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Muto RS Robot📖
01.Introduction to Muto Robot
  • 1.Accessories introduction
  • 2.Precautions for battery
  • 3.FAQ
  • 4.MutoRS Study Guide
  • 5.Quick Start Guide
02.Assembly and write system
  • 1.Raspberry Pi write system
  • 2.Assembly video
03.Remote control course
  • 1.Open and Close APP Control Program
  • 2.Mobile APP Remote Control
  • 3.USB Wireless Controller Remote Control
  • 4.Web Host Computer Remote Control
04.Remote login operation
  • 1.SSH and VNC remote login
  • 2.Jupyter Lab login and running example code
05.AI Large Model Basicsnew
  • 1.AI Large Model Types and Principles
  • 2.RAG Retrieval Enhancement and Model Training Samples
  • 3.Embodied Intelligent Robot System Architecture
  • 4.Embodied Intelligent Functions Core Source Code
06.AI Large Model Developmentnew
  • 1.Register a model service provider account
  • 2.Configure API-KEY
  • 3.Introduction to Dify
  • 4.Dify Basic function
  • 5.AI large model development - Chatbot
  • 6.Deploy the RAG knowledge base
  • 7.RAG knowledge base + Chatbot
  • 8.AI agent workflow
  • 9.Custom wake-up response
  • 10.Core module testing tools
07.AI Large Model (Text Version)new
  • 0.MutoRS Model Setup & Details
  • 1.Semantic Understanding, Instruction Following
  • 2.Multimodal Visual Understanding
  • 3.Multimodal Visual Understanding + Depth Camera Distance Q&A
  • 4.Multimodal Visual Understanding + Visual Line Following
  • 5.Multimodal Visual Understanding + Visual Following
  • 6.Multimodal Visual Understanding + SLAM Navigation
  • 7.Multimodal Visual Understanding + SLAM Navigation + Visual Line Following
  • 8.Intention Estimation + Multimodal Visual Understanding + SLAM Navigation + Visual Functions
08.AI Large Model (Voice Version)new
  • 0.MutoRS Model Setup & Details
  • 1.Semantic Understanding, Instruction Following
  • 2.Multimodal Visual Understanding
  • 3.Multimodal Visual Understanding + Depth Camera Distance Q&A
  • 4.Multimodal Visual Understanding + Visual Line Following
  • 5.Multimodal Visual Understanding + Visual Following
  • 6.Multimodal Visual Understanding + SLAM Navigation
  • 7.Multimodal Visual Understanding + SLAM Navigation + Visual Line Following
  • 8.Intention Estimation + Multimodal Visual Understanding + SLAM Navigation + Visual Functions
09.AI Large Model (Fun Applications)new
  • 1.Versatile performer
  • 2.Action Imitation
  • 3.Problem Solving Expert
  • 4.Exploring Unfamiliar Environments
10.Robot basic course
  • 1)Control buzzer
  • 2)Control PWM servo
  • 3)Control bus servo
  • 4)Robot forward and backward
  • 5)Robot move left and right
  • 6)Robot rotate left and right
  • 7)Control height
  • 8)Control head
  • 9)Action group performance
  • 10)Read data
  • 11)Host computer control
  • 12)Camera driver
11.Voice control coursenew
  • 1.Control Muto motion
  • 2.Control Muto tracking
  • 3.Control Muto color recognition
  • 4.Control Muto color tracking
  • 5.Control multi-point navigation
12.AI vision course
  • 0)Color HSV Calibration
  • 1)Color recognition
  • 2)Color following
  • 3)Color recognition action group
  • 4)Face detection
  • 5)QR code recognition
  • 6)QR code instructions
  • 7)Visual line following
  • 8)Motion learning
  • 9)Synchronous action teaching
13.Mediapipe course
  • 1)Hand detection
  • 2)Attitude detection
  • 3)Overall inspection
  • 4)Face detection
  • 5)Face recognition
  • 6)Face effects
  • 7)Face detection
  • 8)3D object recognition
  • 9)Brush
  • 10)Finger control
  • 11)Gesture recognition
14.Depth camera course
  • 1)Depth camera use
  • 2)Internal reference calibration
  • 3)Web page real-time monitoring
  • 4)ROS+opencv application
  • 5)QR code creation and recognition
  • 6)AR vision
  • 7)Tracking
  • 8)Obstacle recognition
  • 9)Color tracking
  • 10)KCF object tracking
  • 11)RTAB-Map 3D mapping navigation
15.Lidar course
  • 1)About lidar
  • 2)Lidar obstacle avoidance
  • 3)Lidar tracking
  • 4)Lidar guard
  • 5)Patrol
  • 6)SLAM overview
  • 7)ROS2_Gmapping mapping algorithm
  • 8)ROS2_Cartographer mapping algorithm
  • 9)About ROS2 Navigation
  • 10)ROS2 navigation and avoid
  • 11) APP mapping
  • 12)APP navigation
16.Road network navigationnew
  • 1.Road network planning and navigation environment deployment
  • 2.Constructing pose maps
  • 3.Road network annotation
  • 4.Inter-road network planning and navigation
  • 5.Road network navigation under arbitrary poses
  • 6.Path replanning
17.Multi-machine control course
  • 1)Multi-vehicle control
  • 2)Multi-vehicle navigation
18.Robot chassis control
  • 1)Hexapod gait and kinematics
  • 2)Robot information release
  • 3)Robot control
