My Raspberry Pi 3B, GoPiGo3 based robot is learning about OpenCV. This session shows Carl playing follow the light. After Carl captures a frame from the PiCamera, the frame is corrected for tilt, a grayscale copy is created, the top 70% is masked off (only interested in light on floor), blurred to remove noise, evaluated for intensity of the brightest area, thresholded to eliminate less bright areas, processed with Canny edge detector, a list of contours (bright areas) is extracted, roughly circular contours are enumerated, the largest (bright) circular contour is chosen, the center and enclosing circle are determined, the center is drawn on the picamera image, a circle is drawn around the chosen contour, the horizontal angle from center of image to the chosen contour is computed, and lastly, the tiltpan is pointed toward the light, wait a second for the view to update on the display, and repeat.
Performance is approximately 1 frame per second with or without showing the image on the display.
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