectors, when finding out r1, r2, r3 It can be obtained by the vector product of r1, r2.

The Corner Detection of S6, package to be measured：

The each angle point for finding package to be measured in the target image reads the corresponding pixel coordinate of each angle point, subsequently makes Length measurement is carried out with the corresponding pixel coordinate of each angle point.

1. using Canny edge detection algorithms on the image, apparent edge in detection image.Due to the side of package to be measured Edge is apparent with background contrast, so by edge detection algorithm, can protrude these apparent object edges.The process can obtain Including wrapping up the bianry image at edge in image.

2. finding edge line in edge binary images using Hough line detection algorithm.Hough line detection algorithm base Tiny or mixed and disorderly edge can be filtered automatically in apparent and long verge searching edge line, bianry image.By It is obvious in the edge of package to be measured, it is also long, so being capable of detecting when the corresponding edge line in the edge of package to be measured.

3. as shown in Figure 5 and Figure 6, calculating the position of the intersection point of the corresponding each edge line in package edge to be measured, angle is obtained Point A1, A2, A3, A4, the angle point are to wrap up corresponding angle point.

S7, computational length and width：As shown in Figure 5 and Figure 6, the long L of package to be measured it is corresponding be package to be measured upper table The corresponding distance of angle point A1, A3 on face, the angle point A1, A2 of the corresponding upper surfaces for being its package to be measured wide W of package to be measured Corresponding distance.

The pixel coordinates (u1, v1) of known angle point A1 in the picture, then substituted into formula (5).Due to video camera Internal reference matrix K is it is known that above step S411-S413 has acquired spin matrix R and translation vector T, then the Matrix division Unknown quantity is X_w、Y_w、Z_c, coordinate (Xs of the angle point A1 under world coordinate system can be obtained by dematrix equation group_w1, Y_w1, 0).

It similarly, can be in the hope of coordinate (Xs of the angle point A2 and A3 under world coordinate system_w2, Y_w2, 0), (X_w3, Y_w3, 0).Pass through 2 range formulas can acquire long L=in following three dimensions | A₁A₃| and width W=| A₁A₂|。

S8, computed altitude：As shown in Figure 5 and Figure 6, it is known that height H=| A₁A₄|, institute parallel with world coordinate system Z-direction Z axis coordinate with angle point A4 is height H, and the X axis coordinate and Y axis coordinate of angle point A4 is identical as angle point A1, i.e. X_w4=X_w1, Y_w4 =Y_w1。

The pixel coordinates (u4, v4) of known angle point A4 in the picture, then substituted into formula (4), due to video camera Internal reference matrix is it is known that above step has acquired spin matrix R and translation vector T, then the unknown quantity of the Matrix division is Z_w、 Z_c.It obviously, only need to be by X_w4Or Y_w4Unknown quantity can be obtained by dematrix equation group by substituting into a value.Preferably, pass through wheel Stream substitutes into Xw4 and Yw4 and calculates Zw respectively twice, then takes the average value of the two as height H, promotes package elevation carrection to be measured Accuracy and reliability.

S9, volume is calculated：By length, width and height out calculated above, since package is cuboid or cube, Volume V=L × W × H of package can directly be calculated.

S10, judge whether to exit；If it is not, return to step S2.

The present invention accurately calculates the length ruler of package to be measured using the camera in real time under complicated scene It is very little, it can also be worked normally under outdoor strong light, the dimension information of package is calculated under the premise of ensureing precision.Due to this hair It is bright that the camera carried on hand-held terminal device (or mobile phone) is utilized, do not need additional fitting depth camera etc. more Expensive equipment, saves cost.In addition postposition camera shooting is natively integrated on courier's hand-held terminal device (or mobile phone) Head, the camera carried using mobile terminal can also be worked normally under outdoor strong light, so as to ensure precision Under the premise of calculate the length size of package to be measured in real time, to conveniently calculate the size letter of package to be measured Breath.Since present invention utilizes cameras on hand-held terminal device (or mobile phone), it need not additionally increase expensive equipment, section Cost is saved.In addition, user can also use the mobile terminal of instruction of the storage for measuring package volume measuring method to carry out The volume of the package to be measured of verification courier's estimation avoids courier by package to be measured to understand itself package dimensions information Volume more report and generate charge, reduce unnecessary mailing expense.

