Calculate Object Volume

Function Description

Based on orthogonal depth images, calculates object volume using discrete summation method, and extracts geometric features such as center pose, dimensions, surface area, and rectangularity.

Use Cases

Applicable Scenarios:

  • Industrial inspection: Validates whether workpieces meet specifications through volume data.

  • Logistics sorting: Classifies objects of different sizes by volume for sorting.

Not Applicable Scenarios:

  • Non-orthogonal projection systems: When depth images are not generated by orthogonal projection, calculation results may be inaccurate.

  • Extremely thin objects: The discrete precision of depth images is insufficient to accurately capture geometric features of extremely thin objects, leading to volume calculation errors.

  • Transparent/reflective objects: Depth images of such objects usually contain noise or missing data, affecting calculation accuracy.

Inputs

  • Mask Images (Required): Used to specify the region in the depth image participating in volume, dimensions, and other calculations.

  • Depth Images (Required): Depth image generated after the object is orthogonally projected onto the reference plane.

Outputs

  • Center Poses: Pose of the object center in the image.

  • Object Sizes: Actual dimensions of the object (not pixel dimensions).

  • Volumes: Actual volume of the object (not pixel volume).

  • Surface Areas: Actual surface area of the object (not pixel surface area).

  • Rectangularities: Rectangularity of the object’s valid mask, ranging from 0 to 1.

Parameters

  • Z-Value Range

    In the depth image, points above the projection plane have positive depth values, and points below have negative depth values.

    • Positive: Only calculates volume, dimensions, and other information for positive regions in the depth image.

    • Negative: Only calculates volume, dimensions, and other information for negative regions in the depth image.

    Please select Positive or Negative based on the orientation of the reference plane coordinate system and the shape of the object to be measured (protruding or recessed).