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Chapter 1

Robot Programming

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Việt Bùi Hoàng
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9 views

Chapter 1

Robot Programming

Uploaded by

Việt Bùi Hoàng
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Make images come

alive with scikit-


image
IMAGE PROCESSING IN PYTHON

Rebeca Gonzalez
Data Engineer
What is image processing?
Operations on images and videos to:

Enhance an image

Extract useful information

Analyze it and make decisions

IMAGE PROCESSING IN PYTHON


What is image processing?
Operations to on images and videos to:

Enhance an image

Extract useful information

Analyze it and make decisions

IMAGE PROCESSING IN PYTHON


Applications
Medical image analysis

Arti cial intelligence

Image restoration and enhancement

Geospatial computing

Surveillance

Robotic vision

Automotive safety

And many more...

IMAGE PROCESSING IN PYTHON


Purposes
1. Visualization:
Objects that are not visible

2. Image sharpening and restoration


A be er image

3. Image retrieval
Seek for the image of interest

4. Measurement of pa ern
Measures various objects

5. Image Recognition
Distinguish objects in an image

IMAGE PROCESSING IN PYTHON


Intro to scikit-image
Easy to use

Makes use of Machine Learning

Out of the box complex algorithms

IMAGE PROCESSING IN PYTHON


What is an image?

IMAGE PROCESSING IN PYTHON


What is an image?

IMAGE PROCESSING IN PYTHON


Images in scikit-image
from skimage import data
rocket_image = data.rocket()

IMAGE PROCESSING IN PYTHON


RGB channels

IMAGE PROCESSING IN PYTHON


Grayscaled images

IMAGE PROCESSING IN PYTHON


RGB vs Grayscale
from skimage import color
grayscale = color.rgb2gray(original)
rgb = color.gray2rgb(grayscale)

IMAGE PROCESSING IN PYTHON


Visualizing images in the course
Don't worry about Matplotlib!

def show_image(image, title='Image', cmap_type='gray'):


plt.imshow(image, cmap=cmap_type)
plt.title(title)
plt.axis('off')
plt.show()

IMAGE PROCESSING IN PYTHON


Visualizing images in the course
from skimage import color
grayscale = color.rgb2gray(original)

show_image(grayscale, "Grayscale")

IMAGE PROCESSING IN PYTHON


Let's practice!
IMAGE PROCESSING IN PYTHON
NumPy for images
IMAGE PROCESSING IN PYTHON

Rebeca Gonzalez
Data Engineer
NumPy for images
Fundamentals of image processing
techniques
Flipping

Extract and analyze features

IMAGE PROCESSING IN PYTHON


Images as NdArrays

# Loading the image using Matplotlib


madrid_image = plt.imread('/madrid.jpeg')

type(madrid_image)

<class 'numpy.ndarray'>

IMAGE PROCESSING IN PYTHON


Colors with NumPy

IMAGE PROCESSING IN PYTHON


Colors with NumPy
# Obtaining the red values of the image
red = image[:, :, 0]

# Obtaining the green values of the image


green = image[:, :, 1]

# Obtaining the blue values of the image


blue = image[:, :, 2]

IMAGE PROCESSING IN PYTHON


Colors with NumPy

plt.imshow(red, cmap="gray")
plt.title('Red')
plt.axis('off')
plt.show()

IMAGE PROCESSING IN PYTHON


Shapes

# Accessing the shape of the image


madrid_image.shape

(426, 640, 3)

IMAGE PROCESSING IN PYTHON


Sizes

# Accessing the shape of the image


madrid_image.size

817920

IMAGE PROCESSING IN PYTHON


Flipping images: vertically
# Flip the image in up direction
vertically_flipped = np.flipud(madrid_image)

show_image(vertically_flipped, 'Vertically flipped image')

IMAGE PROCESSING IN PYTHON


Flipping images: horizontally
# Flip the image in left direction
horizontally_flipped = np.fliplr(madrid_image)

show_image(horizontally_flipped, 'Horizontally flipped image')

IMAGE PROCESSING IN PYTHON


What is a histogram?

IMAGE PROCESSING IN PYTHON


Color histograms

IMAGE PROCESSING IN PYTHON


Applications of histograms
Analysis

Thresholding

Brightness and contrast

Equalize an image

IMAGE PROCESSING IN PYTHON


Histograms in Matplotlib

# Red color of the image


red = image[:, :, 0]

# Obtain the red histogram


plt.hist(red.ravel(), bins=256)

IMAGE PROCESSING IN PYTHON


Visualizing histograms with Matplotlib
blue = image[:, :, 2]

plt.hist(blue.ravel(), bins=256)
plt.title('Blue Histogram')
plt.show()

IMAGE PROCESSING IN PYTHON


Let's practice!
IMAGE PROCESSING IN PYTHON
Getting started with
thresholding
IMAGE PROCESSING IN PYTHON

Rebeca Gonzalez
Data Engineer
Thresholding
Partitioning an image into a foreground and
background

By making it black and white

We do so by se ing each pixel to:

255 (white) if pixel > thresh value


0 (black) if pixel < thresh value

IMAGE PROCESSING IN PYTHON


Thresholding
Simplest method of image segmentation

Isolate objects
Object detection

Face detection

Etc.

IMAGE PROCESSING IN PYTHON


Thresholding
Only from grayscale images

IMAGE PROCESSING IN PYTHON


Apply it
# Obtain the optimal threshold value
thresh = 127

# Apply thresholding to the image


binary = image > thresh

# Show the original and thresholded


show_image(image, 'Original')
show_image(binary, 'Thresholded')

IMAGE PROCESSING IN PYTHON


Inverted thresholding
# Obtain the optimal threshold value
thresh = 127

# Apply thresholding to the image


inverted_binary = image <= thresh

# Show the original and thresholded


show_image(image, 'Original')
show_image(inverted_binary,
'Inverted thresholded')

IMAGE PROCESSING IN PYTHON


Categories
Global or histogram based: good for uniform backgrounds

Local or adaptive: for uneven background illumination

IMAGE PROCESSING IN PYTHON


Try more thresholding algorithms
from skimage.filters import try_all_threshold

# Obtain all the resulting images


fig, ax = try_all_threshold(image, verbose=False)

# Showing resulting plots


show_plot(fig, ax)

IMAGE PROCESSING IN PYTHON


Try more thresholding algorithms

IMAGE PROCESSING IN PYTHON


Optimal thresh value
Global
Uniform background
# Import the otsu threshold function
from skimage.filters import threshold_otsu

# Obtain the optimal threshold value


thresh = threshold_otsu(image)

# Apply thresholding to the image


binary_global = image > thresh

IMAGE PROCESSING IN PYTHON


Optimal thresh value
Global
# Show the original and binarized image
show_image(image, 'Original')
show_image(binary_global, 'Global thresholding')

IMAGE PROCESSING IN PYTHON


Optimal thresh value
Local
Uneven background
# Import the local threshold function
from skimage.filters import threshold_local

# Set the block size to 35


block_size = 35

# Obtain the optimal local thresholding


local_thresh = threshold_local(text_image, block_size, offset=10)

# Apply local thresholding and obtain the binary image


binary_local = text_image > local_thresh

IMAGE PROCESSING IN PYTHON


Optimal thresh value
Local
# Show the original and binarized image
show_image(text_image, 'Original')
show_image(binary_local, 'Local thresholding')

IMAGE PROCESSING IN PYTHON


Let's practice!
IMAGE PROCESSING IN PYTHON

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