CN113674359B - Object information detection method and device, electronic equipment and storage medium - Google Patents
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Abstract
The application provides an object information detection method and device, electronic equipment and a storage medium, and belongs to the technical field of intelligent home. The method comprises the steps of obtaining a first image and a first coordinate conversion relation corresponding to the first image, obtaining a second image and a second conversion relation corresponding to the second image, wherein the first image comprises a first object set, and the second image comprises a second object set; determining a first coordinate set of the first object set in a first coordinate system and a second coordinate set of the second object set in a second coordinate system; determining a first target coordinate set of the first object set in a preset world coordinate system based on the first coordinate set and the first coordinate conversion relation, and determining a second target coordinate set of the second object set in the preset world coordinate system based on the second coordinate set and the second coordinate conversion relation; object information of an object within the target device is determined based on the first set of target coordinates and the second set of target coordinates. To enable automatic determination of object information for objects within the device.
Description
Technical Field
The present application relates to the field of smart home technologies, and in particular, to a method and apparatus for detecting object information, an electronic device, and a storage medium.
Background
Along with the development of science and technology and the improvement of living standard of people, the demand of people for intelligence is higher and higher, and under the trend, home intelligence has become the main research direction of home industry. The refrigerator is a household appliance which is frequently used by people, food material management on the refrigerator is a main trend of the intellectualization of the refrigerator, the precondition of realizing the food material management is to acquire the food material information stored in the refrigerator by a user, and at present, the food material information stored in the refrigerator is acquired mainly by a method manually input by the user, so that the intelligent function is not realized.
Disclosure of Invention
The embodiment of the application aims to provide an object information detection method, an object information detection device, electronic equipment and a storage medium, so as to solve the problem that the acquisition of food material information stored in a refrigerator by means of manual input of a user is not intelligent enough. The specific technical scheme is as follows:
in a first aspect, there is provided an object information detection method, the method including:
Acquiring a first image and a first coordinate conversion relation converted from a pixel coordinate system of the first image to a preset world coordinate system, acquiring a second image and a second coordinate conversion relation converted from a pixel coordinate system of the second image to the preset world coordinate system, wherein the first image comprises a first object set acquired at a first position in target equipment, the second image comprises a second object set acquired at a second position in the target equipment, and the first position and the second position are different two positions;
Determining a first coordinate set of a first coordinate system to which the first object set belongs in the first image, and a second coordinate set of a second coordinate system to which the second object set belongs in the second image;
Determining a first target coordinate set of the first object set in the preset world coordinate system based on the first coordinate set and the first coordinate conversion relation, and determining a second target coordinate set of the second object set in the preset world coordinate system based on the second coordinate set and the second coordinate conversion relation;
object information of an object within the target device is determined based on the first set of target coordinates and the second set of target coordinates.
Optionally, the object information includes: the number of objects within the target device;
the determining object information of the object in the target device based on the first target coordinate set and the second target coordinate set includes:
Determining a coordinate combination set based on the first target coordinate set and the second target coordinate set, wherein the coordinate combination set comprises at least one coordinate combination, and the coordinate combination comprises one first target coordinate in the first target coordinate set and one second target coordinate in the second target coordinate set;
determining the distance corresponding to the coordinate combination, and obtaining at least one distance corresponding to the coordinate combination set;
Selecting the coordinate combination with the distance smaller than a preset distance threshold value from the coordinate combination set as a target coordinate combination, and determining a third number of the target coordinate combinations, wherein a first target coordinate and a second target coordinate in the target coordinate combination correspond to the same object in the target equipment;
determining a first number of first objects corresponding to the first object set, and determining a second number of second objects corresponding to the second object set;
removing the third number from the sum of the first number and the second number results in a number of objects within the target device.
Optionally, the method further comprises:
Judging whether the number of objects in the target equipment exceeds a preset number threshold;
under the condition that the number of the objects in the target equipment does not exceed a preset number threshold, the number of the objects in the target equipment is sent to a first display end, so that the first display end displays the number of the objects in the target equipment;
And under the condition that the number of the objects in the target equipment exceeds a preset number threshold, sending the number of the objects in the target equipment and prompt information for prompting that the storage number in the target equipment reaches an upper limit to the first display end so that the first display end displays the number of the objects in the target equipment and the prompt information.
Optionally, the object information includes: the relative position of the object in the target device with respect to the calibration point;
the determining object information of the object in the target device based on the first target coordinate set and the second target coordinate set includes:
Determining a target calibration point corresponding to the preset world coordinate system;
Determining a first vector based on coordinates of the first target coordinates corresponding to the target calibration point for any first target coordinates in the first set of target coordinates, and determining a second vector based on coordinates of the second target coordinates corresponding to the target calibration point for any second target coordinates in the second set of target coordinates;
Based on the first vector, a first relative position of a first object corresponding to the first target coordinate with respect to the calibration point is determined, and based on the second vector, a second relative position of a second object corresponding to the second target coordinate with respect to the calibration point is determined.
