Enabling the robot to have Computer Vision seems like a very straightforward case, and I learned a lot that I want to share, as most likely you will find it useful.

Just in case you want to dive right in, you can access the code via my Github HTA0 robot project. You can read through my Medium post on the overview of the robot and watch the video of it in operation in Youtube.

This illustration will be crucial to understand the code and how you can use it on your own projects which may have different frames of reference based on your application. The main reference I have used for this, is the OpenCV 2. The main challenge I found with this pinhole model, is that if you want to solve for X Y Z, it cannot be done, because you cannot calculate the inverse of the R t matrix as it is not square.

Before I dive into the solution, it is important to understand the pinhole camera model and coordinates:. And this is important, because if your setup has a z value that is not equal to zero, the pinhole camera model simplifies to:. To make it work, I added the scaling factor and camera matrix, to arrive at u, v which now enabled to solve for X Y Z in the following manner:. This was a crucial step that enable me to get to a working solution and while working through this another interesting aspect popped-up.

The first step to calibrate your setup, is to find what is called the intrinsic parameters of your camera, which are based on how the camera is build and one of the key factors to calibrate, is the distortion that is caused by the curvature of the camera lens.

I followed the steps from the OpenCV Camera Calibration and even used a lot of the example code, but I did find something interesting. You can find the Python script for this Initial calibration here. To get to this point, It involved a series of more steps to get it to work reliably, which I will explain.

Is murderpedia a reliable sourceIf you refer to the pinhole model, these are equivalent to u and v pixel values. Our sheet looks like this:. We then use the 9 circle template I created to calculate the Image points, which is the information we need for the perspective calculation. And after running the Perspective calibration, it is important to check the scaling factor s.

Windows 10 version 1809 isoThis is a crucial step, given that your Intrinsic Camera Calibration results drive a lot of variablity in the reliability of the X Y Z calculation, and you should look to iterate and get the scaling factor error as small as possible.

Z calculations, and my hypothesis is this is base primarily on how the frames of reference for the plane vs. You can find the Python script for this process here.By using our site, you acknowledge that you have read and understand our Cookie PolicyPrivacy Policyand our Terms of Service.

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### Calculate X, Y, Z Real World Coordinates from Image Coordinates using OpenCV

I want to know if it is possible to know or set a particular position or say coordinates of an Image or DIV element in a webpage? Example : Say there is a image1 or DIV1 containing some dataNow I want to set coordinate say x,y on a webpage and because of some reasons if coordinates of Image or DIV element gets change due to some reasonThen how I can get the change location of that Images or DIV on my webpage? You should look at css position: absolute; with lefttoprightbottom properties.

To change the position later use JavaScript:. Learn more. How to set Coordinates Position of an Image in a webpage? Ask Question. Asked 5 years ago. Active 5 years ago. Viewed 13k times.

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Print this page. For example the following XY mouse coordinates were recorded by clicking the image circumference. Recorded XY mouse coordinates: ,47, 99, 74, 58, 49, 52, 65, 86,95,, How it works: Upload any of the following image filetypes:. If the uploaded image has a width larger than px, it will be automatically resized to px. Each time you click your mouse on the image the corresponding XY mouse coordinate is recorded. You can manually add new coordinates by entering the XY values or change or delete existing coordinates.

The coordinate origin is positioned in the top left corner coordinate 0,0.

When you are done recording, press the Finalize button. This will copy the recorded values to the output area.

**Python [PIL Image] 10 GetPixel**

If the image was resized the recorded mouse coordinates are recalculated to its original image scale. In the output area you can: Change the final coordinates or even erase all coordinates and enter your own.

Scale all coordinates by entering a multiply factor. These points can be connected by lines and even the formed shape can be filled. The created image can be downloaded. The download functionality is not available if you use Internet Explorer.

For problems or assistance with this site, send an email to Mobilefish. Record XY mouse coordinates on an uploaded image. This free online service allows you to upload an image and record all XY mouse coordinates by mouse clicks.

Recorded XY mouse coordinates: ,47, 99, 74, 58, 49, 52, 65, 86,95,, Points only Lines only do not connect start point with end point Lines only connect start point with end point Fill the shape Points and lines do not connect start point with end point Points and lines connect start point with end point Fill the shape include points.Search everywhere only in this topic.