The 7th embodiment of the present invention, as shown in figure 13, a kind of measuring system of package volume is equipped with applied to measurement The volume of the package to be measured of plane mark object, including：

Image collection module 1000 acquires target image by the camera of mobile terminal；The target image includes institute State plane mark object, the upper surface of package to be measured equipped with the plane mark object and the to be measured package adjacent with upper surface Two side surfaces；

Picture recognition module 2000 carries out at image the target image that described image acquisition module 1000 obtains Reason, to identify the plane mark object in the target image；

Image processing module 3000 carries out image border to the target image that described image acquisition module 1000 obtains Detection, to identify the angle point of the package to be measured in the target image；

Cubing module 4000, the plane mark object identified according to described image identification module 2000, in advance The internal reference matrix and the angle point of the camera of acquisition, calculate the world coordinates of the angle point, to according to the generation of the angle point Boundary's coordinate obtains the volume of the package to be measured.

The 8th embodiment of the present invention is as shown in figure 14 the optimal enforcement example of above-mentioned 7th embodiment, a kind of package The measuring system of volume is applied to measure the volume of the package to be measured equipped with plane mark object, it is preferred that wrap up the measurement of volume System further includes：

Demarcating module demarcates the camera, obtains the internal reference matrix of the camera.

Specifically, the present embodiment is the optimal enforcement example of above-mentioned 7th embodiment, the present embodiment and above-mentioned 7th embodiment It compares, main improve is, has increased demarcating module newly to be demarcated to camera, i.e., using the above scheme in the present embodiment Before the volume for measuring package to be measured, it is also necessary to by demarcating module to for acquiring the camera of target video into rower It is fixed, specifically, by being demarcated to the camera, the internal reference matrix of the camera is obtained, that is, determines the camera The geometrical model of imaging.Camera calibration is the early-stage preparations stage of whole system, and vision survey is carried out when selecting a camera Amount must demarcate it, the internal reference matrix of the parameters such as distortion factor and focal length to obtain video camera composition.Follow-up The execution stage, the internal reference matrix of the video camera can be used to carry out corresponding vision measurement and calculating.Proving operation only needs It executes primary.

The chessboard calibration method that Zhang Zhengyou may be used in the demarcating module of the present invention demarcates camera, Zhang Zhengyou calibration Method by multiple cameras relative to chessboard different angle when the image that acquires the internal reference coefficient of camera is calculated, finally Obtain the internal reference matrix of camera.

The process of the plane reference method is as follows：

2. shooting several template images from different perspectives；

3. detecting the characteristic point in image；

The 9th embodiment of the present invention is as shown in figure 14 the optimal enforcement example of above-mentioned 7th or the 8th embodiment, one The measuring system of kind package volume is applied to measure the volume of the package to be measured equipped with plane mark object, mainly improves and be, institute Stating picture recognition module 2000 includes：

Binary segmentation submodule 2100 carries out binary segmentation to the target image that the extraction module obtains；

Shape extracting sub-module 2200 extracts appearance profile from the binary image after segmentation；

Sub-module stored 2300 stores the common feature of the appearance profile corresponding to the plane mark object, the plane Marker template；

Processing submodule 2400 is judged, corresponding to the plane mark object stored in the sub-module stored 2300 Appearance profile common feature, from the shape extracting sub-module 2200 extract appearance profile in choose have the general character The appearance profile of feature alternately profile；

Front view acquisition submodule 2500 obtains the front view of the alternative profile；

Identify submodule 2600, when front view and the sub-module stored 2300 of the alternative profile prestore it is described flat When face marker template is consistent, identify that the corresponding image of the alternative profile is the image of the plane mark object.

Specifically, the present embodiment is the optimal enforcement example of above-mentioned 7th or the 8th embodiment, the present embodiment and the above-mentioned 7th Or the 8th embodiment compare, main improve is how to be handled target image to identify screen plane marker Further refinement explanation is carried out.The present embodiment carries out binary segmentation to the target image, and binary segmentation i.e. will be on image The gray value of pixel is set as 0 or 255, that is, whole image is showed apparent black-white visual effect, and by image In separated with the different zones of special connotation, these regions are mutually disjointed, and each region meets the consistent of specific region Property.Binary segmentation can also be carried out to the image that camera obtains using adaptivity threshold value.Two are carried out to the target image It after being worth dividing processing, needs to identify plane mark object, since camera (but can may take plane from different perspectives Marker and the surface including plane mark object and other surfaces) shooting obtained different target videos, therefore, the figure of acquisition As the appearance of the plane mark object not necessarily front view in video frame.It so needs first to extract to shoot from all angles Plane mark object, and edge detection is carried out to the plane mark object, the general character for obtaining the appearance profile of the plane mark object is special Sign, then this common feature is stored in advance, convenient for the plane mark object is identified after acquiring video frame.Specifically , after carrying out binary segmentation to video frame images, the appearance profile of each image after extraction segmentation, according to plane mark beyond the region of objective existence The common feature of shape profile finds out alternative appearance profile, carries out polygon approach to profile, it is non-convex polygon to give up those Shape and those be not quadrangle profile.Further, it is also possible to using some additional restrictive conditions come reject those can not Can be the quadrangular configuration of plane mark object image, if quadrangle is significantly less than remaining side (shape is taller and thinner) on one side, wheel Wide perimeter or area are too small etc., and remaining qualified profile is the alternative profile that plane mark object may be corresponding.Than Such as, if the screen plane marker that we select is square, its appearance profile is can get after edge detection Common feature is quadrangle, then we just accordingly, from the appearance profile extracted, exclude those non-convex polygons, with And not be quadrangle profile etc..After obtaining alternative profile, be exactly in next step obtain the front view of each alternative profile, that is, Say becomes front view by the possible corresponding alternative contour images region of plane mark object, to further judge the alternative profile region Whether domain is the corresponding image of plane mark object.Specifically, by the way that the front view of each alternative profile is somebody's turn to do with pre-stored Plane mark object template is compared, and can judge that this alternative profile is plane under unanimous circumstances when having to compare The appearance profile of marker, the corresponding image of this alternative profile are exactly the image of plane mark object, so far, plane mark object quilt It identifies.The shape of plane mark object can be rectangle, diamond shape or square etc. shape.