Optionally, the method further comprises:
For any first object in the first object set, intercepting a part containing the first object from the first image to obtain a first target image containing the first object, taking the first target image as an identifier of the first object, and for any second object in the second object set, intercepting a part containing the second object from the second image to obtain a second target image containing the second object, and taking the second target image as an identifier of the second object;
and sending the identification of the first object and the first relative position of the first object relative to the calibration point, and the identification of the second object and the second relative position of the second object relative to the calibration point to a second display end so that the second display end displays.
Optionally, the method further comprises:
Determining attribute information of the first object based on the first image for any first object in the first object set, and determining attribute information of the second object based on the second image for any second object in the second object set;
and determining the first object and the second object with the same attribute information as the same object in the target equipment.
Optionally, the method further comprises:
Acquiring world coordinates of six calibration points preset in the target equipment under the preset world coordinate system;
For each calibration point, determining a first pixel coordinate of a first coordinate system to which the calibration point belongs in the first image, and determining a second pixel coordinate of a second coordinate system to which the calibration point belongs in the second image, wherein the first image and the second image comprise six calibration points;
the first coordinate conversion relation is determined based on world coordinates of the six calibration points and the first pixel coordinates, and the second coordinate conversion relation is determined based on world coordinates of the six calibration points and the second pixel coordinates.
In a second aspect, there is provided an object information detection method apparatus, the apparatus including:
The system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a first image and a first coordinate conversion relation from a pixel coordinate system of the first image to a preset world coordinate system, acquiring a second image and a second coordinate conversion relation from the pixel coordinate system of the second image to the preset world coordinate system, the first image comprises a first object set acquired at a first position in target equipment, the second image comprises a second object set acquired at a second position in the target equipment, and the first position and the second position are different two positions;
A first determining module, configured to determine a first coordinate set of a first coordinate system to which the first object set belongs in the first image, and a second coordinate set of a second coordinate system to which the second object set belongs in the second image;
A second determining module, configured to determine a first target coordinate set of the first object set in the preset world coordinate system based on the first coordinate set and the first coordinate conversion relation, and determine a second target coordinate set of the second object set in the preset world coordinate system based on the second coordinate set and the second coordinate conversion relation;
and a third determining module, configured to determine object information of an object in the target device based on the first target coordinate set and the second target coordinate set.
Optionally, the object information includes: the number of objects within the target device;
The third determining module is specifically configured to:
Determining a coordinate combination set based on the first target coordinate set and the second target coordinate set, wherein the coordinate combination set comprises at least one coordinate combination, and the coordinate combination comprises one first target coordinate in the first target coordinate set and one second target coordinate in the second target coordinate set;
determining the distance corresponding to the coordinate combination, and obtaining at least one distance corresponding to the coordinate combination set;
Selecting the coordinate combination with the distance smaller than a preset distance threshold value from the coordinate combination set as a target coordinate combination, and determining a third number of the target coordinate combinations, wherein a first target coordinate and a second target coordinate in the target coordinate combination correspond to the same object in the target equipment;
determining a first number of first objects corresponding to the first object set, and determining a second number of second objects corresponding to the second object set;
removing the third number from the sum of the first number and the second number results in a number of objects within the target device.
Optionally, the apparatus further includes a sending module, where the sending module is configured to:
Judging whether the number of objects in the target equipment exceeds a preset number threshold;
under the condition that the number of the objects in the target equipment does not exceed a preset number threshold, the number of the objects in the target equipment is sent to a first display end, so that the first display end displays the number of the objects in the target equipment;
And under the condition that the number of the objects in the target equipment exceeds a preset number threshold, sending the number of the objects in the target equipment and prompt information for prompting that the storage number in the target equipment reaches an upper limit to the first display end so that the first display end displays the number of the objects in the target equipment and the prompt information.
Optionally, the object information includes: the relative position of the object in the target device with respect to the calibration point;
The third determining module is further configured to:
Determining a target calibration point corresponding to the preset world coordinate system;
Determining a first vector based on coordinates of the first target coordinates corresponding to the target calibration point for any first target coordinates in the first set of target coordinates, and determining a second vector based on coordinates of the second target coordinates corresponding to the target calibration point for any second target coordinates in the second set of target coordinates;
Based on the first vector, a first relative position of a first object corresponding to the first target coordinate with respect to the calibration point is determined, and based on the second vector, a second relative position of a second object corresponding to the second target coordinate with respect to the calibration point is determined.
Optionally, the device sending module is further configured to:
For any first object in the first object set, intercepting a part containing the first object from the first image to obtain a first target image containing the first object, taking the first target image as an identifier of the first object, and for any second object in the second object set, intercepting a part containing the second object from the second image to obtain a second target image containing the second object, and taking the second target image as an identifier of the second object;
and sending the identification of the first object and the first relative position of the first object relative to the calibration point, and the identification of the second object and the second relative position of the second object relative to the calibration point to a second display end so that the second display end displays.
Optionally, the device further comprises an acquisition module, wherein the acquisition module is used for:
Determining attribute information of the first object based on the first image for any first object in the first object set, and determining attribute information of the second object based on the second image for any second object in the second object set;
and determining the first object and the second object with the same attribute information as the same object in the target equipment.
