Volume measurement method and an apparatus based on a depth camera, and a computer-readable medium

A method for measuring volume based on data from a depth camera, said method comprising:

• acquiring a first depth image of a reference countertop, wherein the first depth image comprises coordinate data and depth data of a plurality of pixels, and the reference countertop is adapted for placement of a measured object;
• substituting the coordinate data and the depth data into at least two countertop empirical equations, to obtain at least two simulated images, wherein each of the countertop empirical equations represent a height variation pattern of the reference countertop, including by:
• substituting the coordinate data and the depth data into each of the countertop empirical equations, to obtain empirical coefficients of each of the countertop empirical equations;
• and
• generating a corresponding simulated image according to the countertop empirical equation with the empirical coefficients;
• calculating a correlation between each of the simulated images and the first depth image;
• using the simulated image with the highest correlation as a target image of the reference countertop;
• and
• obtaining a countertop height of the reference countertop based on the target image, wherein a height of the measured object is calculated using the countertop height, and a volume of the measured object is calculated using the height.

A method for measuring volume based on data from a depth camera, said method comprising:

• acquiring a first depth image of a reference countertop, wherein the first depth image comprises coordinate data and depth data of a plurality of pixels, and the reference countertop is adapted for placement of a measured object;
• substituting the coordinate data and the depth data into at least two countertop empirical equations, to obtain at least two simulated images, wherein each of the countertop empirical equations represent a height variation pattern of the reference countertop, and wherein the countertop empirical equations comprise a second countertop empirical equation for expressing a second height variation pattern of the reference countertop, wherein according to the second height variation pattern, there is an included angle between a plane of the reference countertop and a camera plane of the depth camera;
• calculating a correlation between each of the simulated images and the first depth image;
• using the simulated image with the highest correlation as a target image of the reference countertop;
• and
• obtaining a countertop height of the reference countertop based on the target image, wherein a height of the measured object is calculated using the countertop height, and a volume of the measured object is calculated using the height;
• wherein the countertop empirical equations comprise a second countertop empirical equation for expressing a second height variation pattern of the reference countertop, wherein according to the second height variation pattern, there is an included angle between a plane of the reference countertop and a camera plane of the depth camera.