The tenth embodiment of the present invention is as shown in figure 14 the optimal enforcement example of above-mentioned 9th embodiment, a kind of package The measuring system of volume is applied to measure the volume of the package to be measured equipped with plane mark object, and main improve is, the plane Marker is square, and the common feature of the appearance profile corresponding to the plane mark object of the storage submodule storage is Quadrangle；

The front view acquisition submodule 2500 includes：

Reading unit 2510 reads the pixel coordinate on four vertex of the alternative profile；

Definition unit 2520, the pixel for defining four vertex of the alternative profile after projective transformation is front view are sat It is designated as the pixel coordinate on four vertex of the front view of the plane mark object to prestore；

Computing unit 2530, the pixel coordinate on four vertex that the reading unit 2510 is read and the definition The pixel coordinate on four vertex that unit 2520 defines substitutes into following Projection Transformation On Plane formula (1) respectively, seeks projective transformation Matrix M：

Converter unit 2540, the projective transform matrix M sought according to the computing unit 2530, to described standby It selects all pixels of the corresponding binary image of profile to be carried out projective transformation, obtains the region that the alternative profile includes and correspond to Front view.

Specifically, the present embodiment is the optimal enforcement example of above-mentioned 9th embodiment, the present embodiment and above-mentioned 9th embodiment It compares, main improve is that the front view to how to acquire alternative profile has carried out further refinement explanation.The present embodiment Continue the example that the plane mark object in above-described embodiment is square to continue for example, according to square-shaped planar marker Square characteristic, for example, we can define the picture on four vertex of the alternative profile after projective transformation is converted to front view Plain coordinate, for example, square plane mark object front view four vertex pixel coordinates be respectively (0,0), (0,100), (100,100), (100,0), then can be using this four apex coordinates as the pixel on four vertex of the alternative profile of quadrangle Coordinate passes through four groups of vertex correspondences in addition, the pixel coordinate of the original image of the alternative profile of quadrangle can be read out from image Relationship, can Simultaneous Equations solve photography transformation matrix M, quadrangle can alternatively be taken turns using projective transform matrix M The all pixels in wide region are carried out projective transformation, you can the corresponding front view in region of the alternative profile of the quadrangle is obtained, it should Front view is 100 × 100 as size, you can obtains the corresponding front view in region of the alternative profile of the quadrangle, then should Unanimously whether front view is compared with the plane mark object template to prestore, see, then illustrate this quadrangle wheel if consistent Exterior feature is exactly the profile of the plane mark object, then plane mark object is just identified.Here select front view is to compare Because the image for the plane mark object that camera is shot from all angles is different, if camera is in plane mark object Surface, then the image of plane mark object is also a rectangle, if camera shooting in plane mark object oblique upper, square The image of shape plane mark object is an irregular quadrilateral, obtains the purpose that front view is compared and is exactly, no matter camera In terms of that angle, the front view of plane mark object is all a kind of image to look down from surface, in this way, being convenient for plane mark The identification of object.

The tenth one embodiment of the present invention is as shown in figure 14 that the optimization of above-mentioned seven, the 8th or the tenth embodiment is real Example, a kind of measuring system of package volume are applied, main improve is that described image processing module 3000 includes：

Edge detection submodule 3100 carries out edge detection process to the target image that the extraction module obtains, Obtain edge binary images；

Straight line searches submodule 3200, is looked into from the edge binary images that the edge detection submodule 3100 obtains Look for the edge line corresponding to package edge to be measured；

Angle point acquisition submodule 3300 calculates the straight line and searches in the edge line that submodule 3200 is found and appoints The position of the intersection point of meaning two edge lines composition, obtains the angle point of the package to be measured.

