xu ly anh cho robot

8/12/2019 XU LY ANH CHO ROBOT

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Gii thiu OpenCV S dng OpenCV

Ci t OpenCV vi Visual Studio 2008 V d minh ha


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Open Source Computer Vision Library.

L sn phm ca Intel. L mt b th vin rt tt v cc mnh,

h tr hu ht tt c nhng thao cc cbn trong cc vn ca ComputerVision.

c vit bng ngn ng C. c s dng nghiu


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Chacc cutrc cbnnhim, ng,dy, mt, ma trn v mtsthao tc xl trn cc cutrc ny.

CxCore

Chahuhtcc thao tc lin quan nvicxl nh cpthpnhlcnh, trch bin,phn vng, tm contour,biniFourier

CV

Cc thao tc ln nhngfile nhv fileVideo nhcnh, hinthnh, chuyninhdngHighGUI

Lm vicviCameraCvCam


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Tt cc cc t kha, cc hng u c vit hoaton b, bt u bi tip u ng CV, cc tcch nhau bi du gch di (_).

V d: CV_RGB2GRAY. Tn ca hm v cu trc c vit hoa ch ci

u mi ch c ngha v s dng tip u ngcv cho hm v Cv cho cu trc.

V d: hm cvFindContours v cu trc CvPoint.


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Tn camthm c cutrc nhsau:cv

: Thao tc no csdng. V dnh

Set,Convert,Create. : Chnhitngm hnh nghngti. V d: cvGetRow, cvCreateImage,

: l mttham skhngbtbuc, xc nhkiu

tc ngcahm. V d: cvGet1D, cvGet2D

cvFindExtrinsicCameraParams_64d


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CxCore bao gm: Cc cu trc d liu c bn Cc thao tc ln array

Cc hm v Cc cu trc ng Cc hm tc ng ln d liu

Mt s hm v cu trc cn thit khc


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CvPoint: cu trc ta ca 1 im nh Cng h vi CvPoint cn c: CvPoint2D32f: cha ta thc,

CvPoint3D32f: cha ta thc ca im trongkhng gian.

Ngoi ra cn c CvPoint2D64f, CvPoint3D64f


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CvSize:Cha thng tin lu li kchthc

CvRect:Hnh ch nht CvMat:ma trn (mt cu trc c s

dng kh nhiu.) IplImage:Cha ng thng tin ca 1 nh.


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Nhm Create:L nhnghm khitocc cutrc

cvCreateImage, cvCreateMat Nhm tc ngvo nhngphntcaArray

cvGetRow, cvGetCol, Nhm cc hm Copy v Fill

cvCloneImage, cvCopy Cc hm thay ihnh dng

cvReshape, cvRepeat, Cc thao tc shc

cvAdd, cvSub, cvMax, ...


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Cc hm i s tuyn tnh.tiu biu lnhn ma trn, tch hu hng, tch vhng

cvDotProduct, cvMatMul, Cc bin i ri rc

cvDFT, cvDCT,...

Cc hm to s ngu nhin


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cvLine: v on thng cvRectangle: v hnh ch nht cvCircle: v hnh trn cvEllipse: v hnh ellipse


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Nhm x l nh Cc hm ly mu, ni suy v bin i hnh

hc: Cc bin i Affine, bin i kch thc,

Cc hm lm vic trn cc thnh phn linthng: nh tm cc component, tm cc ngvin (FindContour)

Cc b lc: Cc hm chuyn i h mu, blc Median, b lc Gaussian, Threshold


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Nhm phn tch cu trc Cc x l trn Contour(ng bin):bao gm

xp x Contour, tnh din tch Contour

Cc tnh ton hnh hc: V d: tm hnh ch nht c din tch nh nht cha

2 hnh ch nht cho trc

Mt s nhm khc Phn tch chuyn ng ca im nh Phn on nh (segmentation)


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Nhm tc ngln giao din Cc hm lm vicvicas: gmcc hm to

cas, hycas, lyHandle camtcas,thay ikch thccamtcas.

Lm vicvichutv bn phm: Cung cpmtshm cbnxl nhngskintngngvichutv bn phm.

Cc hm hinthnhln cas: ychcmthm duy nht: cvvShowImage.

