Pulnix TMC-7DSP Manual do Utilizador descarregar pdf (Página 8)

Saving the path

The second part of the project was to create a program (MatLab m-file) which saves the curve that

the laser pointer draws in the paper. The curve was to be saved as set of points in one picture. From

this picture we will be able to extract the error for the desired path and the actual path. This error

will be used for Iterative Learning Control.

This kind of function is actually really easy to implement. The code (‘savePath.m’) I wrote looks

like this:

imSize = size(oldImage);

imSize2 = size(newImage);

if(imSize-imSize2 ~= 0)

errordlg('Image sizes do not match');

end

pathImage = oldImage;

for i=1 : imSize(2)

for j=1 : imSize(1)

%check if pixel is red, then save it

if(newImage(j,i,1) > 245 && newImage(j,i,2) > 150

&& newImage(j,i,3) > 150)

pathImage(j,i,1) = newImage(j,i,1);

pathImage(j,i,2) = newImage(j,i,2);

pathImage(j,i,3) = newImage(j,i,3);

end

In the for-loop we go thru every pixel of the picture, and if the pixel is red, it is copied to

‘pathImage’. The pixel is considered red if the red value (of RGB pixel) is over 245 and green and

blue values are under 150.

NOTE! If you want to change the sensitivity of the pixel saving, you can change the values in the if-

statement

if(newImage(j,i,1) > 245 && newImage(j,i,2) > 150 && newImage(j,i,3) > 150),

where

newImage(j,i,1) is the red channel, newImage(j,i,2) is the green channel and

newImage(j,i,3) is the blue channel of the pixel.

NOTE! The line

pathImage = oldImage;

is unnecessary. It can be removed, if variable ‘oldImage’ on the first line is changed to ‘pathImage’.

Also, if this line is removed, you must remove all of the lines

oldImage = pathImage;

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