Specifically, the present embodiment is the optimal enforcement example of any one embodiment of above-mentioned seven, the 8th or the tenth embodiment, Compared with above-mentioned seven, the 8th or the tenth, main improve is the present embodiment, and the angle point of package to be measured is identified to how to detect Further refinement explanation is carried out.In the present embodiment, edge detection process is carried out to target image, obtains edge binary images, Canny edge detection algorithms can be used, i.e., detect apparent edge in target image with the smooth target image of Gaussian filter, Amplitude and the direction that gradient is calculated with the finite difference of single order local derviation carry out non-maxima suppression to gradient magnitude, use dual threashold Value-based algorithm detects and connection edge, since edge and the background contrast of package to be measured are apparent, so by edge detection algorithm, it can With these prominent apparent object edges, which can obtain including the bianry image at package edge to be measured in image.

ρ=xcos θ+ysin θ (5)

Hough line detection algorithm detection straight line is as follows：

The 12nd embodiment of the present invention, as shown in Figure 14 and Figure 15, a kind of measuring system of package volume, is above-mentioned The optimal enforcement example of any one embodiment in 7th embodiment to the 11st embodiment, main improve are that the volume is surveyed Measuring module 4000 includes：

Outer ginseng matrix acquisition submodule 4100, according to the plane mark object and the internal reference of the camera obtained in advance Matrix calculates the outer ginseng matrix of the camera current field；The outer ginseng matrix includes spin matrix and translation vector；

Angular coordinate acquisition submodule 4200, according to pixel coordinate of the angle point in pixel coordinate system, in conjunction with described Spin matrix and translation vector obtain the world coordinates of the angle point；

Length, width and height acquisition submodule 4300 calculates the length, width and height of the package to be measured according to the world coordinates of the angle point；

Volume acquisition submodule 4400 is wrapped up, the length, width and height, which are substituted into cubature formula, calculates the acquisition package to be measured Volume.

As shown in figure 15, the outer ginseng matrix acquisition submodule 4100 includes：

Coordinate system determining unit 4110 establishes world coordinate system using the midpoint of the plane mark object as origin；

Apex coordinate reading unit 4120 reads vertex of each vertex of the plane mark object in pixel coordinate system The vertex world coordinates of pixel coordinate and each vertex in world coordinate system；

Arithmetic element 4130, by the vertex pixel coordinate, vertex world coordinates and it is described obtain in advance described in take the photograph As the internal reference matrix of head substitutes into following formula (2) and formula (3) respectively, obtaining the camera in conjunction with formula (4) works as forward sight The spin matrix and translation vector of field：

As shown in figure 15, the angular coordinate acquisition submodule 4200 includes：

Corner pixels coordinate acquiring unit 4210 reads pixel of the angle point in the pixel coordinate system of video camera and sits Mark；

Angle point world coordinates acquiring unit 4220, by the pixel coordinate of the angle point, the camera obtained in advance The spin matrix and translation vector of internal reference matrix and the camera current field substitute into the formula (4) and obtain the angle The world coordinates of point；Wherein, (u, v, 1) indicates the homogeneous coordinates of the pixel coordinate of the angle point, and (Xw, Yw, Zw) is the angle The world coordinates of point, (Xw, Yw, Zw, 1) indicate the homogeneous coordinates of the world coordinates of the angle point；

As shown in figure 15, the length, width and height acquisition submodule 4300 includes：

Angle point world coordinates reading unit 4310 reads the corresponding world coordinates of any four angle point；Four angle points In any one angle point be the first angle point, and remaining three angle points connect the straight line point of generation two-by-two with first angle point respectively It is not parallel to the XYZ axis of the world coordinate system；

Length operation unit 4320, by the corresponding world coordinates of first angle point and the corresponding world of the second angle point Coordinate substitutes into 2 range formulas of coordinate, calculates the length for obtaining the package to be measured；Second angle point with described first jiao The straight line parallel that point connection generates is in the X-axis of the world coordinate system；

Width arithmetic element 4330, by the corresponding world coordinates of first angle point and the corresponding world of third angle point Coordinate substitutes into 2 range formulas of coordinate, calculates the width for obtaining the package to be measured；Second angle point with described first jiao The straight line parallel that point connection generates is in the Y-axis of the world coordinate system；

Height arithmetic element 4340, by the corresponding world coordinates of fourth angle point and the pixel coordinate of angle point, in conjunction with described The spin matrix and translation vector of the internal reference matrix of the camera obtained in advance, the camera current field, substitute into the public affairs Formula (4) calculates the height for obtaining the package to be measured；The fourth angle point connect the straight line parallel generated with first angle point In the Z axis of the world coordinate system.

