Our main task in the following two labs is to pick and place all the blocks on the left to the desired destination on the right. Camera is used to detect blocks. With image processing methods, robot is able to know the position, shape and orientation of the blocks. Since block's position is based on image coordinate, what else we should do is to transform it into robot coordinate.
- Place Requirements:
- Two stacked piles with same shape, orientation.
- At least 6 different randomly placed blocks.
Due to lab schedule, this part of work needs to be completed before Lab 7 by yourself. we will not arrange extra lab session for Lab 6. Feel free to ask your TAs for help if you have any questions about this lab.
Example images are in lab6pkg_improc/img. Here shows one example snapshot from the camera.
Image Processing should be done to identify the shape (rectangle and ellipse), position or centroid (better for grasp) and orientation (better for place). Here shows an example result.
lab6_img.py: image processing code including template matching, image filtering, edge detection, contour detection
refer to the code comments and find the reference results in img/result