Measuring boxes by hand can be a tedious task, but automation offers a better solution. This box measurement app uses advanced technology to determine the dimensions of a box quickly and accurately. Let's dive into how this app works and the tech behind it.
How it works
Here's the step-by-step:
- Box detection: AI identifies the box. I have used Roboflow to train a custom object detection NN model.
- Data capture: ToF depth sensor is aligned to color stream on-device, and provides accurate RGB-D stream. App will crop the depth map based on (padded) bounding box, and provide pointcloud of only the box, which achieves best results.
- Analysis: Using the Open3D library along with custom algorithms we first estimate the top plane of the box and then use OpenCV to extract minimal area of the top plane (to get
width and length). Once we have box's top plane along with ground plane we can also calculate height of the box. We developed BoxEstimator class that encapsulates data processing for this application.
- Visualization: Depthai-viewer (based on Rerun) is used for a clear, visual representation of the results; color frame with box detection (along with dimensions), depth map, and sparse/dense pointclouds.
Industry use-cases
Various industries that could benefit from such a solution:
- E-commerce/Retail: Measure shipping boxes to optimize packaging and reduce costs.
- Manufacturing: Ensure product dimensions meet specifications without manual checks.
- Logistics: Speed up the process of sorting and categorizing packages in warehouses.
Dimensioning Accuracy
We are still working on improvements, but the video suggests there's <5mm error on each dimension! Here are the GT dimensions:
- box is 26.5 x 30cm & 20cm in height
- box is 18.5 x 28cm & 18cm in height
- box is 11 x 20cm & 7.5cm in height
OAK-D SR PoE (Short Range /w ToF)
I have based this app on the OAK-D-SR-POE (initial release in a few weeks!), as it has the best close-range perception due to its ToF sensor. It also has edge-AI inferencing capabilities, making it the perfect candidate for this application.
The ToF sensor has a depth error of <1% indoors, and <2% outdoors.
Reproduce: The Code
Code /w instructions available here.
from depthai_sdk import OakCamera
from depthai_sdk.classes.packets import DetectionPacket, PointcloudPacket
from depthai_sdk.classes.box_estimator import BoxEstimator
import depthai_viewer as viewer
import cv2
import subprocess
import select
import sys
FPS = 10.0
box = BoxEstimator(median_window=10)
with OakCamera() as oak:
try:
subprocess.Popen([sys.executable, "-m", "depthai_viewer", "--viewer-mode"], stdout=subprocess.PIPE,
stderr=subprocess.PIPE)
except subprocess.TimeoutExpired:
pass
viewer.init("Depthai Viewer")
viewer.connect()
color = oak.create_camera('cam_c', resolution='800p', fps=20)
model_config = {
'source': 'roboflow', # Specify that we are downloading the model from Roboflow
'model':'cardboard-box-u35qd/1',
'key':'dDOP8nC4A9rZzWUTG8ia' # Fake API key, replace with your own!
}
nn = oak.create_nn(model_config, color)
nn.config_nn(conf_threshold=0.85)
tof = oak.create_tof(fps=20)
tof.set_align_to(color, output_size=(640, 400))
tof.configure_tof(phaseShuffleTemporalFilter=True,
phaseUnwrappingLevel=2,
phaseUnwrapErrorThreshold=100)
pointcloud = oak.create_pointcloud(tof)
q = oak.queue([
pointcloud.out.main.set_name('pcl'),
tof.out.main.set_name('tof'),
nn.out.main.set_name('nn'),
]).configure_syncing(enable_sync=True, threshold_ms=500//FPS).get_queue()
# oak.show_graph()
oak.start()
viewer.log_rigid3(f"Right", child_from_parent=([0, 0, 0], [0, 0, 0, 0]), xyz="RDF", timeless=True)
viewer.log_rigid3(f"Cropped", child_from_parent=([0, 0, 0], [1, 0, 0, 0]), xyz="RDF", timeless=True)
def draw_mesh():
pos,ind,norm = box.get_plane_mesh(size=500)
viewer.log_mesh("Right/Plane", pos, indices=ind, normals=norm, albedo_factor=[0.5,1,0], timeless=True)
if box.is_calibrated():
draw_mesh()
else:
print("Calibrate first, write 'c' in terminal when most of the view is flat floor!!")
while oak.running():
packets = q.get()
nn: DetectionPacket = packets["nn"]
cvFrame = nn.frame[..., ::-1] # BGR to RGB
depth = packets["tof"].frame
pcl_packet: PointcloudPacket = packets["pcl"]
points = pcl_packet.points
# Convert 800P into 400P into 256000x3
colors_640 = cv2.pyrDown(cvFrame).reshape(-1, 3)
viewer.log_points("Right/PointCloud", points.reshape(-1, 3), colors=colors_640)
# Depth map visualize
viewer.log_depth_image("depth/frame", depth, meter=1e3)
viewer.log_image("video/color", cvFrame)
if box.is_calibrated():
if 0 == len(nn.detections):
continue # No boxes found
# Currently supports only 1 detection (box) at a time
det = nn.detections[0]
# Get the bounding box of the detection (relative to full frame size)
# Add 10% padding on all sides
box_bb = nn.bbox.get_relative_bbox(det.bbox)
padded_box_bb = box_bb.add_padding(0.1)
points_roi = pcl_packet.crop_points(padded_box_bb).reshape(-1, 3)
dimensions, corners = box.process_points(points_roi)
if corners is None:
continue
viewer.log_points("Cropped/Box_PCL", box.box_pcl)
viewer.log_points("Cropped/Plane_PCL", box.plane_pcl, colors=(0.2,1.0,0.6))
# viewer.log_points("Cropped/TopSide_PCL", box.top_side_pcl, colors=(1,0.3,0.6))
viewer.log_points(f"Cropped/Box_Corners", corners, radii=8, colors=(1.0,0,0.0))
corners = box.inverse_corner_points()
viewer.log_points(f"Right/Box_Corners", corners, radii=8, colors=(1.0,0,0.0))
viewer.log_line_segments(f"Right/Box_Edges", box.get_3d_lines(corners), stroke_width=4, color=(1.0,0,0.0))
l,w,h = dimensions
label = f"{det.label_str} ({det.confidence:.2f})\n{l/10:.1f} x {w/10:.1f}\nH: {h/10:.1f} cm"
viewer.log_rect('video/bbs',
box_bb.to_tuple(cvFrame.shape),
label=label,
rect_format=viewer.RectFormat.XYXY)
viewer.log_rect('depth/bbs',
padded_box_bb.to_tuple(depth.shape),
label="Padded BoundingBox",
rect_format=viewer.RectFormat.XYXY)
key = oak.poll()
ready, _, _ = select.select([sys.stdin], [], [], 0.001) # Terminal input
if ready:
key = sys.stdin.readline().strip()
if key == 'c':
if box.calibrate(points):
print(f"Calibrated Plane: {box.ground_plane_eq}")
draw_mesh()
Let me know your thoughts in the comments🙂