As shown in Figure 5 and Figure 6, it is known that pixel coordinates (u1, v1) of the angle point A1 in pixel coordinate system is then substituted into public affairs In formula (4), since the internal reference matrix K of video camera is it is known that in addition, acquired spin matrix R and translation vector T, then the matrix The unknown quantity of equation group is X_w、Y_w、Z_c, the worlds of the angle point A1 under world coordinate system can be obtained by dematrix equation group and sit Mark (X_w1, Y_w1, 0), similarly can also be according to angle point A2, the corresponding pixel coordinate (ui, vi) of A3, A4 in pixel coordinate system, I ∈ N (i≤2) seek out world coordinates (X of the correspondence of each angle point of package to be measured on world coordinate system respectively_wi, Y_wi, 0), (i≤2) i ∈ N.

Read the corresponding world coordinates of any four angle point first, using any one angle point in four angle points of reading as First angle point, the straight line that remaining three angle points connect generation two-by-two with the first angle point respectively are respectively parallel to the world coordinates The XYZ axis of system, the second angle point connect the straight line parallel generated with the first angle point in the X-axis of world coordinate system, the second angle point and the For the straight line parallel that the connection of one angle point generates in the Y-axis of world coordinate system, it is flat that fourth angle point connect the straight line generated with the first angle point Row is in the Z axis of world coordinate system.Since the world coordinates of each angle point, such as Fig. 5 being calculated by step S421-S422 It is shown, it is assumed that the first angle point is A1, and the second angle point is A3, and third angle point is A2, and fourth angle point is A4, then the first angle point A1 World coordinates is (X_w1, Y_w1, 0), the world coordinates of the second angle point A3 is (X_w3, Y_w3, 0), the world coordinates of third angle point A2 is (X_w2, Y_w2, 0), the world coordinates of fourth angle point A4 is (X_w4, Y_w4, 0),

Thirteenth embodiment of the invention, a kind of storage medium, the storage medium is stored with a plurality of instruction, described a plurality of Instruction is executed by one or more processor, to realize following step：

S100 acquires target video by the camera of mobile terminal, and obtains target image from the target video； The target image include the plane mark object, the package surface to be measured of the target equipped with the plane mark object and with the mesh Mark several surfaces of the package adjacent package to be measured in surface to be measured；

S300 carries out Image Edge-Detection to the target image, described to be measured to be identified in the target image The intersection point being wrapped on the target image；

S400 calculates the package to be measured according to the plane mark object, the internal reference matrix obtained in advance and the intersection point On angle point world coordinates, to according to the angle point world coordinates obtain the volume of the package to be measured.

Preferably, on the basis of the above, another embodiment of storage medium of the present invention, the storage medium is stored with a plurality of Instruction, a plurality of instruction are executed by one or more processor, to realize the survey of any package volume of the present invention The step of measuring embodiment of the method.

The step of measurement method of package volume of the present invention, can be found in the embodiment of the method part of front, to reduce It repeats, it is no longer superfluous herein to chat.

Fourteenth embodiment of the invention, a kind of mobile terminal, including：Processor realizes each instruction；Storage medium is deposited Store up a plurality of instruction；Wherein：The processor executes the instruction of the storage medium storage, to realize the measurement method of package volume The step of.

As shown in figure 16, mobile terminal includes：Memory 1001, one or more (one is only shown in figure) processors 1002, these components of camera 1003 are mutually communicated by one or more communication bus signal wire.

It is appreciated that structure shown in Figure 16 is only to illustrate, and it is not to cause to limit to the structure of mobile terminal, it is mobile Terminal can also include more either less components or with the device different from shown in Figure 16 than shown in Figure 16.Figure 16 Shown in each component may be used hardware, software, or its combination realization.

Memory can be used for storing software program and module, such as the measurement method of the package volume in the embodiment of the present invention And the corresponding program instruction/module of system embodiment, processor by allowing to be stored in software program/module in memory, To perform various functions application and data processing, that is, realize measurement method/system of above-mentioned package volume.

Memory may include high speed random access memory, may also include nonvolatile memory, such as one or more magnetic Storage device, flash memory or other non-volatile solid state memories.The storage medium can be magnetic disc, CD, read-only storage Device (ROM, Read Only Memory), random access memory (RAM, Random Access Memory) etc..

The various functions and progress data of various softwares, instruction consistency mobile terminal in processor run memory Processing.Camera is the equal of the eyes of mobile terminal for shooting video, such as using CCD camera etc..

In the embodiment of the present invention, the measurement method and system of volume are wrapped up, storage medium and mobile terminal belong to same structure Think, on mobile terminals, the instruction stored in storage medium is executed by processor, the survey of corresponding package volume can be run The method provided in amount embodiment of the method, specific implementation process refer to the measurement method embodiment of the package volume of front, this Place repeats no more.