  • 4)URDF model
19.Raspberry Pi course
  • 1)Python usage
  • 2)Use APT to install Python packages
  • 3)Python virtual environment
  • 4)GPIO Zero
  • 5)Pin output high and low levels
  • 6)Pin reads high and low levels
  • 7)Pin output PWM
  • 8)Serial communication
  • 9)I2C communication
20.OpenCV course
  • 1)Introduction to Open Source CV
  • 2)Image reading and display
  • 3)Picture writing
  • 4)Image Quality
  • 5)Pixel operations
  • 6)Image zoom
  • 7)Picture cut
  • 8)Picture pan
  • 9)Picture mirroring
  • 10)Affine transformation
  • 11)Picture rotation
  • 12)perspective transformation
  • 13)Grayscale processing
  • 14)Binary image
  • 15)Edge green detection
  • 16)Line segment drawing
  • 17)Rectangular circle drawing
  • 18)Text and picture drawing
21.Docker course
  • 1)Overview and installation
  • 2)Common commands
  • 3)Deeply understand and publish images
  • 4)Hardware interaction and data processing
  • 5)Enter docker container
  • 6)Robot development environment construction
  • 7)Update docker images
22.ROS2 basic course
  • 1) Introduction to ROS2
  • 2)ROS2 install Humble
  • 3)ROS2 development environment
  • 4)ROS2 workspace
  • 5)ROS2 function package
  • 6)ROS2 node
  • 7)ROS2 topic communication
  • 8)ROS2 service communication
  • 9)ROS2 action communication
  • 10)ROS2 custom interface message
  • 11)ROS2 parameter service case
  • 12)ROS2 meta-function package
  • 13)ROS2 distributed communication
  • 14)ROS2 DDS
  • 15)ROS2 time related API
  • 16)ROS2 common command tools
  • 17)ROS2 rviz2 use
  • 18)ROS2 rqt toolbox
  • 19)ROS2 Launch startup file configuration
  • 20)ROS2 recording and playback tool
  • 21)ROS2 URDF model
  • 22)ROS2 Gazebo simulation platform
  • 23)ROS2 TF2 coordinate transformation
23.Linux basic course
  • 1)Introduction to Linux system
  • 2)Ubuntu file system
  • 3)Ubuntu common commands
  • 4)Ubuntu common editors
  • 5)Ubuntu software operation commands
  • 6)Virtual machine installation
  • 7)SSH remote control
  • 8)VNC remote control
  • 9)Driver library and communication
  • 10)Static IP and hotspot mode
  • 11)Bind device ID
  • 12)Capacity expansion and resource allocation
  • 13)Back up system image
  • 14)Update system software sources
  • 15)Set root user password
  • 16)sudo free password
  • 17)Connect to WiFi network
  • 18)View system version
  • 19)Customized service management
  • 20.Back up system image
24.Mainboard Large Model Course
Offline large model (Text Interaction)
  • 0. AI large model image description
  • 1. Deployment of large AI model environments
  • 2. Installation of large model dialogue platform
  • 3. Meta AI Llama 3.2 model
  • 4. Alibaba Cloud Qwen3 Model
  • 5. Microsoft Phi-4-mini model
  • 6. DeepSeek DeepSeek-R1 model
  • 7. Alibaba Cloud Qwen2.5vl Visual Multimodal Large Model
  • 8. Google Gemma3 Visual Multimodal Large Model
  • 9. Llava Visual Multimodal Large Model
  • 10. MiniCPM-V Visual Multimodal Large Model
  • 11. Multimodal Visual Understanding Applications
  • 12. Multimodal Text-Based Image Application
  • 13. Multimodal Video Analysis Application
  • 14. Multimodal visual positioning applications
  • 15. Multimodal table scanning application
  • 16. Multimodal Autonomous Agent Application
Offline large model (Voice Interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Offline speech-to-text (ASR)
  • 2. Offline Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual understanding and voice interaction
  • 5. Multimodal Text-Based Image Application
  • 6. Multimodal Video Analysis Application
  • 7. Multimodal visual positioning applications
  • 8. Multimodal table scanning application
  • 9. Multimodal Autonomous Agent Applications
  • 10. AI large model offline voice assistant
Online large model (text interaction)
  • 1.OpenRouter Large Model API Aggregation Platform
  • 2. Multimodal Visual Understanding Applications
  • 3. Multimodal visual positioning applications
  • 4. Multimodal table scanning application
  • 5. Multimodal Autonomous Agent Applications
Online large model (voice interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Online speech-to-text (ASR)
  • 2. Online Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual and voice interaction
  • 5. Multimodal visual positioning applications
  • 6. Multimodal table scanning application
  • 7. Multimodal Autonomous Agent Applications
  • 8. AI large model online voice assistant
Download
  • RemoteCtrl_APP(iOS/Android)
  • Mapping_APP(iOS_Android)
  • SystemFile_For_RPi5
  • SystemFile_Jetson
  • SystemFile_RPi
  • Code
  • VM File
  • Hardware Info
  • Instruction Manual
  • Jetson_Boot_USB.tar.gz
  • ROS2_Basic_VM
Download ZIP