Advanced Search. Classic List Threaded. Obtaining X-Y coordinates from an image. There has to be some way of doing this since when you scroll around the membrane, the ImageJ taskbar shows the x coordinate, y coordinate, and its respective value as seen in the image below. Since the threshold value isand any intensity beneath it is 0, therefore, the picture is already binary. Is there any function that will allow me to obtain all of the X-Y coordinates instead of using my mouse to scroll all around the membrane and write the coordinates down manually?

Thank you very much in advance, Regards, Ammar. Robert Kirmse. Re: Obtaining X-Y coordinates from an image. Hi Ammar i have written a makro once which was able to trace black lines in a binary image.

I can check on Monday if I still have the source somewhere. Another way maybe not the fanciest but quick and dirty would be to just use the macro function of ImageJ and draw a 1x1 pixel mask.

All this is easyly accessible by the macro editor in imageJ again it is maybe not the most fanciest approach but will do the trick. You have to wait till monday though because I am busy this weekend. University of Colorado at Boulder Dept.

Robert Kirmse wrote. Kirmse colorado. Rasband Wayne wrote. Ammar, 1. This post has NOT been accepted by the mailing list yet. In reply to this post by Robert Kirmse.

Robert, Could you post the macro I would be really interested in seeing it.In mathematicsthe image of a function is the set of all output values it may produce. More generally, evaluating a given function f at each element of a given subset A of its domain produces a set called the " image of A under or through f ".

The inverse image or preimage of a given subset B of the codomain of f is the set of all elements of the domain that map to the members of B. Image and inverse image may also be defined for general binary relationsnot just functions. The word "image" is used in three related ways. When there is no risk of confusion, f [ A ] is simply written as f A. This convention is a common one; the intended meaning must be inferred from the context.

This makes f [. See Notation below. The image of a function is the image of its entire domain. Let f be a function from X to Y. The set of all the fibers over the elements of Y is a family of sets indexed by Y. The traditional notations used in the previous section can be confusing.

An alternative [1] is to give explicit names for the image and preimage as functions between powersets:.

### Interactive Cartesian Coordinates

The results relating images and preimages to the Boolean algebra of intersection and union work for any collection of subsets, not just for pairs of subsets:. Here, S can be infinite, even uncountably infinite. With respect to the algebra of subsets, by the above the inverse image function is a lattice homomorphism while the image function is only a semilattice homomorphism it does not always preserve intersections.

From Wikipedia, the free encyclopedia. The set of all values of a function. For other uses, see Image disambiguation. Basic notions.By using our site, you acknowledge that you have read and understand our Cookie PolicyPrivacy Policyand our Terms of Service.

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Stack Overflow for Teams is a private, secure spot for you and your coworkers to find and share information. I am a beginner in opencv-python. I want to get all the X and Y coordinates of for the region of the interest mentioned in the code and store it in an array. Can anyone give me an idea on how to proceed? I was able to run the code, but is not showing any results. In your code you are using a for loop which is time consuming.

Jennifer dulos parentsYou could rather make use of the fast and agile numpy library. EDIT: i had to read up on what Chris commenting on the post meant by XY Problem but i agree, is there something youve tried and hasnt worked that youd like us to help fix?

Learn more. Finding all the X and Y coordinates of an image in python opencv Ask Question. Asked 2 years, 10 months ago.

Aquarius favorite foodActive 1 year, 11 months ago. Viewed 26k times. Image for detecting all the X and Y coordinates The sample code i wrote is written below, import cv2 import numpy as np import matplotlib. Harikrishnan R Harikrishnan R 25 1 1 gold badge 1 1 silver badge 6 6 bronze badges. I'm confused. What does "all the X and Y coordinates of pixels" mean?

What are you trying to accomplish here? This sounds like an XY problem. X, Y coordinates of what??? YvesDaoust of all pixels of the image or entire image. They are 0,0, 1, W-1,00, 11,1W-1,Sign in to comment. Sign in to answer this question.

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## Record XY mouse coordinates on an uploaded image

Search Support Clear Filters. Support Answers MathWorks. Search MathWorks. MathWorks Answers Support. Open Mobile Search. Trial software. You are now following this question You will see updates in your activity feed. You may receive emails, depending on your notification preferences. How to get xy coordinates from a binary image matrix.

Ian Hersom on 1 Aug Vote 0. Commented: Ayesha Shafique on 18 Apr Accepted Answer: Chad Greene. How do I get the xy coordinates of all the 1's in a binary matrix?

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