Optionally, the apparatus further includes a fourth determining module, where the fourth determining module is configured to:
Acquiring world coordinates of six calibration points preset in the target equipment under the preset world coordinate system;
For each calibration point, determining a first pixel coordinate of a first coordinate system to which the calibration point belongs in the first image, and determining a second pixel coordinate of a second coordinate system to which the calibration point belongs in the second image, wherein the first image and the second image comprise six calibration points;
the first coordinate conversion relation is determined based on world coordinates of the six calibration points and the first pixel coordinates, and the second coordinate conversion relation is determined based on world coordinates of the six calibration points and the second pixel coordinates.
In a third aspect, an electronic device is provided, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of the first aspects when executing a program stored on a memory.
In a fourth aspect, a computer-readable storage medium is provided, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of the first aspects.
In a fifth aspect, there is provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform any of the above-described object information detection method methods.
The embodiment of the application has the beneficial effects that:
The embodiment of the application provides an object information detection method, an object information detection device, electronic equipment and a storage medium, wherein in the method, object information of an object in target equipment can be determined by determining a first target coordinate set corresponding to the first object set and a second target coordinate set corresponding to the second object set through a first image comprising the first object set and a second image comprising the second object set acquired in target equipment, so that the object information of the object in the equipment is automatically determined without manual operation; in addition, the object set is acquired at two positions in the target equipment, so that the problem of inaccurate detection caused by the shielding condition easily occurring when the object set is acquired at a single position can be avoided, and the acquired object set is ensured to be more comprehensive and accurate.
Of course, it is not necessary for any one product or method of practicing the application to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a flowchart of an object information detection method according to an embodiment of the present application;
Fig. 2 is a schematic diagram of installing a camera in a target device according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a method for positioning a calibration point in a target device according to an embodiment of the present application;
FIG. 4 is a schematic diagram of setting a world coordinate system in a target device according to an embodiment of the present application;
FIG. 5 is a flowchart of an object information detection method according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of an object information detection method device according to an embodiment of the present application;
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
At present, the method of manually inputting by a user is mainly used for acquiring food material information stored in the refrigerator, so that the intelligent refrigerator is not intelligent enough. For this reason, the embodiment of the application provides an object information detection method.
The following will describe in detail an object information detection method provided in the embodiment of the present application with reference to the specific embodiment, as shown in fig. 1, the specific steps are as follows:
S101, acquiring a first image and a first coordinate conversion relation converted from a pixel coordinate system of the first image to a preset world coordinate system, acquiring a second image and a second coordinate conversion relation converted from the pixel coordinate system of the second image to the preset world coordinate system, wherein the first image comprises a first object set acquired at a first position in target equipment, the second image comprises a second object set acquired at a second position in the target equipment, and the first position and the second position are different two positions.
In an embodiment of the present application, the target device is a device with a receiving cavity (e.g., a refrigerator), and the object is stored in the receiving cavity of the target device (e.g., food stored in the refrigerator). The first coordinate conversion relation is used for converting the pixel coordinates of the first object set in the pixel coordinate system of the first image into world coordinates under a preset world coordinate system, and the second coordinate conversion relation is used for converting the pixel coordinates of the second object set in the pixel coordinate system of the second image into world coordinates under the preset world coordinate system, so that the first object set in the first image and the second object set in the second image are converted into the same coordinate system.
In this embodiment, by acquiring the object sets at two positions in the target device, the problem that the detection is inaccurate due to the fact that the occlusion condition is easy to occur when the object sets are acquired at a single position is avoided, that is, the first image and the second image are acquired by the acquisition device, wherein the first image includes the first object set acquired at the first position in the target device, and the second image includes the second object set acquired at the second position in the target device, and because the first object set and the second object set are the object sets acquired at two positions in the same target device, the first object set and the second object set may have a situation of partially repeating or completely repeating.
In one implementation of the embodiment of the present application, a first camera is disposed at a first location within the target device for acquiring a first image including a first set of objects at the first location, and a second camera is disposed at a second location within the target device for acquiring a second image including a second set of objects at the second location. The setting mode of the camera is shown in fig. 2, wherein fig. 1 is a top view of the inside of the target device, fig. 2 is a side view of the inside of the target device, a represents the target device, B represents the first camera and the second camera, and the first camera and the second camera are installed in the target device and face the inside of the target device.
In one implementation of the embodiment of the present application, the first camera and the second camera may be the same camera, and the camera resource is saved by moving the camera to the first position to collect the first image and moving the camera to the second position to collect the second image.
In yet another implementation of the embodiment of the present application, cameras may be provided at two or more locations within the target device to capture images at the two or more locations within the target device.
S102, determining a first coordinate set of a first coordinate system to which the first object set belongs in the first image, and a second coordinate set of a second coordinate system to which the second object set belongs in the second image.
In the embodiment of the application, the first coordinate system is a pixel coordinate system in the first image, and the second coordinate system is a pixel coordinate system in the second image. For each first object in the first object set, determining a first coordinate of the first object under a first coordinate system to obtain a first coordinate corresponding to each first object, namely, obtaining a first coordinate set corresponding to the first object set, and similarly, determining a second coordinate set corresponding to the second object set.