It should be noted that this field common test personnel are appreciated that realize the measurement of package volume of the embodiment of the present invention All or part of flow of method is relevant hardware can be controlled by computer program to complete, and computer program can It is stored in a computer read/write memory medium, such as stores in a memory in the mobile terminal, and by the mobile terminal At least one processor executes, and may include the flow of the measurement method embodiment such as package volume in the process of implementation.

It should be noted that above-described embodiment can be freely combined as needed.The above is only the preferred of the present invention Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention Under, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims

1. a kind of measurement method of package volume, which is characterized in that be applied to measure the package to be measured equipped with plane mark object Volume, including step：

S100 acquires target image by the camera of mobile terminal；The target image includes the plane mark object, is equipped with The upper surface of the package to be measured of the plane mark object, the to be measured package adjacent with the upper surface two side surfaces；

S200 carries out image procossing to the target image, to identify the plane mark object in the target image；

S300 carries out Image Edge-Detection to the target image, to identify the package to be measured in the target image Angle point；

S400 calculates the angle point according to the plane mark object, the internal reference matrix of the camera obtained in advance and the angle point World coordinates, to according to the world coordinates of the angle point obtain the volume of the package to be measured.

2. the measurement method of package volume according to claim 1, which is characterized in that the step S100 passes through mobile whole Include step before the camera acquisition target image at end：

3. the measurement method of package volume according to claim 1, which is characterized in that the step S200 is to the target Image carries out image procossing, to identify that the plane mark object specifically includes step in the target image：

The common feature of appearance profiles of the S220 corresponding to the plane mark object to prestore, from the appearance profile of extraction Choose the alternately profile of the appearance profile with the common feature；

S230 obtains the front view of the alternative profile；

S240 identifies the alternative wheel when the front view of the alternative profile is consistent with the plane mark object template to prestore Wide corresponding image is the image of the plane mark object.

4. the measurement method of package volume according to claim 3, which is characterized in that the plane mark object is pros Shape, the default contour feature corresponding to the plane mark object to prestore in the step S220 are quadrangle；

S231 reads the pixel coordinate on four vertex of the alternative profile；

The pixel coordinate that S232 defines four vertex of the alternative profile after projective transformation is front view is the institute to prestore State the pixel coordinate on four vertex of the front view of plane mark object；

S233 is by the pixel coordinate on four vertex of above-mentioned reading and the pixel coordinate on four vertex of the definition generation respectively Enter Projection Transformation On Plane formula (1), seeks projective transform matrix M：

Wherein, X is the homogeneous pixel coordinate on alternative profile vertex, and nonhomogeneous pixel coordinate is X ' is The homogeneous coordinates on vertex after projective transformation, nonhomogeneous pixel coordinate are

S234 is carried out all pixels of the corresponding binary image of the alternative profile according to the projective transform matrix M Projective transformation obtains the corresponding front view in region that the alternative profile includes.

5. wrapping up the measurement method of volume according to claim 1-4 any one of them, which is characterized in that S300 pairs of the step The target image carries out Image Edge-Detection, to identify that the angle point of the package to be measured is specific in the target image Including step：

S330 calculates the position of the intersection point of arbitrary two edge lines composition in the edge line, obtains the package to be measured Angle point.

6. wrapping up the measurement method of volume according to claim 1-4 any one of them, which is characterized in that the step S400 roots According to the plane mark object, the internal reference matrix of the camera obtained in advance and the angle point, the world coordinates of the angle point is calculated, Volume to obtain the package to be measured according to the world coordinates of the angle point specifically includes step：

It is current to calculate the camera according to the plane mark object and the internal reference matrix of the camera obtained in advance by S410 The outer ginseng matrix of visual field；The outer ginseng matrix includes spin matrix and translation vector；

Pixel coordinates of the S420 according to the angle point in pixel coordinate system obtains institute in conjunction with the spin matrix and translation vector State the world coordinates of angle point；

7. the measurement method of package volume according to claim 6, which is characterized in that the step S410 is according to described flat The internal reference matrix of face marker and the camera obtained in advance calculates the spin matrix peace of the camera current field The amount of shifting to specifically includes step：

S412 reads vertex pixel coordinate and each vertex of each vertex of the plane mark object in pixel coordinate system Vertex world coordinates in world coordinate system；

S413 is by the vertex pixel coordinate, the internal reference matrix of vertex world coordinates and the camera obtained in advance Substitute into following formula (2) and formula (3) respectively, in conjunction with formula (4) obtain the camera current field spin matrix and Translation vector：

