Examples of vision code.


OpenCV camera calibration

My camera calibration code is here. Look at notes.txt. The images are here (123Mbyte).


Here is a collection of images of various blocks world structures.


OpenCV

Download OpenCV from here. Installing for python Installing for python 2

I put together some OpenCV examples. Unzipped directory

Contents:

Makefile - instructions on how to compile these programs on Linux

CGA programs:

pyr-blobs-color.cpp - current program
- build pyramid
- find variances
- find blobs (areas of low variance)
- use LSD line detector
- use Canny line detector

pyr-blobs.cpp - early attempt at blob finding

pyr-edges.cpp - early attempt at edge finding

find-colors.cpp - find which colors are used most

Opencv demo programs:

pyramid.cpp - Image pyramids
https://docs.opencv.org/4.0.1/d4/d1f/tutorial_pyramids.html

edges.cpp - Canny edges
https://docs.opencv.org/4.0.1/da/d5c/tutorial_canny_detector.html

hough.cpp - Hough transform
hough2.cpp
https://docs.opencv.org/4.0.1/d9/db0/tutorial_hough_lines.html

lsd-lines.cpp - Line segment detector
http://visilab.etsii.uclm.es/personas/oscar/Publications/New_functionality_OpenCV3.pdf

bounding.cpp - Bounding boxes
https://docs.opencv.org/4.0.1/da/d0c/tutorial_bounding_rects_circles.html

contours.cpp - Find contours
http://opencvexamples.blogspot.com/2013/09/find-contour.html
https://docs.opencv.org/4.0.1/d4/d73/tutorial_py_contours_begin.html

harris.cpp - Find corners
https://docs.opencv.org/4.0.1/d4/d7d/tutorial_harris_detector.html

shi-tomasi.cpp - Find corners
https://docs.opencv.org/4.0.1/d8/dd8/tutorial_good_features_to_track.html

segment1.cpp - Segmentation using the watershed approach
https://docs.opencv.org/4.0.1/d3/db4/tutorial_py_watershed.html


Examples of Blocks World Vision

Blocks World Revisited

BLORT -The Blocks World Robotic Vision Toolbox. See this version, which may be more up-to-date.

Localizing 3D Cuboids in Single-view Images

Blocks World Vision for the AIBO Robot

Matlab Hough line detection.