S103, determining a first target coordinate set of the first object set in the preset world coordinate system based on the first coordinate set and the first coordinate conversion relation, and determining a second target coordinate set of the second object set in the preset world coordinate system based on the second coordinate set and the second coordinate conversion relation.
In the embodiment of the application, a world coordinate system is preset in target equipment, in order to unify the objects in a first object set and a second object set into the world coordinate system, for each first coordinate in the first coordinate set and a first coordinate conversion relation, the first coordinate is converted into a first target coordinate under the world coordinate system, so as to obtain a first target coordinate corresponding to each first object under the preset world coordinate system, namely, a first target coordinate set is obtained, and similarly, a second target coordinate set of the second object set in the preset world coordinate system is determined based on the second coordinate set and the second coordinate conversion relation.
S104, determining object information of an object in the target equipment based on the first target coordinate set and the second target coordinate set.
In the embodiment of the application, the object information refers to attribute information of the object in the target device. Because the target coordinates in the first target coordinate set and the second target coordinate set are the coordinates in the preset world coordinate system, and the world coordinate system is preset based on the target device, the object information of the object in the target device can be determined based on the first target coordinate set and the second target coordinate set.
In the embodiment of the application, the first target coordinate set corresponding to the first object set and the second target coordinate set corresponding to the second object set can be determined through the first image comprising the first object set and the second image comprising the second object set acquired in the target equipment, so that the object information of the object in the target equipment is determined, and the object information of the object in the equipment is automatically determined without manual operation; in addition, the object set is acquired at two positions in the target equipment, so that the problem of inaccurate detection caused by the shielding condition easily occurring when the object set is acquired at a single position can be avoided, and the acquired object set is ensured to be more comprehensive and accurate.
In yet another embodiment of the present application, the first image and the second image may be acquired by:
Determining attribute information of the first object based on the first image for any first object in the first object set, and determining attribute information of the second object based on the second image for any second object in the second object set;
and determining the first object and the second object with the same attribute information as the same object in the target equipment.
In the embodiment of the application, the attribute information can include, but is not limited to, information including color, shape, texture, text, and the like. When the attribute information of a first object and a second object are identical, determining that the first object and the second object are the same object in the target device. According to the scheme, whether the first object and the second object are the same object or not can be directly determined according to the first image and the second image, and the determination process is simple and efficient.
In still another embodiment of the present application, the first coordinate conversion relationship and the second coordinate conversion relationship may be determined by:
Step one, obtaining world coordinates of six calibration points preset in the target equipment under the preset world coordinate system;
Step two, for each calibration point, determining a first pixel coordinate of a first coordinate system to which the calibration point belongs in the first image, and determining a second pixel coordinate of a second coordinate system to which the calibration point belongs in the second image, wherein the first image and the second image both contain six calibration points;
And step three, determining the first coordinate conversion relation based on world coordinates of the six calibration points and the first pixel coordinates, and determining the second coordinate conversion relation based on world coordinates of the six calibration points and the second pixel coordinates.
In the embodiment of the present application, six calibration points are set in the target device in advance, as shown in fig. 3, where each corner point of the black-white grid may be used as a calibration point, and six calibration points may be selected. A world coordinate system is established in target equipment in advance, wherein one establishment mode is as follows: and establishing a world coordinate system by taking the midpoint of the connecting line of the first camera and the second camera as a coordinate origin, such as an O-XYZ coordinate system shown in fig. 4. The method for determining the first coordinate conversion relation and the second coordinate conversion relation is the same, and specifically comprises the following steps:
For a point q= (X Y Z) T in the world coordinate system, if the corresponding point (pixel coordinate system) in the image captured by the camera is q= (u v) T, there is:
the conversion to homogeneous coordinates is as follows:
The above-mentioned formula is developed:
the finishing method can obtain:
Therefore, since the above formula can be generated by each group of world coordinates and pixel coordinates, the matrix P can be solved by knowing the world coordinates and pixel coordinates of the six calibration points, thereby obtaining the conversion relationship between the pixel coordinate system and the world coordinate system. In order to prevent the conversion relation from being invalid due to unexpected movement of the cameras, the two cameras need to calibrate and correct the conversion relation at regular time.
In still another embodiment of the present application, the object information includes the number of objects in the target device, as shown in fig. 5, and the step S104 may include the steps of:
S201, determining a coordinate combination set based on the first target coordinate set and the second target coordinate set, wherein the coordinate combination set comprises at least one coordinate combination, and the coordinate combination comprises one first target coordinate in the first target coordinate set and one second target coordinate in the second target coordinate set.
In the embodiment of the application, any first target coordinate in the first target coordinate set and any second target coordinate in the second target coordinate set are combined to obtain a coordinate combination set, and each coordinate combination in the coordinate set comprises one first target coordinate in the first target coordinate set and one second target coordinate in the second target coordinate set.
S202, determining the distance corresponding to the coordinate combination, and obtaining at least one distance corresponding to the coordinate combination set.
In the embodiment of the application, for each coordinate combination, the distance between the first target coordinate and the second target coordinate in the coordinate combination can be determined by using an IOU loss function or CIOU loss function and other modes, so that all the distances corresponding to the coordinate combination set are obtained.
