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Muto S2 Robot📖
1.Introduction to Muto Robot
  • 1.Introduction to Muto Robot
  • 2.Accessories introduction
  • 3.Precautions for battery
  • 4.FAQ
2.Assembly and write system
  • 1.Raspberry Pi write system
  • 2.Jetson Nano write sytem
  • 3. Robot assembly tutorial
  • 4. Installation Video Part1-Part5
  • 4. Installation Video Part6-Part10
3.Remote control course
  • 1.Close APP control process
  • 2.Mobile APP remote control tutorial
  • 3.USB wireless handle remote control
4.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.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 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
5.JupyterLab course
  • 1.ReadMe before operate
  • 2.Environment setup
  • 3.Basic usage tutorial
  • 4.Widgets configuration
  • 5.Widgets controls use
6.Jetson NANO course
  • 1.About JetsonNano system
  • 2.Network configuration and Jtop
  • 3.swap space increased
  • 4.API usage of GPIO library
  • 5.Hardware library configuration
  • 6.Pin reading function
  • 7.Pin level output control
  • 8.Control LED
  • 9.Jetson Nano communicates with external device serial ports
  • 10.jetson nano I2C communication
7.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
8.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
9.Open Source CV 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
7.AI vision course
  • 0.Color HSV value calibration
  • 1.Color recognition
  • 2.Color tracking
  • 3.Color following
  • 4.Color recognition action group
  • 5.Face detection
  • 6.Face tracking
  • 7.Greet people
  • 8.QR code recognition
  • 9.QR code instructions
  • 10.visual line following
  • 11.Motion learning
  • 12.Teach pendant synchronized action
8.Machine deep learning
  • 1.KNN
  • 2.TensorFlow basic tutorial
  • 3.Basic use of PyTorch
  • 4.Yolov5 detects objects in real time
  • 5.Jetson-inference environment construction(selective viewing)
  • 6.Object detection and action
  • 7.Body movement control robot
  • 8.Gesture controlled robot
Remote login control
  • 1. VNC and SSH remote login
  • 2. Jupyter lab login and case code running
9.FAQnew
  • Using your own Jetson board, Muto S2 cannot start normally
Download
  • APP(iOS/Android)
  • SystemFile_For_RPi5
  • System_for_RPi4
  • System_for_JetsonNANO
  • Hardware and protocol
  • Instruction manual
  • Jetson_Boot_USB.tar.gz
Download ZIP

Welcome to Muto S2 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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