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

 

 

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