S203, selecting the coordinate combination with the distance smaller than a preset distance threshold from the coordinate combination set as a target coordinate combination, and determining a third number of target coordinate combinations, wherein a first target coordinate and a second target coordinate in the target coordinate combination correspond to the same object in the target device.
In the embodiment of the application, the preset distance threshold is obtained by experimental verification according to specific parameters of the camera, the environment in the target equipment and the like. When the distance corresponding to the coordinate combination is smaller than the preset distance threshold, the first object corresponding to the first target coordinate and the second object corresponding to the second target coordinate in the coordinate combination are the same object in the target device. Therefore, a coordinate combination with a distance smaller than a preset distance threshold value is selected from the coordinate combination set as a target coordinate combination, and by determining the third number of the target coordinate combinations, it can be known how many of the first object and the second object are repeated.
S204, determining a first number of first objects corresponding to the first object set, and determining a second number of second objects corresponding to the second object set.
S205, removing the third quantity from the sum of the first quantity and the second quantity to obtain the quantity of the objects in the target equipment.
In the embodiment of the application, the first number of the first objects corresponding to the first object set and the second number of the second objects corresponding to the second object set are determined first, and the sum of the first number and the second number contains repeated counting of part of the objects, wherein the repeated counting number is the third number, so that the actual number of the objects in the target equipment can be obtained by removing the third number. For example, the first image includes 1, 2, 3, 4, and 5 first objects, the second image includes 3, 4, 5, and 6 second objects, and the target combination is determined to be three, so that the number of objects in the target device can be determined to be 5+4-3=6, that is, 1, 2, 3, 4, 5, and 6 six objects in the target device are determined.
In the embodiment of the application, any first target coordinate in the first target coordinate set and any second target coordinate in the second target coordinate set can be combined to obtain the coordinate combination set, and whether the first object corresponding to the first target coordinate and the second object corresponding to the second target coordinate in the coordinate combination are the same object in the target equipment or not is determined by determining the distance corresponding to the coordinate combination, so that the number of the objects in the target equipment is determined, the number of the objects in the equipment is automatically determined, artificial participation is not needed, and the determination efficiency is improved.
In yet another embodiment of the present application, the method may further comprise the steps of:
step one, judging whether the number of objects in the target equipment exceeds a preset number threshold;
Step two, under the condition that the number of the objects in the target equipment does not exceed a preset number threshold, the number of the objects in the target equipment is sent to a first display end, so that the first display end displays the number of the objects in the target equipment;
And step three, under the condition that the number of the objects in the target equipment exceeds a preset number threshold, sending the number of the objects in the target equipment and prompt information for prompting that the storage number in the target equipment reaches an upper limit to the first display end so that the first display end displays the number of the objects in the target equipment and the prompt information.
In the embodiment of the application, the first display end can be a display screen on a terminal device (such as a mobile phone) or a target device, and the display form can be one or more of characters, images or voices. After the number of the objects in the target equipment is determined, whether the storage number in the target equipment reaches the storage upper limit can be determined by judging whether the number of the objects in the target equipment exceeds a preset number threshold, and if the number of the objects in the target equipment does not exceed the preset number threshold, the storage number is indicated to not reach the upper limit, and the number of the objects in the target equipment is sent to a first display end for display; and under the condition that the number of the objects in the target equipment exceeds a preset number threshold, indicating that the storage number reaches an upper limit, and at the moment, sending the number of the objects in the target equipment and prompt information for prompting that the storage number in the target equipment reaches the upper limit to a first display end for display.
In the embodiment of the application, when the storage quantity in the target equipment does not reach the storage upper limit, the storage quantity is sent to the display end for display, and when the storage quantity in the target equipment reaches the storage upper limit, the storage quantity and the prompt information are sent to the display end for display, so that a user can know the storage condition in the target equipment without opening the target equipment, and the loss caused by frequently opening the target equipment is reduced while the user is convenient to know the storage condition in the target equipment.
In yet another embodiment of the present application, the object information includes: the relative position of the object within the target device with respect to the calibration point; the step S104 may include the following steps:
Step one, determining target calibration points corresponding to the preset world coordinate system;
Step two, for any first target coordinate in the first target coordinate set, determining a first vector based on the coordinate corresponding to the first target coordinate and the target calibration point, and for any second target coordinate in the second target coordinate set, determining a second vector based on the coordinate corresponding to the second target coordinate and the target calibration point;
and thirdly, based on the first vector, determining a first relative position of a first object corresponding to the first target coordinate relative to the calibration point, and based on the second vector, determining a second relative position of a second object corresponding to the second target coordinate relative to the calibration point.
In the embodiment of the application, after the first target coordinate set and the second target coordinate set are determined, the relative position of the first object corresponding to the first target coordinate and the calibration point can be determined by determining the relation between the first target coordinate and the calibration point in the first target coordinate set, and the specific process is as follows: for any first target coordinate in the first target coordinate set, subtracting the coordinate corresponding to the first target coordinate from the coordinate corresponding to the calibration point to obtain a first vector, wherein the first vector can embody the distance and the direction, so that the relative position of the first object corresponding to the first target coordinate relative to the calibration point can be determined through the first vector, and the relative position of the second object in the second object set relative to the calibration point can be obtained in the same way. According to the embodiment of the application, the marked point is used as a reference object of the relative position, so that the user can know the positions of the first object and the second object in the target device more conveniently compared with the direct-view coordinate.