Wherein, (u, v, 1) indicates target point pixel coordinate in the pixel coordinate system of video camera described in the plane mark object Homogeneous coordinates, (Xw, Yw, Zw, 1) indicates the homogeneous coordinates of target point world coordinates in the world coordinate system, (Xc, Yc, Zc) indicates camera coordinates of the target point in the camera coordinates system of video camera；Fx indicates the object of camera lens Focal length F and imager are managed in the product of each unit size of X-direction, fy indicates physics focal length F and the imaging of camera lens In the product of each unit size in y-axis direction, the expression imager centers cx and the offset of optical axis in the X-axis direction, cy are indicated instrument Due to imager imager center and the offset of optical axis in the Y-axis direction；R indicates rotation of the world coordinate system to camera coordinates system Matrix, T indicate the world coordinate system to the translation vector of the camera coordinates system.

8. the measurement method of package volume according to claim 7, which is characterized in that the step S420 is according to the angle Pixel coordinate of the point in pixel coordinate system obtains the world coordinates tool of the angle point in conjunction with the spin matrix and translation vector Body includes step：

S422 is current by the pixel coordinate of the angle point, the internal reference matrix of the camera obtained in advance and the camera The spin matrix and translation vector of visual field substitute into the formula (4) and obtain the world coordinates of the angle point；Wherein, (u, v, 1) Indicate the homogeneous coordinates of the pixel coordinate of the angle point, (Xw, Yw, Zw) is the world coordinates of the angle point, (Xw, Yw, Zw, 1) Indicate the homogeneous coordinates of the world coordinates of the angle point；

The length, width and height that the step S430 calculates the package to be measured according to the world coordinates of the angle point specifically include step：

S431 reads the corresponding world coordinates of any four angle point；Any one angle point is the first angle point in four angle points, And the straight line that remaining three angle points connect generation two-by-two with first angle point respectively is respectively parallel to the world coordinate system XYZ axis；

S432 by the corresponding world coordinates of first angle point and the corresponding world coordinates of the second angle point substitute into 2 points of coordinate away from From formula, the length for obtaining the package to be measured is calculated；It is flat that second angle point connect the straight line generated with first angle point Row is in the X-axis of the world coordinate system；

S433 by the corresponding world coordinates of first angle point and the corresponding world coordinates of third angle point substitute into 2 points of coordinate away from From formula, the width for obtaining the package to be measured is calculated；It is flat that second angle point connect the straight line generated with first angle point Row is in the Y-axis of the world coordinate system；

S434 is by the corresponding world coordinates of fourth angle point and the pixel coordinate of angle point, in conjunction with the camera obtained in advance The spin matrix and translation vector of internal reference matrix, the camera current field are substituted into and are waited for described in the formula (4) calculating acquisition Survey the height of package；The fourth angle point connect the straight line parallel generated with first angle point in the Z of the world coordinate system Axis.

9. a kind of measuring system of package volume, which is characterized in that be applied to measure the package to be measured equipped with plane mark object Volume, the measuring system for wrapping up volume include：

Image collection module acquires target image by the camera of mobile terminal；The target image includes the plane mark Know two sides of the upper surface and the to be measured package adjacent with upper surface of object, package to be measured equipped with the plane mark object Surface；

Picture recognition module carries out image procossing, to described to the target image that described image acquisition module obtains The plane mark object is identified in target image；

Image processing module carries out Image Edge-Detection to the target image that described image acquisition module obtains, thus The angle point of the package to be measured is identified in the target image；

Cubing module, the plane mark object identified according to described image identification module, the camera obtained in advance Internal reference matrix and the angle point, the world coordinates of the angle point is calculated, to according to the world coordinates of the angle point obtain institute State the volume of package to be measured.

10. the measuring system of package volume according to claim 9, which is characterized in that further include：

11. the measuring system of package volume according to claim 9, which is characterized in that described image identification module includes：

Binary segmentation submodule carries out binary segmentation to the target image that the extraction module obtains；

Shape extracting sub-module extracts appearance profile from the binary image after segmentation；

Sub-module stored stores the common feature of the appearance profile corresponding to the plane mark object, the plane mark object mould Plate；

Judge processing submodule, the appearance profile corresponding to the plane mark object stored in the sub-module stored Common feature chooses the appearance profile work with the common feature from the appearance profile that the shape extracting sub-module is extracted For alternative profile；

Front view acquisition submodule obtains the front view of the alternative profile；

Submodule is identified, when the plane mark object template that front view and the sub-module stored of the alternative profile prestore When consistent, identify that the corresponding image of the alternative profile is the image of the plane mark object.

