CN114429497A - Living body Qinchuan cattle body ruler measuring method based on 3D camera - Google Patents
Living body Qinchuan cattle body ruler measuring method based on 3D camera Download PDFInfo
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- CN114429497A CN114429497A CN202011099509.8A CN202011099509A CN114429497A CN 114429497 A CN114429497 A CN 114429497A CN 202011099509 A CN202011099509 A CN 202011099509A CN 114429497 A CN114429497 A CN 114429497A
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- 241000283690 Bos taurus Species 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 238000000691 measurement method Methods 0.000 claims abstract description 7
- 230000011218 segmentation Effects 0.000 claims abstract description 6
- 230000003187 abdominal effect Effects 0.000 claims abstract description 5
- 230000006870 function Effects 0.000 claims abstract description 4
- 230000009466 transformation Effects 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims abstract description 3
- 230000018109 developmental process Effects 0.000 claims description 5
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- 238000011161 development Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 238000005457 optimization Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000001727 in vivo Methods 0.000 claims 4
- 238000009616 inductively coupled plasma Methods 0.000 claims 2
- 238000007781 pre-processing Methods 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
Abstract
The invention discloses a living body Qinchuan cattle body ruler measuring method based on a 3D camera. The method comprises the steps of obtaining an indoor regular object point cloud image through a 3D laser camera, applying algorithms such as filtering, segmentation, curve fitting and correction, performing coordinate transformation, and using a space curve length measurement method, and finally achieving the non-contact measurement functions of 11 body scales of a target cow body, namely body height, waist height, body slant length, nojiri length, chest width, nojiri width, chest girth, abdominal girth, tube girth, hip width height and waist angle width.
Description
Technical Field
The invention relates to a method for obtaining three-dimensional point cloud data of Qinchuan cattle by a TOF (Time of Flight) camera (IFM O3D303), and realizes a safe and convenient accurate body size measuring method.
Background
Along with scientific and technical development, three-dimensional reconstruction and point cloud processing technology have been more popularized, and the existing point cloud acquisition equipment for body type measurement technology is mostly a laser scanner, but the laser scanner structure is more complicated, and is difficult to popularize in the actual operation process, and the operating condition of a measurement field directly influences the density degree of point cloud data, and great inconvenience is probably brought to later-stage data processing.
Disclosure of Invention
The invention utilizes a TOF (Time of Flight) camera (IFM O3D303) to obtain a three-dimensional image of a cow, carries out methods such as curve fitting, curved surface reconstruction optimization and the like on point cloud data, combines a true color camera, and manually selects key characteristic parts of the cow body to operate, thereby realizing the accurate measurement of 11 body rulers of waist height, body height, back height, chest width, body slant length, nojiri length, hip end height, tube circumference, abdominal circumference, nojiri width and chest circumference of a living cow.
The technical scheme adopted by the invention for solving the technical problems is as follows: in a Windows 10 system, under a mixed development environment of a software development kit PMDSDK2 of Visual Studio 2015 combined with an IFM O3D303 sensor, a compiling tool CMake 2.8 and a Point Cloud Point Library (PCL), real-time acquisition and processing of three-dimensional Point Cloud data of a shooting scene are realized by adopting a C + + language so as to achieve the purpose of acquiring required volume scale data. After deep research on various filtering and denoising methods, point cloud segmentation methods, point cloud feature detection methods and three-dimensional curved surface reconstruction algorithms of point cloud data, analysis is carried out by combining practical application, proper theories and algorithms are selected to carry out various processing on original data, background is separated, and information of the live Qinchuan cattle is digitized, namely three-dimensional model reconstruction is carried out. The measurement method for different parts is also different, and measurement points are selected to obtain data of corresponding linear dimensions of body ruler (waist height, body height, back height, chest width, body slant length, nojiri length, hip end height and nojiri width). In different limb circumference degrees, the three-dimensional model divides a target part into a cattle body characteristic curved surface in an error range by utilizing a segmentation technology, points are taken on the image to carry out scattered point curve fitting through coordinate transformation, a least square method and a Gaussian curve fitting method, and MATLAB is utilized to realize measurement of the chest circumference and the abdominal circumference of the target cattle body. And calculating the circumference of the circumscribed circle according to a method for solving the circumscribed circle of the triangle formed by the three points which are not on the same straight line so as to acquire the tube circumference data of the cattle body.
The invention has the beneficial effect that the purpose of measuring the body size of the cattle can be achieved without directly contacting the cattle body.
Drawings
FIG. 1 is a schematic view of data measurement of body size of Qinchuan cattle
FIG. 2 is a flowchart of camera calibration
FIG. 3 flow chart of the measurement of the straight body ruler of living Qinchuan cattle
FIG. 4 flow chart of chest circumference and abdomen circumference measurement of living Qinchuan cattle
FIG. 5 flow chart of tube circumference measurement of living Qinchuan cattle
Detailed description of the preferred embodiments
In fig. 2, a graphical operation interface is designed, and a 3D camera is used to acquire an indoor static/moving regular object to acquire an original point cloud image. And correcting the position parameters of the camera through preprocessing such as noise reduction, segmentation, curve fitting and the like.
