This code detects red objects. I have create a robotic arm and I want via a camera to detect red objects and move the arm in these. So how can I modify the code so I have communication with the servo ???Any help with the code??

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kwstis xoustoulakis 2015-5-16

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/217061-this-code-detects-red-objects-i-have-create-a-robotic-arm-and-i-want-via-a-camera-to-detect-red-obj

评论： Image Analyst 2017-12-25

vid=videoinput('winvideo',1,'YUY2_320x240');
set(vid,'FramesPerTrigger',inf);
set(vid,'ReturnedColorspace','rgb')
vid.FrameGrabInterval=5;
a=arduino('COM3');
a.servoAttach(9);
a.servoAttach(10);
a.servoAttach(11);
start(vid);
while(vid.FramesAcquired<=100)
    data=getsnapshot(vid);
    diff_im=imsubtract(data(:,:,1),rgb2gray(data));
    diff_im=medfilt2(diff_im,[3,3]);
    diff_im=im2bw(diff_im,0.18);
    diff_im=bwareaopen(diff_im,300);
    bw=bwlabel(diff_im,8);
    stats=regionprops(bw,'BoundingBox','Centroid');
    imshow(data);
      hold on
      for(object=1:length (stats))
          bb=stats(object).BoundingBox;
          bc=stats(object).Centroid;
          rectangle('Position',bb,'EdgeColor','r','LineWidth',2)
         plot(bc(1),bc(2),'-m+')
      end
      hold off
  end
  stop(vid);
  flushdata(vid);
  clear all;

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Image Analyst 2015-5-16

Forgetting about the red color detection for the moment, are you able to talk to your servo at all yet? Figuring out how to do that, and how to move the arm to a specific location, is something that needs to be done first, or in parallel with your red object detection code.

kwstis xoustoulakis 2015-5-16

yes im able to talk to all servos via matlab with a simple m-file code that i giving angles and my arm moves ,but im looking how to modify my code so my arm moves in red objects!!thanks

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Answer 1

Image Analyst 2015-5-16

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https://ww2.mathworks.cn/matlabcentral/answers/217061-this-code-detects-red-objects-i-have-create-a-robotic-arm-and-i-want-via-a-camera-to-detect-red-obj#answer_179358

The camera calibration routines in the Computer Vision System Toolbox will make this easier for you. http://www.mathworks.com/help/vision/camera-calibration-and-3-d-vision.html You can hopefully be able to convert from a location in your image to a point in 3D real world space and then tell your servo to move the arm there. I don't have code for that. I'm sure it won't be some simple 100 line long chunk of code - it will be somewhat complicated.

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sidra 2017-12-25

bc (1) is the X coordinate and bc (2) is the Y coordinate. How do I use these 2 coordinate to control the 2 servo motor using matlab and arduino support package to track an object... any update on this query please?