Nhm tc ngln file nh cvLoadImage: cmtnhvo cutrc IplImage cvSaveImage: Lumtnhvo file


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Ci Visual Studio Ci OpenCV 2.1.0

Lin kt th vin- Copy ton b file .h trong th mc trong:

C:\OpenCV2.1\include\opencv

vo th mc:C:\Program Files\Microsoft Visual Studio 9.0\VC\include

- Copy tt c cc file .lib trong th mc:C:\OpenCV2.1\lib

vo th mc:

C:\Program Files\Microsoft Visual Studio 9.0\VC\lib- Copy tt c cc file .dll trong th mc:

C:\OpenCV2.1\bin

vo th mc: C:\WINDOWS\system32

Ci t Visual Studio 2008 v OpenCV


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Vo Project-> Properties (Alt+F7)->Configuration Properties->Linker->Input->Additional Dependencies

v g on text sau:cv210d.l ib cxcore210d.lib highgui210d.l ib cv210.li b cxcore210.li bhighgui210.lib

Ci t Visual Studio 2008 v OpenCV


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File/New/Project/C++/Empty Project

To file mi lp trnh


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1. To bin cha thng tin nh v videoa. Hm:

IplImage* ten_anh = 0; // chua thong tin anh

CvCapture* ten_video =0; // cha thong tin video

b. V d:

Mt s hm c bn ca OpenCV


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* To mt khung anh mi:

cvNamedWindow("Color", CV_WINDOW_AUTOSIZE);

* Hin th 1 nh:

cvShowImage("Color",img);

* ng ca s nh:

cvDestroyWindow("Color");* c thng tin nh

cvGetSize()



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2. c v hin th file nh t my tnh.a. Hm:cvLoadImage()

IplImage* ten=cvLoadImage(ng dn);cvShowImage("anh",ten);

b. V d:#include "cv.h"#include "highgui.h"

#include

int main()

{

IplImage* ten=cvLoadImage("c:/1.jpg"); // load anh

cvShowImage("anh",ten); // hien thi anh

cvWaitKey(); // cho den khi an 1 phim

return 0;

}



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3. Lu nha. Hm:

cvSaveImage()

b. V d:

#include "highgui.h"

int main()

{

IplImage* ten=cvLoadImage("c:/1.jpg"); // load anh

cvShowImage("anh",ten); // hien thi anh

cvSaveImage("D:/test.bmp",ten); // Lu nh vi mt tn khccvWaitKey(); // cho den khi an 1 phim

return 0;

}



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H mu: C 2 h mu hay dng l:

- RGB - gm 3 mu c bn R: G: xanh l cy

B: xanh da tri

- HSV(B) - gm 3 thnh phn H: mu scS: bo haV(B): sng

Trong x l nh hay dng h HSV x l, tm khi mu.



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4. Chuyn h mu:a. Hm:

cvCvtColor(anh_nguon,anh_dich, CV_BGR2HSV);//chuyen he maucvCvtColor(anh_mau,anh_xam,CV_RGB2GRAY); // chuyen sang

mau sam

b. V d:#include "cv.h"


int main() {

IplImage* im_rgb=cvLoadImage("c:/1.jpg"); // load anhcvShowImage("anh",im_rgb); // hien thi anh

IplImage*im_gray=

cvCreateImage(cvGetSize(im_rgb),IPL_DEPTH_8U,1);

cvCvtColor(im_rgb,im_gray,CV_RGB2GRAY);

cvShowImage("Anh Gray",im_gray);



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5. Tch cc knh mu:a. Hm:

cvSplit(im_rgb, imgBlue, imgGreen, imgRed, 0);

b. V d:#include "cv.h"

#include "highgui.h"int main() {

IplImage* im_rgb=cvLoadImage("c:/1.jpg"); // load anh

cvShowImage("anh",im_rgb); // hien thi anh

IplImage* imgRed = cvCreateImage(cvGetSize(im_rgb), IPL_DEPTH_8U, 1);

IplImage* imgGreen = cvCreateImage(cvGetSize(im_rgb), IPL_DEPTH_8U, 1);

IplImage* imgBlue = cvCreateImage(cvGetSize(im_rgb), IPL_DEPTH_8U, 1);

cvSplit(im_rgb, imgBlue, imgGreen, imgRed, 0);

cvShowImage("Blue Channel",imgBlue);

cvShowImage("Green Channel",imgGreen);

cvShowImage("Red Channel",imgRed);