In fig. 3, a camera support is manufactured, a point cloud image of a target living cow is collected, after preprocessing, curved surface reconstruction is performed on the point cloud image of the cow body, hot spot interaction is set on a 3D reconstructed model diagram, and a manual mouse clicks and selects body ruler data among measurement parts.
In fig. 4, after point cloud image preprocessing and curved surface reconstruction are performed, a cow body is divided into half by means of consistency and Euclidean clustering along the x-axis direction of a right-hand coordinate system, then the cow body is divided along the z-axis around a target part, a three-dimensional part is measured by manual mouse pointing, curve fitting is performed on collected scattered point coordinate data, a MATLAB is used for performing operation on a curve function to obtain the length of the part of a body ruler, and finally the obtained length of the body ruler is multiplied by 2 to obtain the length of the whole body ruler.
In fig. 5, the upper and lower portions of the pipe circumference are divided along the y-axis direction of the right-hand coordinate system by means of consistency and euclidean clustering, three points which are not on the same straight line are determined at the pipe circumference, and a triangle is formed by coordinate transformation and is approximately obtained by the circumscribed circumference of the triangle. The calculation formula is as follows: firstly
②
③
And C is 2 pi R. In the formula L1、L2、L3-three sides of triangle p-half of triangle perimeter s-triangleThe area of the shape R-the radius of the circumscribed circle C of the triangle-the length of the circumscribed circle.
Claims (5)
1. A3D camera-based body size measuring method for a living Qinchuan cattle is characterized in that a TOF (Time of Flight) camera (IFM O3D303) is used for obtaining a three-dimensional point cloud data image of the cattle, curve fitting, curved surface reconstruction optimization and other methods are carried out on the point cloud data, and the operation of manually selecting key feature parts of the cattle body is combined, so that accurate measurement of 11 body sizes of the living cattle, namely waist height, body height, back height, chest width, body diagonal length, hip end height, circumference, abdominal circumference, nojiri width and chest circumference, is realized.
2. The 3D camera-based in vivo Qinchuan cattle body ruler measurement method according to claim 1, characterized in that: in a Windows 10 system, under a mixed development environment of a software development kit PMDSDK2 of Visual Studio 2015 combined with an IFM O3D303 sensor, a compiling tool CMake 2.8 and a Point Cloud Point Library (PCL), real-time processing of the shot three-dimensional Point Cloud data of the cattle body is realized by adopting C + + language to achieve the purpose of obtaining the required body size data.
3. The 3D camera-based in vivo Qinchuan cattle body ruler measurement method according to claim 1, characterized in that: analyzing by combining with an actual shooting scene, selecting a filtering denoising method, a point cloud segmentation method and a point cloud characteristic detection method to preprocess original data, finally segmenting complete and clear cattle body point cloud from a background to obtain a smooth and complete cattle body point cloud image, then performing point cloud splicing by utilizing an ICP (inductively coupled plasma) algorithm, and realizing the reconstruction of a cattle body curved surface by combining with a greedy triangular projection algorithm.
4. The 3D camera-based in vivo Qinchuan cattle body ruler measurement method according to claim 1, characterized in that: the measurement method is also different for different locations. For linear body ruler (waist height, body height, back height, chest width, oblique body length, nojiri length, hip end height, nojiri width) data, after reconstructing the curved surface model of cattle, using the response mouse event in PCLAnd calling back a function to carry out user interaction and realize the function of freely calibrating the body ruler measuring point by the user. Let two calibration point coordinates be P respectively0(X0，Y0，Z0)，P1(X1，Y1，Z1) Due to the line segment P formed by the selected index points0P1It is not necessarily perpendicular to the ground, but the Y-axis in the coordinate system of the camera is perpendicular to the ground. The actual body-ruler distance is vector P0P1Length of projection in XOY plane, i.e.
In different limb circumference degrees, the three-dimensional model divides a target part into a cattle body characteristic curved surface in an error range by utilizing a segmentation technology, points are taken on the image to carry out scattered point curve fitting through coordinate transformation, a least square method and a Gaussian curve fitting method, and finally MATLAB is utilized to realize measurement of the chest circumference and the abdominal circumference of the target cattle body.
5. The 3D camera-based in vivo Qinchuan cattle body ruler measurement method according to claim 1, characterized in that: and calculating the circumference of the circumscribed circle according to a method for solving the circumscribed circle of the triangle formed by the three points which are not on the same straight line so as to acquire the tube circumference data of the cattle body.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111145240A (en) * | 2019-11-18 | 2020-05-12 | 西宁市动物疫病预防控制中心(挂西宁市畜牧兽医站牌子) | Living body Simmental cattle body ruler online measurement method based on 3D camera |
| CN116071417A (en) * | 2023-01-31 | 2023-05-05 | 河北农业大学 | Sheep body ruler weight acquisition system and method based on Azure Kinect |
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| CN116071417B (en) * | 2023-01-31 | 2024-01-12 | 河北农业大学 | Sheep body ruler weight acquisition system and method based on Azure Kinect |
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