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open_cv_set_up [2019/06/21 04:23] – created myeonggeonkimopen_cv_set_up [2019/06/21 04:59] (current) – myeonggeonkim
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 {{ mgkim:opencv_7.jpg?800 |}} {{ mgkim:opencv_7.jpg?800 |}}
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-This tutorial is for whom wants to build opencv library.+This tutorial is for whom wants to build opencv library. Visual studio is required for this tutorial.
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 After setting up, Let's take a look functions in video example code. After setting up, Let's take a look functions in video example code.
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-It will help you to understand how OpenCV video system work.+It will help you to understand how OpenCV video system works.
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 ==== Example ==== ==== Example ====
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-For controlling actuating time, we will use "sleep" function in "window.h" header file.+"videocapture_basic.cpp" is made by two big parts.
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-Search on Google if you have no idea about sleep function.+One is opening camera and the other is capturing images.
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-function is+Let's take a look.
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-<fc blue>+{{ mgkim:opencv_8.jpg?600 |}}
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-sleep(time)+This is opening camera part.
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-</fc>+"cap.open()" function helps opening the camera.
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-In this function, Time is millisecond(1/1000 second).+We can shorten this function like below.
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-<fc blue>+{{ mgkim:opencv_10.jpg?600 |}}
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-=======================================================================================================+If you have more than two cameras in your system, you can easily change cameras by change the number inside ().
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 +Number means priority of cameras in your system.
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-Exercise. Modify previous code for Dynamixels to actuate during input time 
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-Here is {{https://drive.google.com/file/d/1_BO2PKD7thJg1jXfoisZ7NxwpFquCt0c/view?usp=sharing|answer}}+{{ mgkim:opencv_9.jpg?600 |}}
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 +This part is image capturing fuction.
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-=======================================================================================================+OpenCV makes real time video by showing captured images constantly.
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-</fc> +Frame is how many images are showing in 1 sec.
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-==== Direction Change ==== +
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-Know how to change the direction of rotation is important for controlling Dynamixel. +
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-Dynamixel speed has its own speed scale. +
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-Read e-manual http://emanual.robotis.com/docs/en/dxl/mx/mx-28/#control-table-data-address +
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-{{ mgkim:ds_15.jpg?600 |}} +
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-As you can see,  +
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-<fc blue> +
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-CW speed + 1024 = CCW speed +
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-</fc> +
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-Now you know how to change direction. +
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-<fc blue> +
-\\ +
-======================================================================================================= +
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-\\ +
-Exercise. Modify previous code for two Dynamixels to rotate on different direction.  +
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-Answer : +
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-dxl_comm_result = packetHandler->write2ByteTxRx(portHandler, DXL1_ID, ADDR_MOVING_SPEED, spd, &dxl_error); +
-\\ +
-dxl_comm_result = packetHandler->write2ByteTxRx(portHandler, DXL2_ID, ADDR_MOVING_SPEED, spd + 1024, &dxl_error); +
-\\ +
-\\ +
-======================================================================================================= +
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-</fc>+
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-Now you know how to move gantry.+"imshow" function is a function that shows image on window.
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 ==== Final Words ==== ==== Final Words ====
open_cv_set_up.txt · Last modified: 2019/06/21 04:59 by myeonggeonkim