Is there any algorithm recommendation to do this? My project is using single-channel image (BW), consist of 2 images. First image is user defined which is a "map" of an area (let says room) and second image is sensor result (using RpLIDAR 360 degree laser scanner). The second image only contain some parts of the first one. The goal is find corresponding position on the first image.
I'm familiar with OpenCV2.4.11 and work using raspberry-pi2
This is RpLidar raw input which already converted to an image
By using erode and dilate function for filter, HoughLinesPrediction to improve line result, SURF feature detection (I already try using ORB), and FLANN matcher, here's the result so far:
Missmatched feature point
One of expected result
Hope i make my question clear, thanks in advance
You can try to make you own corner detection instead. The logic is, observing 3 points, and calculate the angle created.
Related
Given an image, how can I create an algorithm using image processing techniques to identify the sections where there are no products present. I also need to create a bounding with coordinates for the empty spaces where products are not present.
I need to accomplish this using OpenCV. And I cannot use Deep Learning here.
I have used a Canny edge detector, and empty spaces are well identified using this.
Should I use a Contour on the results of the Canny edge detector?
Any help would be appreciated.
yes you can do that in image processing technique by using Matlab, vector images.
Use two images.
One is with empty shelves.
Second one is the current image.
Subtract 1st image from second second.
You will get the results how many shelves are empty.
I have 10,000 examples 20x20 png image (binary image) about triangle. My mission is build program, which predict new image is whether triangle. I think I should convert these image to 400 features example, but I don't know how convert fastest.
Can you show me the way?
Here are a image .
Your question is too broad as you dont specify which technologies you are using , but in general you need to create a vector from an array , that depends on your tools , for example if you use python(and the numpy library) you could use flatten().
image_array.flatten();
If you want to do it manually you just need to move every row to a single row.
The previous answer is correct. Yet I want to add something to it:
The example image that you provided is noisy. This is rather problematic as you are working with only binary images. Therefore I want to suggest preprocessing, such as gaussian filter or edge detection. Denoising will improve your clustering algorithms accuracy stronlgy (to my knowledge).
One important question:
What are the other pictures showing? Do you have to seperate triangles from circles? You will get much better answers if you provide more information.
Anyhow, my key message is: Preprocessing is vital for image-processing.
I am currently looking for a proper solution to the following problem, which is not directly programming oriented, but I am guessing that the users of opencv might have an idea:
My stereo camera has a sensor of 1/3.2" 752x480 resolution. I am using the two stereo images of this very camera in order to create a point cloud, thanks to the point cloud library (PCL).
The problem is that I would like to reduce the number of points contained by the point cloud, by directly lowering the resolution of the input images (passing from 752x480 to 376x240).
As it is indicated in the title, I have to adapt the focal of the camera in pixels to this need:
I calculate this very parameter thanks to the following formula:
float focal_pixel = (FOCAL_METERS / SENSOR_WIDTH_METERS)*InputImg.cols;
However the SENSOR_WIDTH_METERS is currently constant and corresponds to the 1/3.2" data converted to meters AND I would like to adapt this to the resolution that I would like to have: 376x240.
I am absolutly not sure if I turned my problem clearly enough to be answered, which would mean that I am going in the wrong direction.
Thank you in advance
edit: the function used to process the stereo image (after computing):
getPointCloud(hori_c_pp, vert_c_pp, focal_pixel, BASELINE_METERS, out_stereo_cloud, ref_texture);
where the two first parameters are just the coordinates of the center of the image, BASELINE_METERS the baseline of my camera out_stereo_cloud my output cloud and eventually ref_texture the color information. This function is taken from the sub library stereo_matching.
For some reason, if I just resize the stereo images, it seems to enter in conflict with the focal_pixel parameters, since the dimension are not the same anymore.
Im very lost on this issue.
As I don't really follow the formulas and method calls you're posting I advise you to use another approach.
OpenCV already gives you the possibility to create voxels using stereo images with the method cv::reprojectImageTo3D. Another question also already discusses the conversion to the according PCL datatype.
If you only want to reproject a certain ROI of your image you should opt for cv::perspectiveTransform as is explained in the documentation I pointed out in the first link.
Hey Guys i am currently trying to detect the Angle of a powder inside a Glass container.
The solution i got involves the use of Houghlines-Algorithm on an Image, preprocessed by gray scaling, thresholding, applying a gauss filter and at last using the sobel-operator to extract the edges. If i get my Hough-Lines back i use the fitline algorithm to fit a line inside all the detected points. Here is an Image of what i ended up with:
The Problem i have is that i am not really into Image-Processing and not sure whether this is a good approach or not to detect Angle with Houghlines and fitline, so is there a better approach of extracting these Informations so that i can improve my result ?
I have a processed binary image of dimension 300x300. This processed image contains few object(person or vehicle).
I also have another RGB image of the same scene of dimensiion 640x480. It is taken from a different position
note : both cameras are not the same
I can detect objects to some extent in the first image using background subtraction. I want to detect corresponding objects in the 2nd image. I went through opencv functions
getAffineTransform
getPerspectiveTransform
findHomography
estimateRigidTransform
All these functions require corresponding points(coordinates) in two images
In the 1st binary image, I have only the information that an object is present,it does not have features exactly similar to second image(RGB).
I thought conventional feature matching to determine corresponding control points which could be used to estimate the transformation parameters is not feasible because I think I cannot determine and match features from binary and RGB image(am I right??).
If I am wrong, what features could I take, how should I proceed with Feature matching, find corresponding points, estimate the transformation parameters.
The solution which I tried more of Manual marking to estimate transformation parameters(please correct me if I am wrong)
Note : There is no movement of both cameras.
Manually marked rectangles around objects in processed image(binary)
Noted down the coordinates of the rectangles
Manually marked rectangles around objects in 2nd RGB image
Noted down the coordinates of the rectangles
Repeated above steps for different samples of 1st binary and 2nd RGB images
Now that I have some 20 corresponding points, I used them in the function as :
findHomography(src_pts, dst_pts, 0) ;
So once I detect an object in 1st image,
I drew a bounding box around it,
Transform the coordinates of the vertices using the above found transformation,
finally draw a box in 2nd RGB image with transformed coordinates as vertices.
But this doesnt mark the box in 2nd RGB image exactly over the person/object. Instead it is drawn somewhere else. Though I take several sample images of binary and RGB and use several corresponding points to estimate the transformation parameters, it seems that they are not accurate enough..
What are the meaning of CV_RANSAC and CV_LMEDS option, ransacReprojecThreshold and how to use them?
Is my approach good...what should I modify/do to make the registration accurate?
Any alternative approach to be used?
I'm fairly new to OpenCV myself, but my suggestions would be:
Seeing as you have the objects identified in the first image, I shouldn't think it would be hard to get keypoints and extract features? (or maybe you have this already?)
Identify features in the 2nd image
Match the features using OpenCV FlannBasedMatcher or similar
Highlight matching features in 2nd image or whatever you want to do.
I'd hope that because all your features in the first image should be positives (you know they are the features you want), then it'll be relatively straight forward to get accurate matches.
Like I said, I'm new to this so the ideas may need some elaboration.
It might be a little late to answer this and the asker might not see this, but if the 1st image is originally a grayscale then this could be done:
1.) 2nd image ----> grayscale ------> gray2ndimg
2.) Point to Point correspondences b/w gray1stimg and gray2ndimg by matching features.