Shingo Kagami .ac.jp
Intelligent Control Systems
Image Processing (1)
-- Basic Concepts and Introduction of OpenCV --
Shingo Kagami
Graduate School of Information Sciences, Tohoku University
swk(at)ic.is.tohoku.ac.jp
Basic Motivation
e.g. Vision-based Control of Robots
? image acquisition (not covered this year) ? image processing ? robot control (have been covered by Prof. Hashimoto's part)
Shingo Kagami (Tohoku Univ.) Intelligent Control Systems 2020 (1)
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Schedule
We focus on theories and implementations of basic visual tracking methods, which give foundations of image processing for visual servoing
July 10: Intro: Image Processing Programming July 17: Image Processing Basics (Filtering, Colors) (July 24: Holiday) July 31: Object Tracking (1) August 7: Object Tracking (2)
August 31: Final Report due
Shingo Kagami (Tohoku Univ.) Intelligent Control Systems 2020 (1)
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Digital Images
Analog distribution of light intensity
2-D discretization (into pixels) quantization of intensity (ADC)
A digital image: 2-D array of pixel values
Shingo Kagami (Tohoku Univ.) Intelligent Control Systems 2020 (1)
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Pixel Value
(analog) light intensity; illuminance; voltage (digital) pixel value; intensity value; gray level; grayscale value
255
...
128
quantized into [0, 255] integer: 8-bit grayscale image
...
cf. binary image (= 1-bit grayscale) 0
Shingo Kagami (Tohoku Univ.) Intelligent Control Systems 2020 (1)
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Expression of a Digital Image
M ? N pixels digital image:
{ Fx,y }, x = 0, 1, , M-1, y = 0, 1, , N-1 Pixel value at (x, y): Fx,y
F0,0 F1,0 F2,0
FM-1,0
x axis
F0,1 F1,1 F2,1
FM-1,1
y axis
F0,N-1F1,N-1F2,N-1
FM-1,N-1
Shingo Kagami (Tohoku Univ.) Intelligent Control Systems 2020 (1)
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Example in C
#define M 640 #define N 480 unsigned char image[M * N];
8-bit
image[M * y + x] = 30; // F(x, y) := 30
M N
? 2-D array is not convenient in C (e.g. not flexible in sizes) ? 1-D array is often preferred
Shingo Kagami (Tohoku Univ.) Intelligent Control Systems 2020 (1)
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A Simple Example Code in C
binarization (or thresholding)
#define M 640 #define N 480 #define THRESHOLD 128 unsigned char image[M * N]; int i, j;
for (j = 0; j < N; j++) { for (i = 0; i < M; i++) { if (image[M * j + i] >= THRESHOLD) { image[M * j + i] = 255; } else { image[M * j + i] = 0; } }
}
Shingo Kagami (Tohoku Univ.) Intelligent Control Systems 2020 (1)
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