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DOGZILLA-Lite📖
1. Get started quickly
  • 0. Notes (Must Read)new
  • 1. Main interface function experience (cm5)new
  • 1. Main interface function experience(cm4)
  • 2. APP control experience
  • 3. Web page image transmission control
  • 4. LLM-Embodied Intelligence Capabilities
  • 5. LLM-Smart Dog Capabilities
2. Basic operations of Raspberry Pi system
  • 1.SSH remote login
  • 2.VNC remote login desktop
  • 3.Remote file transfer
  • 4.JupyterLab environment construction and use
  • 5.Burn the system image
  • 6.Connect to WiFi
  • 7.Close large programs
  • 8.Raspberry Pi system expansion
3. Basic control of the dogzilla
  • 0. Introduction to DOGZILLA-Lite
  • 1. Screen display control
  • 2. Record Audio
  • 3. Play Audio
  • 4. Text to audio
  • 5. Voice to text
  • 6. Record Video
  • 7. Play Video
  • 8. Video recording function
  • 9. Read the posture angle
  • 10. Battery level reading
  • 11. Read the servo angle
  • 12. Screen display of expressions
  • 13. Calibration of the robot dog
  • 14. Burn the firmware
  • 15. Analysis of common problems
4. Motion control of the dogzilla
  • 1. The dog's forward, backward, left, and right movements and gait
  • 2. Dog Spin
  • 3. The dog adjusts its height and posture
  • 4. Dog periodic translation and rotation
  • 5. Self-balancing mode
  • 6. The dog performs preset actions
  • 7. Single Leg Control
  • 8. Robotic arm control
  • 9. Teaching mode
  • 10. Group Control Performance
  • 11. Teaching demonstration onlinenew
5. Open Source CV
A. Getting started with OpenCV
  • 1. Introduction to OpenCV
  • 2. OpenCV image reading and display
  • 3. OpenCV image writing
  • 4. OpenCV Image Quality
  • 5.OpenCV pixel operations
B. OpenCV geometric transformation
  • 1. Image scaling
  • 2. Image cutting
  • 3. Image translation
  • 4. Image mirroring
  • 5. Affine Transformation
  • 6. Image Rotation
  • 7. Perspective Transformation
C. OpenCV image processing and drawing text segments
  • 1. Grayscale processing
  • 2. Image Binarization
  • 3. Edge Detection
  • 4. Line drawing
  • 5. Rectangle and circle drawing
  • 6. Text and picture drawing
D. Image beautification
  • 1. Color Image Histogram
  • 2. Histogram Equalization
  • 3. Image repair
  • 4. Brightness enhancement
  • 5. Skin whitening
  • 6. Gaussian mean filtering
  • 7. Median Filter
6. AI recognition of the dogzilla
  • 1. Camera driver tutorial
  • 2. Color recognition
  • 3. HSV value test
  • 4. Object Recognition
  • 5. QR code recognition
  • 6. License Plate Recognition
  • 7. Human Pose Estimation
  • 8. Yolo detection
  • 9. Face Detection
  • 10. Human face mask
  • 11. Face effects
  • 12. 3D Object Recognition
  • 13. Paintbrush
  • 14. Finger recognition
  • 15. Gesture Recognition
  • 16. Age and gender identification
  • 17. Background Segmentation
  • 18. Facial Recognitionnew
  • 19. Emotion Recognitionnew
  • 20. Motion Detectionnew
7. Dogzilla AI Interaction
  • 1. Color patrol
  • 2. Line patrol and obstacle removal
  • 3. Color tracking
  • 4. Ball tracking
  • 5. The ball follows
  • 6. QR code recognition exercise
  • 7. Face tracking
  • 8. Remote control
  • 9. Gesture tracking
  • 10. Gesture-controlled movement
  • 11. You Drop, I Pick
  • 12. Independent football exercise
  • 13. Human Body Followingnew
8. AI large model interaction
  • 0.AI large model principle foundation
  • 1.Large model premise use configuration
  • 2.Q&A
  • 3.Embodied intelligence
  • 4.Smart dog
  • 5.Picture to text
  • 6.Intelligent interaction
  • 7.Voice intelligent vision
  • 8.Playing football
  • 9.Block gripping
  • 10.Line tracking and obstacle removal
  • 11.Control object tracking
Download
  • System_File
  • Code
  • Firmware
  • Communication interface
  • Instruction Manual
  • Appendix
Download ZIP

Welcome to DOGZILLA-Lite repository

1. Grayscale processing

1. Grayscale processing

1. Grayscale processing1.1. Grayscale processing1.2 Actual effect display

1.1. Grayscale processing

The process of converting a color image into a grayscale image is the grayscale processing of the image. The color of each pixel in a color image is determined by the three components of R, G, and B, and each component can take values 0-255, so that a pixel can have a range of more than 16 million (256256256=1677256) colors. A grayscale image is a special color image with the same three components of R, G, and B. The range of variation of one pixel is 256. Therefore, in digital image processing, images of various formats are generally converted into grayscale images to reduce the amount of calculation for subsequent images. The description of grayscale images, like color images, still reflects the distribution and characteristics of the overall and local chromaticity and highlight levels of the entire image.

