How to make blob search and detection faster - Raspberry Pi Forums

hello,

making robot has play game. should detect , grab balls , cylinders of color in ground (small play area table made of wood of maximum area of 4*4 meters). has move in play area, find balls , cylinders of specific color , grab them, find next object of same color , on..

using camera robot see , find objects of interest.

1) problem when objects far away robot (and camera), there color intensities changes along size becomes difficult robot move in direction not identifies them. fix problem changing image binary applying proper color thresholds, since background(playing area) , objects of contrasting colors.is right way go or there better ways? avoided going hsv color space save processing time.

2) robot able blob detection slow in searching objects of interest. camera basic logic link camera max. resolution of 640*480. (link given below). how can make search faster? decreasing resolution or increasing it? how increase or decrease?

http://logilink.com/showproduct/ua0072. ... anguage=en

3) can over-clock raspberry pi , in case?

4) can use sensors can detect objects of color distance? 15 -20 inches?

posting part of code simple blob detection below unable attach file. working in c++ language.



regards
saher maqsood

code: select all

 videocapture cap(1);     if(!cap.isopened())     {         cout<<"not getting camera capture"<<endl;         terminatewhile = 0;     }      while(terminatewhile)     {     /// read image 5 times avoid getting broken frames, issue had         for( i=0 ; i<5 ; i++ )         {             cap.read(img);         }          if(img.empty())         {             cout<<"not getting frames"<<endl;             terminatewhile = 0;         }         else if(!img.empty())         {             cout<<"getting continuous frames"<<endl;              cvtcolor(img, gray, cv_bgr2gray);              ///convert grayscale image binary detect color object             threshold( gray, binary, 180, 255, thresh_binary);             imwrite("imagebinary.jpg",binary);              /// calling blob detection function. (the variables blobcounter , lastfounddirection sent blobdetectionwithimage             function not used blob detection such used in other functions in case blob detected/not detected)             blobdetectionarray = blobdetectionwithimage (binary, blobcounter, lastfounddirection);         }     }  std::vector<int> blobdetectionwithimage (mat thresholdimage,  int findblobcounter, int lastfounddirection) {      int blobsize;       int arr[] = {-1,-1,-1,-1,0};     std::vector<int> blobdetectarray(arr, arr+5);     blobdetectarray[3] = findblobcounter;     blobdetectarray[4] = lastfounddirection;   ///declaring blob detector params , setting parameters     simpleblobdetector::params params;  ///vector store points of blobs     vector<keypoint> keypoints;      params.minarea = 500.0f;     params.maxarea = 900000.0f;     params.filterbyarea = true;     params.filterbycircularity = false;     params.filterbyconvexity = false;     params.filterbyinertia = false;     params.filterbycolor = true;     params.blobcolor = 255;   ///making object of simpleblobdetector     simpleblobdetector myblob(params);     myblob.create("simpleblob");  ///calling function detect blobs     myblob.detect(thresholdimage, keypoints);   ///if blob detected     if(keypoints.size() > 0)     {         if(keypoints.size() > 1)         {             sort(keypoints.begin(),keypoints.end(), waytosort);         }  ///displaying area, x-coordinate , y-coordinate of each blob         for(int i=0; i< keypoints.size(); i++)         {             cout<<"blob " <<i;             blobsize = keypoints[i].size;             cout << " x=" << (int)keypoints[i].pt.x << endl;             cout << " y=" << (int)keypoints[i].pt.y << endl;             cout<<" size=" << blobsize << endl;         }          blobdetectarray[0] = 1;         blobdetectarray[1] = (int)keypoints[0].pt.x;         blobdetectarray[2] = (int)keypoints[0].pt.y;          drawkeypoints( thresholdimage, keypoints, thresholdimage);         imshow( "image keypoints drawn", thresholdimage);     }  /// if no blob detected     else if (keypoints.size() == 0)     {         cout <<" no blob found !!"<<endl;          findblobcounter = findblob(findblobcounter,lastfounddirection);         blobdetectarray[3] = findblobcounter;         blobdetectarray[4] = lastfounddirection;     }       return blobdetectarray; }  

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