1 / 13

Robotics II

Digital Image Processing with ImageNet Designer. Robotics II. General Concept: Graphical Programming. Use Blocks: No programming knowledge required Program a Block: programming knowledge required Modularization : Developers cannot influence each other with compile errors.

meir
Download Presentation

Robotics II

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Digital Image Processing with ImageNet Designer Robotics II

  2. General Concept:Graphical Programming • Use Blocks:No programming knowledge required • Program a Block: programming knowledge required • Modularization:Developers cannot influence each other with compile errors

  3. Fast Development vs.Fast Execution • Fast Development: • MATLAB & Simulink with Video and Image Processing Blockset • Real-time fast Execution: • Hardware-near programming • OpenCV • Combination: • Develop in MATLAB and transfer to OpenCV • Or use ImageNet Designer

  4. What is ImageNet Designer? • Developed at IAT (since Aug 2009) • Driven by the Visual Control of the FRIEND Robot • 3D Visualization of real Environment • Graphical programming • Directed graphs • Easy to use • Help included • Step-by-stepTutorials

  5. Comparison OpenCV Results with ImageNet Designer Result • OpenCV: • Numerical Values • ImageNet Designer: • 3D Result Visualization • Offline Simulation Equivalent 4x4 Matrix, representing aCoordinate Transformation (also called Frame)

  6. Why should we useImageNet Designer? • Execution Speed of OpenCV • but much simpler to use • No programming knowledge requiredto use OpenCV functions • Simulationof 3D-Results • Result in 3D is needed by our Robot (e.g. FRIEND) • Integrated Help • Video

  7. Data types • Images (OpenCV IplImage*) • Color • Gray • Binary • Disparity • Matrix (OpenCV CvMat*) • Scalar (1x1 Matrix) • Histogram (256x1 Matrix) • 2D Objects • Points • Lines • Contours • Rectangles • Ellipses • 3D Objects • Points • Contours • Cuboids • Cylinder • Sphere • Coordinate Transformation

  8. Window management • ImageNet Designer • Double click onpreview image • Zoom functionality • Pixel information • OpenCV • Hard codeshow window • Window will open on every execution(this can be annoying)

  9. Histogram &Cumulative Histogram

  10. Histogram Equalization • Linearizes the Cumulative Histogram

  11. Thresholding • ImageNet Designer • OpenCV IplImage* pSourceImage = cvLoadImage( “testimage.png”, 1 ); if( pSourceImage ){ IplImage* pGrayImage = cvCreateImage( cvGetSize( pInputImage ), IPL_DEPTH_8U, 1 ); cvCvtColor( pInputImage, pGrayImage, CV_BGR2GRAY ); //Convert the color image IplImage* pBinaryImage = cvCloneImage( pGrayImage ); cvThreshold( pGrayImage, pBinaryImage, 120, 255, CV_THRESH_BINARY ); cvNamedWindow( "window", CV_WINDOW_AUTOSIZE ); cvShowImage( "window", pBinaryImage ); cvWaitKey( 0 ); //Wait for keystroke }

  12. Combination of Multiple Views • Join Images Block • Sums up arbitrarydata typesfor 3D-Simulation • See Video • Robot base

  13. Where to downloadImageNet Designer • Project Page: • https://sourceforge.net/projects/imagenets • Support: • http://sourceforge.net/apps/mediawiki/imagenets • Student project: contact us! • lange@iat.uni-bremen.de • natarajan@iat.uni-bremen.de • enjarini@iat.uni-bremen.de

More Related