  1. Image grayscale processing

Grayscale processing is the process of converting a color image into a grayscale image. Color images are divided into three components of R, G, and B, which respectively show various colors such as red, green, and blue. Grayscale is the process of making the R, G, and B components of the color equal. Pixels with large grayscale values are brighter (the maximum pixel value is 255, which is white), and vice versa, they are darker (the minimum pixel value is 0, which is black).

The core idea of image grayscale is R = G = B, and this value is also called grayscale value.

Image grayscale algorithm

1) Maximum value method: Make the converted R, G, and B values equal to the largest of the three values before conversion, that is: R=G=B=max(R, G, B). The grayscale image converted by this method is very bright.

2) Average value method: The converted R, G, and B values are the average values of R, G, and B before conversion. That is: R=G=B=(R+G+B)/3. The grayscale image produced by this method is relatively soft.

3) Weighted average method: According to certain weights, the values of R, G, and B are weighted averaged, that is: image.png are the weights of R, G, and B respectively, and different values are used to form different grayscale images. Since the human eye is most sensitive to green, followed by red, and the least sensitive to blue, a grayscale image that is easier to recognize will be obtained.

In OpenCV, cv2.cvtColor(img1, cv2.COLOR_BGR2GRAY) is used to grayscale the image.

1.2 Actual effect display

Source code path:

/home/pi/DOGZILLA_Lite_class/4.Open Source CV/C.Image_Processing_Text_Drawing/01_Grayscale_Processing.ipynb

​x
#方法1 imread  Method 1: imread
#注意:有时第一次运行图片不会显示出来,第二次才会显示出来 
#Note: Sometimes the image will not appear on the first run, but will appear on the second run
 
​
import cv2
import matplotlib.pyplot as plt
​
img0 = cv2.imread('yahboom.jpg',0)  
img1 = cv2.imread('yahboom.jpg',1)
# print(img0.shape)
# print(img1.shape)
# cv2.imshow('src',img0)
# cv2.waitKey(0)
​
#原始图像 The original image
# img_bgr2rgb1 = cv2.cvtColor(img1, cv2.COLOR_BGR2RGB)
# plt.imshow(img_bgr2rgb1)
​
#灰色图像 Gray Image
img_bgr2rgb0 = cv2.cvtColor(img0, cv2.COLOR_BGR2RGB)
plt.imshow(img_bgr2rgb0)
plt.show()

xxxxxxxxxx
#方法2 cvtColor Method 2 cvtColor
#注意:有时第一次运行图片不会显示出来,第二次才会显示出来
#Note: Sometimes the image will not appear on the first run, but will appear on the second run
import cv2
import matplotlib.pyplot as plt
​
img = cv2.imread('yahboom.jpg',1)
dst = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)# 颜色空间转换 1 data 2 BGR gray. Color space conversion 1 data 2 BGR gray
#cv2.imshow('dst',dst)
#cv2.waitKey(0)
​
#原始图像 The original image
# img_bgr2rgb1 = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
# plt.imshow(img_bgr2rgb1)
​
#灰色图像 Gray Image
img_bgr2rgb0 = cv2.cvtColor(dst, cv2.COLOR_BGR2RGB)
plt.imshow(img_bgr2rgb0)
plt.show()

xxxxxxxxxx
​
#方法3 平均值法 Method 3: Average value method
import cv2
import numpy as np
import matplotlib.pyplot as plt
​
​
img = cv2.imread('yahboom.jpg',1)
imgInfo = img.shape
height = imgInfo[0]
width = imgInfo[1]
# RGB R=G=B = gray  (R+G+B)/3
dst = np.zeros((height,width,3),np.uint8)
for i in range(0,height):
    for j in range(0,width):
        (b,g,r) = img[i,j]
        gray = (int(b)+int(g)+int(r))/3
        dst[i,j] = np.uint8(gray)
#cv2.imshow('dst',dst)
#cv2.waitKey(0)
​
#原始图像 original image
# img_bgr2rgb1 = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
# plt.imshow(img_bgr2rgb1)
​
#灰色图像 Gray Image
img_bgr2rgb0 = cv2.cvtColor(dst, cv2.COLOR_BGR2RGB)
plt.imshow(img_bgr2rgb0)
plt.show()

xxxxxxxxxx
#方法4 加权平均值方法 Method 4: Weighted average method
# gray = r*0.299+g*0.587+b*0.114  
​
import cv2
import numpy as np
img = cv2.imread('yahboom.jpg',1)
imgInfo = img.shape
height = imgInfo[0]
width = imgInfo[1]
dst = np.zeros((height,width,3),np.uint8)
for i in range(0,height):
    for j in range(0,width):
        (b,g,r) = img[i,j]
        b = int(b)
        g = int(g)
        r = int(r)
        gray = r*0.299+g*0.587+b*0.114
        dst[i,j] = np.uint8(gray)
#cv2.imshow('dst',dst)
#cv2.waitKey(0)
​
#原始图像 original image
# img_bgr2rgb1 = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
# plt.imshow(img_bgr2rgb1)
​
#灰色图像 Gray Image
img_bgr2rgb0 = cv2.cvtColor(dst, cv2.COLOR_BGR2RGB)
plt.imshow(img_bgr2rgb0)
plt.show()

Perspective Transformation
Image Binarization

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