In yet another embodiment of the present application, the method may further comprise the steps of:
Step one, for any first object in the first object set, intercepting a part containing the first object from the first image to obtain a first target image containing the first object, taking the first target image as an identifier of the first object, and for any second object in the second object set, intercepting a part containing the second object from the second image to obtain a second target image containing the second object, and taking the second target image as an identifier of the second object;
And step two, the identification of the first object and the first relative position of the first object relative to the standard point, and the identification of the second object and the second relative position of the second object relative to the standard point are sent to a second display end so that the second display end displays the identification of the first object and the first relative position of the first object relative to the standard point.
In the embodiment of the application, the second display end can be a display screen on a terminal device (such as a mobile phone) or a target device, and the display form can be a combination form of characters and images. The first image comprises a first object set, for any first object in the first object set, a part containing the first object is cut from the first image, preferably, a part containing only the first object but not other first objects is cut to obtain a first target image, the first target image is used as an identifier of the first object, the identifier and a first relative position of the first object relative to a standard point are sent to be indicated as a second display end to be displayed, the identifier and the first relative position corresponding to the same first object are used as display information to be displayed in the same area during display, the second target image corresponding to the second object is determined by the same method, and the identifier and the second relative position corresponding to the second object are sent. According to the scheme, the user can know the object stored in the target device and the position corresponding to the object without opening the target device, so that the user experience is improved, and meanwhile, the loss caused by frequently opening the target device is reduced.
In the embodiment of the application, the first target coordinate set corresponding to the first object set and the second target coordinate set corresponding to the second object set can be determined through the first image comprising the first object set and the second image comprising the second object set acquired in the target equipment, so that the object information of the object in the target equipment is determined, and the object information of the object in the equipment is automatically determined without manual operation; in addition, the object set is acquired at two positions in the target equipment, so that the problem of inaccurate detection caused by the shielding condition easily occurring when the object set is acquired at a single position can be avoided, and the acquired object set is ensured to be more comprehensive and accurate.
Based on the same technical concept, the embodiment of the application also provides an object information detection method device, as shown in fig. 6, which comprises:
An obtaining module 301, configured to obtain a first image and a first coordinate conversion relationship from a pixel coordinate system of the first image to a preset world coordinate system, obtain a second image and a second coordinate conversion relationship from a pixel coordinate system of the second image to the preset world coordinate system, where the first image includes a first object set acquired at a first location in a target device, and the second image includes a second object set acquired at a second location in the target device, and the first location and the second location are two different locations;
A first determining module 302, configured to determine a first coordinate set of a first coordinate system to which the first object set belongs in the first image, and a second coordinate set of a second coordinate system to which the second object set belongs in the second image;
a second determining module 303, configured to determine a first target coordinate set of the first object set in the preset world coordinate system based on the first coordinate set and the first coordinate conversion relation, and determine a second target coordinate set of the second object set in the preset world coordinate system based on the second coordinate set and the second coordinate conversion relation;
a third determining module 304 is configured to determine object information of an object in the target device based on the first target coordinate set and the second target coordinate set.
Optionally, the object information includes: the number of objects within the target device;
The third determining module is specifically configured to:
Determining a coordinate combination set based on the first target coordinate set and the second target coordinate set, wherein the coordinate combination set comprises at least one coordinate combination, and the coordinate combination comprises one first target coordinate in the first target coordinate set and one second target coordinate in the second target coordinate set;
determining the distance corresponding to the coordinate combination, and obtaining at least one distance corresponding to the coordinate combination set;
Selecting the coordinate combination with the distance smaller than a preset distance threshold value from the coordinate combination set as a target coordinate combination, and determining a third number of the target coordinate combinations, wherein a first target coordinate and a second target coordinate in the target coordinate combination correspond to the same object in the target equipment;
determining a first number of first objects corresponding to the first object set, and determining a second number of second objects corresponding to the second object set;
removing the third number from the sum of the first number and the second number results in a number of objects within the target device.
Optionally, the apparatus further includes a sending module, where the sending module is configured to:
Judging whether the number of objects in the target equipment exceeds a preset number threshold;
under the condition that the number of the objects in the target equipment does not exceed a preset number threshold, the number of the objects in the target equipment is sent to a first display end, so that the first display end displays the number of the objects in the target equipment;
And under the condition that the number of the objects in the target equipment exceeds a preset number threshold, sending the number of the objects in the target equipment and prompt information for prompting that the storage number in the target equipment reaches an upper limit to the first display end so that the first display end displays the number of the objects in the target equipment and the prompt information.
Optionally, the object information includes: the relative position of the object in the target device with respect to the calibration point;
The third determining module is further configured to:
Determining a target calibration point corresponding to the preset world coordinate system;
Determining a first vector based on coordinates of the first target coordinates corresponding to the target calibration point for any first target coordinates in the first set of target coordinates, and determining a second vector based on coordinates of the second target coordinates corresponding to the target calibration point for any second target coordinates in the second set of target coordinates;
Based on the first vector, a first relative position of a first object corresponding to the first target coordinate with respect to the calibration point is determined, and based on the second vector, a second relative position of a second object corresponding to the second target coordinate with respect to the calibration point is determined.
