Object volume calculating method based on Kinect
A volume calculation and object technology, applied in the field of computer vision, can solve problems such as high cost and long measurement time, and achieve the effect of satisfying automation, solving labor intensity and improving measurement accuracy.
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[0062] (1a) Utilize Kinect to collect the foreground depth image and the foreground color image that comprise the measured object and the background depth image and the background color image of the measuring platform that does not contain the measured object;
[0063] (1b) Carry out checkerboard calibration to the color camera of Kinect, calculate the internal parameters and external parameters of the camera through the relationship between the image coordinate system and the world coordinate system, and the general camera model can be expressed as shown in formula (I):
[0064]
[0065] In formula (I), K is only related to the internal structure of the camera, called the internal parameters of the camera; R, t is only related to the orientation of the camera relative to the world coordinate system, called the external parameters of the camera, R is the rotation matrix, and t is the translation Matrix, [x y] is the coordinate of image pixel point, and [X Y Z] is the coordin...
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