Measuring method and measuring device of conduit connector space pose parameters

The invention provides a measuring method and a measuring device of conduit connector space pose parameters. The method includes: obtaining inner parameters of a multi-view camera; reading three-dimensional models of conduit connectors to obtain contour wireframe models of the conduit connectors; respectively building a spherical coordinate system and a plurality of virtual cameras in different positions; obtaining two-dimensional images, projected on the plurality of virtual cameras in the different positions, of the contour wireframe models; through the multi-view camera, respectively carrying out image acquisition on the plurality of connectors on a conduit to obtain plane gray level images of the conduit connectors; processing the two-dimensional images and the plane gray level images to be matching templates and search images with an edge filter, and carrying out template matching based on shapes on the search images; obtaining the space pose parameters of the plurality of conduit connectors in respectiv