12. the measuring system of package volume according to claim 11, which is characterized in that the plane mark object is pros The common feature of shape, the appearance profile corresponding to the plane mark object that the storage submodule stores is quadrangle；

The front view acquisition submodule includes：

Reading unit reads the pixel coordinate on four vertex of the alternative profile；

Definition unit, the pixel coordinate for defining four vertex of the alternative profile after projective transformation is front view are to prestore The plane mark object front view four vertex pixel coordinate；

Computing unit, four that the pixel coordinate on four vertex that the reading unit is read and the definition unit are defined The pixel coordinate on a vertex substitutes into following Projection Transformation On Plane formula (1) respectively, seeks projective transform matrix M：

Converter unit, the projective transform matrix M sought according to the computing unit are corresponding to the alternative profile The all pixels of binary image are carried out projective transformation, obtain the corresponding front view in region that the alternative profile includes.

13. wrapping up the measuring system of volume according to claim 9-12 any one of them, which is characterized in that described image processing Module includes：

Edge detection submodule carries out edge detection process to the target image that the extraction module obtains, obtains edge Bianry image；

Straight line searches submodule, is searched corresponding to be measured from the edge binary images that the edge detection submodule obtains Wrap up the edge line at edge；

It is straight to calculate arbitrary two edges in the edge line that the straight line lookup submodule is found for angle point acquisition submodule The position of the intersection point of line composition, obtains the angle point of the package to be measured.

14. the measuring system of package volume according to claim 9, which is characterized in that the cubing module includes：

Outer ginseng matrix acquisition submodule, according to the plane mark object and the internal reference matrix of the camera obtained in advance, meter Calculate the outer ginseng matrix of the camera current field；The outer ginseng matrix includes spin matrix and translation vector；

Angular coordinate acquisition submodule, according to pixel coordinate of the angle point in pixel coordinate system, in conjunction with the spin matrix The world coordinates of the angle point is obtained with translation vector；

Volume acquisition submodule is wrapped up, the length, width and height are substituted into the volume that cubature formula calculates the acquisition package to be measured.

15. the measuring system of package volume according to claim 14, which is characterized in that the outer ginseng matrix obtains submodule Block includes：

Apex coordinate reading unit reads vertex pixel of each vertex of the plane mark object in pixel coordinate system and sits The vertex world coordinates of mark and each vertex in world coordinate system；

Arithmetic element, will be in the vertex pixel coordinate, vertex world coordinates and the camera obtained in advance Ginseng matrix substitutes into following formula (2) and formula (3) respectively, and the rotation of the camera current field is obtained in conjunction with formula (4) Matrix and translation vector：

16. the measuring system of package volume according to claim 15, which is characterized in that the angular coordinate obtains submodule Block includes：

Angle point world coordinates acquiring unit, by the pixel coordinate of the angle point, the internal reference matrix of the camera obtained in advance And the spin matrix and translation vector of the camera current field substitute into the formula (4) and obtain the world of the angle point Coordinate；Wherein, (u, v, 1) indicates the homogeneous coordinates of the pixel coordinate of the angle point, and (Xw, Yw, Zw) is the world of the angle point Coordinate, (Xw, Yw, Zw, 1) indicate the homogeneous coordinates of the world coordinates of the angle point；

The length, width and height acquisition submodule includes：

Angle point world coordinates reading unit reads the corresponding world coordinates of any four angle point；It is any one in four angle points A angle point is the first angle point, and the straight line that remaining three angle points connect generation two-by-two with first angle point respectively is respectively parallel to The XYZ axis of the world coordinate system；

Length operation unit substitutes into the corresponding world coordinates of first angle point and the corresponding world coordinates of the second angle point 2 range formulas of coordinate calculate the length for obtaining the package to be measured；Second angle point connect life with first angle point At straight line parallel in the X-axis of the world coordinate system；

Width arithmetic element substitutes into the corresponding world coordinates of first angle point and the corresponding world coordinates of third angle point 2 range formulas of coordinate calculate the width for obtaining the package to be measured；Second angle point connect life with first angle point At straight line parallel in the Y-axis of the world coordinate system；

Height arithmetic element, by the corresponding world coordinates of fourth angle point and the pixel coordinate of angle point, in conjunction with the advance acquisition The internal reference matrix of camera, the camera current field spin matrix and translation vector, substitute into the formula (4) calculating Obtain the height of the package to be measured；The fourth angle point connect the straight line parallel generated with first angle point in the world The Z axis of coordinate system.

17. a kind of storage medium, which is characterized in that the storage medium is stored with a plurality of instruction, and a plurality of instruction is by one Or multiple processors execute, the step of measurement method to realize the package volume described in any one of claim 1-8.

18. a kind of mobile terminal, which is characterized in that including：

Processor realizes each instruction；

Storage medium stores a plurality of instruction；

Wherein：The processor executes the instruction of the storage medium storage, to realize claim 1-8 any one of them packets The step of wrapping up in the measurement method of volume.