Gucken: Ein bisschen Theorie


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Nachdem die OpenCV nun funktioniert, gehts es daran, aus den Kamera-Bildern „echte“ Informationen für den RAT zu extrahieren. Das bedeutet in der Praxis, dass das einzelne Bild in Segmente zerlegt werden muss, die für sich dann auswertbar sind. Meine derzeitiger Plan sieht vor, das Bild zunächst in nebeneinander liegende Rechtecke zu zerteilen, die durch bestimmte optische Merkmale voneinander getrennt sind. Zum Beispiel ein Türrahmen oder eine Ecke.

Dazu wird das Originalbild zuerst in ein binäres Grau-Bild umgerechnet. Das spart bei den folgenden Operationen Rechenzeit.

shot1
Der Original-Frame

 

shot2

Anschließend wird das Bild per Schwellwert-Berechnung in ein abstraktes Bild umgewandelt, indem Ränder identifiziert werden.

shot3

Der nächste Schritt ist das Finden von vertikalen Linien. Das alles funktioniert Dank OpenCV übrigens mit einigen wenigen Befehlen. Allerdings musste ich für die richtigen Parameter ein Weile fummeln.
Die gefundenen Linien werden jetzt, zur Anschauung, wieder in das Originalbild projiziert.

Auf dem PC geht das Ganze sogar in Echtzeit. Bleibt zu hoffen, dass der Raspberry genügend Rechenleistung hat, um diese Operationen wenigstens mit, sagen wir mal 1 Frame pro Sekunde auszuführen.

shot5

 

 

Gucken, Fortsetzung

Es ist definitiv ein Meilenstein in der Geschichte dieses Projekts: Mein kleiner blinkender Freund (der RAT) hat Augen bekommen und beginnt, seine Umwelt wahrzunehmen. Die Analogie zu einem Säugling, der fröhlich vor sich hin sabbernd, zunächst nur ganz verschwommen die Konturen von Mutti oder Pappi wahrnimmt und darauf mit einem Lächeln reagiert, ist durchaus nahe liegend. Aber lassen wir die Kirche im Dorf. Es bleibt eine Maschine, da kann ich noch so herzliche Vatergefühle entwickeln.

opencv_logoDas OpenCV Framework ist mir eine große Hilfe. Im Netz wimmelt es von Anleitungen und Beispielen mehr oder weniger guter Qualität. In Erwartung dessen, was OpenCV zu leisten in der Lage ist, bin ich schon ganz aufgeregt. Aber – gut Ding will Weile haben.

Meine Hoffnungen konzentrieren sich darauf, dem RAT beizubringen, sich mittels vorhandener (gespeicherter) und abstrahierter Bilder bzw. Muster zu orientieren. Zudem sollen einfache Objekte erkannt werden und daraus ggf. Aktionen abgeleitet werden. Die ersten Versuche geben Mut zu mehr.