Optionally, the device sending module is further configured to:
For any first object in the first object set, intercepting a part containing the first object from the first image to obtain a first target image containing the first object, taking the first target image as an identifier of the first object, and for any second object in the second object set, intercepting a part containing the second object from the second image to obtain a second target image containing the second object, and taking the second target image as an identifier of the second object;
and sending the identification of the first object and the first relative position of the first object relative to the calibration point, and the identification of the second object and the second relative position of the second object relative to the calibration point to a second display end so that the second display end displays.
Optionally, the device further comprises an acquisition module, wherein the acquisition module is used for:
Determining attribute information of the first object based on the first image for any first object in the first object set, and determining attribute information of the second object based on the second image for any second object in the second object set;
and determining the first object and the second object with the same attribute information as the same object in the target equipment.
Optionally, the apparatus further includes a fourth determining module, where the fourth determining module is configured to:
Acquiring world coordinates of six calibration points preset in the target equipment under the preset world coordinate system;
For each calibration point, determining a first pixel coordinate of a first coordinate system to which the calibration point belongs in the first image, and determining a second pixel coordinate of a second coordinate system to which the calibration point belongs in the second image, wherein the first image and the second image comprise six calibration points;
the first coordinate conversion relation is determined based on world coordinates of the six calibration points and the first pixel coordinates, and the second coordinate conversion relation is determined based on world coordinates of the six calibration points and the second pixel coordinates.
In the embodiment of the application, the first target coordinate set corresponding to the first object set and the second target coordinate set corresponding to the second object set can be determined through the first image comprising the first object set and the second image comprising the second object set acquired in the target equipment, so that the object information of the object in the target equipment is determined, and the object information of the object in the equipment is automatically determined without manual operation; in addition, the object set is acquired at two positions in the target equipment, so that the problem of inaccurate detection caused by the shielding condition easily occurring when the object set is acquired at a single position can be avoided, and the acquired object set is ensured to be more comprehensive and accurate.
Based on the same technical concept, the embodiment of the present application further provides an electronic device, as shown in fig. 7, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, where the processor 111, the communication interface 112, and the memory 113 perform communication with each other through the communication bus 114,
A memory 113 for storing a computer program;
the processor 111 is configured to execute a program stored in the memory 113, and implement the following steps:
Acquiring a first image and a first coordinate conversion relation converted from a pixel coordinate system of the first image to a preset world coordinate system, acquiring a second image and a second coordinate conversion relation converted from a pixel coordinate system of the second image to the preset world coordinate system, wherein the first image comprises a first object set acquired at a first position in target equipment, the second image comprises a second object set acquired at a second position in the target equipment, and the first position and the second position are different two positions;
Determining a first coordinate set of a first coordinate system to which the first object set belongs in the first image, and a second coordinate set of a second coordinate system to which the second object set belongs in the second image;
Determining a first target coordinate set of the first object set in the preset world coordinate system based on the first coordinate set and the first coordinate conversion relation, and determining a second target coordinate set of the second object set in the preset world coordinate system based on the second coordinate set and the second coordinate conversion relation;
object information of an object within the target device is determined based on the first set of target coordinates and the second set of target coordinates.
The communication bus mentioned above for the electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.
In yet another embodiment of the present application, there is also provided a computer readable storage medium having stored therein a computer program which, when executed by a processor, implements the steps of any of the object information detection method methods described above.
In yet another embodiment of the present application, a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the object information detection methods of the above embodiments is also provided.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk Solid STATE DISK (SSD)), etc.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An object information detection method, the method comprising:
Acquiring a first image and a first coordinate conversion relation converted from a pixel coordinate system of the first image to a preset world coordinate system, acquiring a second image and a second coordinate conversion relation converted from a pixel coordinate system of the second image to the preset world coordinate system, wherein the first image comprises a first object set acquired at a first position in target equipment, the second image comprises a second object set acquired at a second position in the target equipment, and the first position and the second position are different two positions;
Determining a first coordinate set of a first coordinate system to which the first object set belongs in the first image, and a second coordinate set of a second coordinate system to which the second object set belongs in the second image;
Determining a first target coordinate set of the first object set in the preset world coordinate system based on the first coordinate set and the first coordinate conversion relation, and determining a second target coordinate set of the second object set in the preset world coordinate system based on the second coordinate set and the second coordinate conversion relation;
Determining object information of an object in the target device based on the first target coordinate set and the second target coordinate set;
wherein the object information includes: the number of objects within the target device;
the determining object information of the object in the target device based on the first target coordinate set and the second target coordinate set includes:
Determining a coordinate combination set based on the first target coordinate set and the second target coordinate set, wherein the coordinate combination set comprises at least one coordinate combination, and the coordinate combination comprises one first target coordinate in the first target coordinate set and one second target coordinate in the second target coordinate set;
determining the distance corresponding to the coordinate combination, and obtaining at least one distance corresponding to the coordinate combination set;
Selecting the coordinate combination with the distance smaller than a preset distance threshold value from the coordinate combination set as a target coordinate combination, and determining a third number of the target coordinate combinations, wherein a first target coordinate and a second target coordinate in the target coordinate combination correspond to the same object in the target equipment;
determining a first number of first objects corresponding to the first object set, and determining a second number of second objects corresponding to the second object set;
removing the third number from the sum of the first number and the second number results in a number of objects within the target device.