Welcome to Muto RS Robot repository

13)Grayscale processing

13.Open Source CV image processing and drawing text line segments

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 three components: R, G, and B.Each component can take a value of 0-255, so that one pixel can have a color range of more than 16 million (256256256=1677256).A grayscale image is a special color image with the same three components of R, G, and B. The range of changes of one pixel is 256.Therefore, in digital image processing, images in various formats are generally converted into grayscale images to make subsequent images less computationally intensive. The description of a grayscale image, like a color image, still reflects the distribution and characteristics of the overall and local chroma and highlight levels of the entire image.

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

The core idea of image grayscale is R = G = B. This value is also called grayscale value.

Image grayscale algorithm

1) Maximum value method: Make the converted values of R, G, and B 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 method: The values of R, G, and B after conversion are the average values of R, G, and B before conversion. That is: R=G=B=(R+G+B)/3. This method produces softer grayscale images.

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

There are four methods to achieve grayscale in the following code:

Code pat:muto/Samples/OpenCV/03_Image processing and text drawing/01gray processing.ipynb

​x
#Method 1 imread           
#Note: Sometimes the picture will not be displayed the first time you run it, but will be displayed the second time.
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)

#original image
#   img_bgr2rgb1 = cv2.cvtColor(img1, cv2.COLOR_BGR2RGB)
#   plt.imshow(img_bgr2rgb1)

#gray image
img_bgr2rgb0   = cv2.cvtColor(img0, cv2.COLOR_BGR2RGB)
    plt.imshow(img_bgr2rgb0)
    plt.show()

xxxxxxxxxx
#Method 2 cvtColor
#Note: Sometimes the picture will not be displayed the first time you run it, but will be displayed the second time.

import cv2
import matplotlib.pyplot   as plt

img = cv2.imread('image0.jpg',1)
dst = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)#   color space conversion 1 data 2 BGR gray
#cv2.imshow('dst',dst)
#cv2.waitKey(0)

#original image
# img_bgr2rgb1   = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
# plt.imshow(img_bgr2rgb1)

#gray image
img_bgr2rgb0   = cv2.cvtColor(dst, cv2.COLOR_BGR2RGB)
    plt.imshow(img_bgr2rgb0)
    plt.show()

xxxxxxxxxx
#Method 3 Average 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)
#original image
#   img_bgr2rgb1 = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
#   plt.imshow(img_bgr2rgb1)

#gray image
img_bgr2rgb0   = cv2.cvtColor(dst, cv2.COLOR_BGR2RGB)
plt.imshow(img_bgr2rgb0)
    plt.show()

xxxxxxxxxx
#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)

#original image
#   img_bgr2rgb1 = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
#   plt.imshow(img_bgr2rgb1)

#gray image
img_bgr2rgb0   = cv2.cvtColor(dst, cv2.COLOR_BGR2RGB)
plt.imshow(img_bgr2rgb0)

    plt.show()

perspective transformation
Binary image

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