Robotic Vision - História úprav

Balogh: /* Morphology */

2015-12-11T23:32:42Z

Morphology

← Staršia verzia		Verzia z 23:32, 11. december 2015
Riadok 639:		Riadok 639:
	tom = cls == 3;		tom = cls == 3;
	idisp(tom)		idisp(tom)

			% We can see that the fruit are not complete due to specular reflection and occlusion. We can use some
			% morphological processing operations to patch the holes in the fruit. Here we will use the Toolbox
			% function iclose() which accepts a binary image and a kernal as input and returns the closed binary
			% image as output. We will use a 15x15 square kernel to begin with. Display the result.
			closed = iclose(tom, ones(15,15) );
			idisp(closed)


			% We can see that a square may not have been the best choice given the round shape of the tomatoes.
			% Let's instead try using a circular kernel which can be created using the Toolbox function kcircle().
			% First display the kernel to see what it looks like.
			se = kcircle(15);
			idisp(se)


			% And now try the closing operation using this kernel.
			closed = iclose(tom, se);
			idisp(closed

Balogh: /* Using homographies */

2015-12-11T23:28:40Z

Using homographies

@@ Riadok 614: / Riadok 614: @@
 </source>
 <source lang="matlab">
 </source>

Balogh: /* Camera modelling */

2015-12-11T22:38:45Z

Camera modelling

@@ Riadok 586: / Riadok 586: @@
 >> help CentralCamera
 </source>
 <source lang="matlab">
 </source>
 <source lang="matlab">
 </source>

Balogh: /* Camera modelling */

2015-12-11T22:18:05Z

Camera modelling

← Staršia verzia		Verzia z 22:18, 11. december 2015
Riadok 550:		Riadok 550:


			EXERCISE
	<source lang="matlab">		<source lang="matlab">


			Create a MATLAB CentralCamera object

			>> cam=CentralCamera('default', 'pose', transl(0,1,2)troty(pi/2)trotz(-pi/2));

			Create a graphical working volume 10x10x10m

			>> axis([-5 5 -5 5 -5 5 ])>

			Display the camera in this environment

			>> cam.plot_camera

			Define a point in the world

			>> P = [4 0 0]';

			and display it as a red sphere of 0.2m radius

			>> plot_sphere(P, 0.2)

			Now we can project the point to the image plane

			>> cam.project(P)

			or even visualise what the point looks likes on the image plane

			>> cam.plot(P)

			Try some variations on this scenario. Pehaps move the point, or the camera, or change the focal length of the camera. See the documentation for details.

			>> help CentralCamera
	</source>		</source>

Balogh: /* Camera modelling */

2015-12-11T22:09:55Z

Camera modelling

← Staršia verzia		Verzia z 22:09, 11. december 2015
Riadok 497:		Riadok 497:
	cam = CentralCamera('focal', 0.008)		cam = CentralCamera('focal', 0.008)

			% Project the world point onto the image plane.
			cam.project(P)

			% There is no notion of pixels here however a digital camera can be modeled by using additional input
			% parameters. Define the pixel size and the resolution.
			cam = CentralCamera('focal', 0.008, 'pixel', 10e-6, 'resolution',1024)

			% Project the world point P onto the image plane.
			cam.project(P)

			% The image plane can be plotted using the method plot.
			cam.plot(P)

			% We can access the intrinsic parameters of the camera.
			cam.K

			% And the overall camera projection matrix.
			cam.C

			% We can pass an additional option to the plot method which shifts the camera as desired, here
			% we are translating 0.1m in the x-direction. we can see that as we are moving the camera towards
			% the right, the point is moving towards the left on the image plane.
			cam.project(P, 'Tcam', transl(0.1, 0, 0))

			% The camera can also be rotated. Here we rotate the camera 0.1 radians about the y-axis.
			% Essentially this is rotating the camera towards the right.
			cam.project(P, 'Tcam', troty(0.1))


			% Use the toolbox function mkgrid() to make a grid of points spaced by 0.2 m and located
			% about the point (1,2,0).
			P = mkgrid(2, 0.2, 'T', transl(1, 2, 0))


			% Create a new camera with default parameters except that it is translated 4m along the
			% z-axis, rotated about the z-axis by pi/3 radians and finally rotated about the y-axis
			% by pi radians such that it is pointing towards the ground.
			cam = CentralCamera('default', 'pose', transl(0,0,4)trotz(pi/3)troty(pi))

			% Project the grid of points onto the image plane.
			cam.project(P)

			% Plot the image plane.
			cam.plot(P)

			% The camera and points can be visualised in 3 dimensions.
			figure(2)
			cam.plot_camera
			plot_sphere(P, 0.05)

	</source>		</source>

Balogh: /* Separating intensity from color */

2015-12-11T21:58:09Z

Separating intensity from color

← Staršia verzia		Verzia z 21:58, 11. december 2015
Riadok 484:		Riadok 484:


			</source>



			== Camera modelling ==

			<source lang="matlab">
			% Create a point.
			P = [0.2 0.3 5]'

			% Create a CentralCamera object with a focal length of 8mm.
			cam = CentralCamera('focal', 0.008)


			</source>


			<source lang="matlab">
			</source>

			<source lang="matlab">
			</source>

			<source lang="matlab">
	</source>		</source>

Balogh: /* 6. Color */

2015-12-01T11:59:01Z

6. Color

← Staršia verzia		Verzia z 11:59, 1. december 2015
Riadok 362:		Riadok 362:

	== 6. Color ==		== 6. Color ==

			See also:
			* https://en.wikipedia.org/wiki/Orange_%28colour%29
			* https://en.wikipedia.org/wiki/Shades_of_brown
			* https://en.wikipedia.org/wiki/Orange
			* http://www.microstep-mis.com/~andy/colorvision.pdf (aj praca v Octave)
			* http://www.microstep-mis.com/~andy/orange.pdf
			* http://www.microstep-mis.com/~andy/ako-vidi-robot.pdf



	<source lang="matlab">		<source lang="matlab">

Balogh: /* Separating intensity from color */

2015-12-01T07:23:57Z

Separating intensity from color

← Staršia verzia		Verzia z 07:23, 1. december 2015
Riadok 427:		Riadok 427:

	% perform gamma correction using an additional parameters		% perform gamma correction using an additional parameters
			% to eliminate non-linearities
	im = iread('tomato_124.jpg', 'double', 'gamma', 2.2);		im = iread('tomato_124.jpg', 'double', 'gamma', 2.2);
	idisp(im)		idisp(im)

Balogh: /* Planck's law */

2015-12-01T07:22:20Z

Planck's law

@@ Riadok 417: / Riadok 417: @@
     hold on
     plot(lambda, E, '--')
 </source>

Balogh: /* 6. Color */

2015-11-30T22:56:38Z

6. Color

← Staršia verzia		Verzia z 22:56, 30. november 2015
Riadok 400:		Riadok 400:
	rgbcube % probably not included in toolbox?		rgbcube % probably not included in toolbox?

			</source>

			=== Planck's law ===
			<source lang="matlab">
			% nanometer = 1x10^-9
			nm = 1e-9;
			% create a vector of wavelengths from 300 to 1000 nm in steps of 10
			lambda = [300:10:1000]*nm;

			% blackbody radiator emission curve
			E = blackbody(lambda, 6500); % Let's use the temperature of the sun, 6500K.
			plot(lambda, E)
			grid

			E = blackbody(lambda, 6000);
			hold on
			plot(lambda, E, '--')

	</source>		</source>