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6. Truy cp vo tng im nha. Hm:

cvGet2D()

cvSet2D()

- s=cvGet2D(img, i, j); s gm 3 thnh phns.val[2]R (0-255)s.val[1]G (0-255)s.val[0]B (0-255)

- cvSet2D(img, i, j, s);



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b. V d: - Tm cc im nh c mu >100#include "cv.h"


int main() {

IplImage* im_rgb=cvLoadImage("c:/1.jpg"); // load anh

cvShowImage("anh",im_rgb); // hien thi anhIplImage* copy=cvCreateImage(cvGetSize(im_rgb),8,3); //Create a new image

CvScalar s,c; // create two scalar variables

for(int i=0;iheight);i++)

{ for(int j=0;jwidth);j++)

{ s=cvGet2D(im_rgb,i,j);if((s.val[2]>100))

{ c.val[2]=255; c.val[1]=0; c.val[0]=0; cvSet2D(copy,i,j,c); }

else { c.val[2]=0; c.val[1]=0;c.val[0]=0; cvSet2D(copy,i,j,c); }

}

}cvShowImage("Red",copy); // hien thi anh


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7. Hm v ng thng, ng trn, ch nhta. Hm:cvLine(img, cvPoint(x,y), cvPoint(X,Y), cvScalar(0,0,255), 2);

cvCircle(img, cvPoint(X,Y), 3, CV_RGB(255,0,0), 3, 8, 0 );

cvRectangle(img,cvPoint(x,y), cvPoint(X,Y), cvScalar(0,255,255), 3);

b. V d:



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8. c cameraa. Hm:

cvCaptureFromCAM(CV_CAP_ANY)

b. V d:

#include "cv.h"


#include

int main() {

CvCapture* capture = cvCaptureFromCAM(CV_CAP_ANY);

while ( 1 ){

IplImage* frame = cvQueryFrame( capture ); // chp nh ng

cvShowImage("Camera", frame );

if ( (cvWaitKey(10) & 255) == 27 ) break; // an Esc de thoat

}



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9. Nhn dang khun mtTrong OpenCV c sn filehaarcascade_frontalface_alt.xml,

ta ch vic ly n ra v s dng.ng dn:

C:/OpenCV2.1/data/haarcascades/haarcascade_frontalface_alt.xml.V d: Tm khun mt trong anh.



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V d: Tm khun mt trong nh.#include "cv.h"


#include

int main() {

while ( 1 )

{

IplImage* anh = cvLoadImage("c:/2.jpg"); // load anh

CvHaarClassifierCascade * con_tro = 0; //con tr nhn din,

CvMemStorage * dem = 0; //khi to b nh m

dem = cvCreateMemStorage(0);

con_tro= (CvHaarClassifierCascade*)cvLoad(("C:/OpenCV2.1/data/

haarcascades/haarcascade_frontalface_alt.xml"),0,0,0);

CvSeq * khuon_mat= cvHaarDetectObjects(anh,con_tro, dem, 1.1, 3,


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V d: Tm khun mt trong nh.

//v hnh ch nht xung quanh khun mt

for (int i=0;itotal:0);i++)

{

CvRect * r = (CvRect*)cvGetSeqElem(khuon_mat,i);

CvPoint pt1 = {r->x,r->y};

CvPoint pt2 = {r->x + r->width,r->y + r->height};

cvRectangle(anh,pt1,pt2,CV_RGB(255,255,0),3,4,0);

}

cvShowImage("Nhan dien khuon mat",anh );

cvWaitKey();

}

return 0;

Mt h b O CV


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V d:- Vit chng trnh tm mt trong camera.



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S khi:

(Rs232)

X l nh trong rbt

Camera

My tinh

(xl)

Chp

(AVR)

ng c


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Thut ton:

X l nh trong rbt

Chp nh

Lc

X l mu

To ngng

Tm ta mu

Truyn thng


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X l nh trong rbt

Height

Width

a b c

1

2

.

.

.

Thut ton tm ta mu v truyn thng

Chng trnh to ngng (tm khi mu )


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Chng trnh to ngng (tm khi mu ).