2. The method according to claim 1, wherein the method further comprises:
Judging whether the number of objects in the target equipment exceeds a preset number threshold;
under the condition that the number of the objects in the target equipment does not exceed a preset number threshold, the number of the objects in the target equipment is sent to a first display end, so that the first display end displays the number of the objects in the target equipment;
And under the condition that the number of the objects in the target equipment exceeds a preset number threshold, sending the number of the objects in the target equipment and prompt information for prompting that the storage number in the target equipment reaches an upper limit to the first display end so that the first display end displays the number of the objects in the target equipment and the prompt information.
3. The method of claim 1, wherein the object information comprises: the relative position of the object in the target device with respect to the calibration point;
the determining object information of the object in the target device based on the first target coordinate set and the second target coordinate set includes:
Determining a target calibration point corresponding to the preset world coordinate system;
Determining a first vector based on coordinates of the first target coordinates corresponding to the target calibration point for any first target coordinates in the first set of target coordinates, and determining a second vector based on coordinates of the second target coordinates corresponding to the target calibration point for any second target coordinates in the second set of target coordinates;
Based on the first vector, a first relative position of a first object corresponding to the first target coordinate with respect to the calibration point is determined, and based on the second vector, a second relative position of a second object corresponding to the second target coordinate with respect to the calibration point is determined.
4. A method according to claim 3, characterized in that the method further comprises:
For any first object in the first object set, intercepting a part containing the first object from the first image to obtain a first target image containing the first object, taking the first target image as an identifier of the first object, and for any second object in the second object set, intercepting a part containing the second object from the second image to obtain a second target image containing the second object, and taking the second target image as an identifier of the second object;
and sending the identification of the first object and the first relative position of the first object relative to the calibration point, and the identification of the second object and the second relative position of the second object relative to the calibration point to a second display end so that the second display end displays.
5. The method according to claim 1, wherein the method further comprises:
Determining attribute information of the first object based on the first image for any first object in the first object set, and determining attribute information of the second object based on the second image for any second object in the second object set;
and determining the first object and the second object with the same attribute information as the same object in the target equipment.
6. The method according to claim 1, wherein the method further comprises:
Acquiring world coordinates of six calibration points preset in the target equipment under the preset world coordinate system;
For each calibration point, determining a first pixel coordinate of a first coordinate system to which the calibration point belongs in the first image, and determining a second pixel coordinate of a second coordinate system to which the calibration point belongs in the second image, wherein the first image and the second image comprise six calibration points;
the first coordinate conversion relation is determined based on world coordinates of the six calibration points and the first pixel coordinates, and the second coordinate conversion relation is determined based on world coordinates of the six calibration points and the second pixel coordinates.
7. An object information detection method apparatus, characterized in that the apparatus comprises:
The system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a first image and a first coordinate conversion relation from a pixel coordinate system of the first image to a preset world coordinate system, acquiring a second image and a second coordinate conversion relation from the pixel coordinate system of the second image to the preset world coordinate system, the first image comprises a first object set acquired at a first position in target equipment, the second image comprises a second object set acquired at a second position in the target equipment, and the first position and the second position are different two positions;
A first determining module, configured to determine a first coordinate set of a first coordinate system to which the first object set belongs in the first image, and a second coordinate set of a second coordinate system to which the second object set belongs in the second image;
A second determining module, configured to determine a first target coordinate set of the first object set in the preset world coordinate system based on the first coordinate set and the first coordinate conversion relation, and determine a second target coordinate set of the second object set in the preset world coordinate system based on the second coordinate set and the second coordinate conversion relation;
A third determining module, configured to determine object information of an object in the target device based on the first target coordinate set and the second target coordinate set;
wherein the object information includes: the number of objects within the target device;
The third determining module is specifically configured to:
Determining a coordinate combination set based on the first target coordinate set and the second target coordinate set, wherein the coordinate combination set comprises at least one coordinate combination, and the coordinate combination comprises one first target coordinate in the first target coordinate set and one second target coordinate in the second target coordinate set;
determining the distance corresponding to the coordinate combination, and obtaining at least one distance corresponding to the coordinate combination set;
Selecting the coordinate combination with the distance smaller than a preset distance threshold value from the coordinate combination set as a target coordinate combination, and determining a third number of the target coordinate combinations, wherein a first target coordinate and a second target coordinate in the target coordinate combination correspond to the same object in the target equipment;
determining a first number of first objects corresponding to the first object set, and determining a second number of second objects corresponding to the second object set;
removing the third number from the sum of the first number and the second number results in a number of objects within the target device.
8. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
A processor for carrying out the method steps of any one of claims 1-6 when executing a program stored on a memory.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-6.
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