IplImage* tao_nguong(IplImage* frame)

{

IplImage* imgHSV = cvCreateImage(cvGetSize(frame), IPL_DEPTH_8U, 3);

cvCvtColor(frame, imgHSV, CV_BGR2HSV); //from RGB to HSV

IplImage*img=cvCreateImage(cvGetSize(imgHSV),IPL_DEPTH_8U, 1);

cvInRangeS(imgHSV, cvScalar(170,160,60),cvScalar(180,255,255),img);

return img;}

Tc dng:tm ra khi mu tha mn iu kin ra.

Chng trnh tm ta khi mu


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Chng trnh tm ta khi mu

voidtrackObject( IplImage* img)

{

CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));

cvMoments(img, moments, 1);

doublemoment10 = cvGetSpatialMoment(moments, 1, 0);

doublemoment01 = cvGetSpatialMoment(moments, 0, 1);

doublearea = cvGetCentralMoment(moments, 0, 0);

if(area>100){

intposX = moment10/area; // truyn thng gi tr ny

intposY = moment01/area; // truyn thng gi tr ny

}free(moments);

}



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V d:- Vit chng trnh tm v theo di mu trong camera.( theo di bng cch v ng theo mu di chuyn )


LP TRNH GIAO DIN


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LP TRNH GIAO DIN

1. Ci t cng COM

this->serialPort1->PortName = "COM1"; // t tn l Com1this->serialPort1->BaudRate = 9600; // tc truyn 9600this->serialPort1->Open(); // m cng

this->serialPort1->WriteLine("@"); // truyn k t @

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

2. Hin th s ln textbox

textBox1->Text = so.ToString();

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

2. TrackBar

this->trackBar2->Value = 2; // thit lp trackBar2 = 2textBox1->Text = this->trackBar2->Value ; // hin th ln textbox1

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

3. Timer

timer1->Interval = 1;

timer1->Enabled = false;

timer2->Interval = 10;

timer2->Enabled = true;

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

4. checkBox

this->checkBox1->Checked == true

this->checkBox1->Checked == false

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

5. Chng trnh con

private: System::Void captureImage(void)

{

}

private: System::Void captureImage( IplImage* img)

{

}


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Vit chng trnh

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

6. Chng trnh chp nh

private: System::Void chup_anh(Void){

CvCapture* capture = cvCaptureFromCAM(CV_CAP_ANY);

srcImage = cvQueryFrame(capture);

}

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

7. Chng trnh x l nh, tm ra loan

private: System::Void xu_ly_anh(IplImage* img){

// chng trnh hm trc}

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

8. Hin th nh ln pictureBox

private: System::Void hien_thi_anh( IplImage* img){

IplImage* srcImage = img;

if((pictureBox1->Image == nullptr))

{

Bitmap^ bmpPicBox = gcnew Bitmap(pictureBox1->Width, pictureBox1->Height);

pictureBox1->Image = bmpPicBox;}

Graphics^ g = Graphics::FromImage(pictureBox1->Image);

Bitmap^ bmp = gcnew Bitmap(srcImage->width, srcImage->height, srcImage->widthStep,

System::Drawing::Imaging::PixelFormat::Format24bppRgb, IntPtr(srcImage->imageData));

g->DrawImage(bmp, (pictureBox1->Width-srcImage->width)/2, (pictureBox1->Height-srcImage->height)/2);

pictureBox1->Refresh();

delete(g);}

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

9. Hin th nh ln pictureBox, trong timer

private: System::Void timer1_Tick(System::Object^ sender, System::EventArgs^ e) {

chup_anh();

xu_ly_anh(srcImage1);

hien_thi_anh(srcImage2);

}

LP TRNH GIAO DIN


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LP TRNH GIAO DIN

10. Bi tp

Bi 1: Vit giao din x l nh cho robot xoay theo vt mu .Bi 2: Vit giao din x l nh cho robot xoay, d khong cch vi vt

mu .


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#include


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#include iostream

#include

using namespace std;

private: System::Void load(void)

{

ifstream red_;

red_.open(D:\abc.txt");red_>>r_r;red_>>r_g;red_>>r_b;

red_.close();textBox1->Text = r_r.ToString();

textBox2->Text = r_g.ToString();

textBox3->Text = r_b.ToString();

}


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#include


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#include iostream

#include

using namespace std;

private: System::Void save(void)

{

ofstream save;

save.open( "); if(save==NULL){MessageBox::Show("ERROR: Khong doc duoc file");

return;}

save

xu ly anh cho robot

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