MATLAB: Find coordinates xy of a ball in an image and track it by its centre coordinates

@image analystbackgroundballblackImage Processing Toolboximage segmentationobjectraspberry pitrackingurgentwhite

I am using the raspberry pi camera to capture the images and I have to find out the xy coordinates of a ball within the image and the by finding the centre of mass to track it in multiple images.

It is a white ball and the background is black. So did thresholding of the image so that i will detect only the white feature and erase the background. I aslo converted the image in binary so that only 1 and 0 will appear.

I also read somewhere that if i call the code following code: [rows,cols] = find(binaryImage);

i would be able to detects in an array where the 1s are.

So how i am suppose to show it in the image? How i will find the centre of mass coordinates?

Best Answer

See my Image Segmentation Tutorial at my File Exchange

Basically you said you've already thresholded your image to create the binary image. so now you just call regionprops():

% Threshold this frame of the video.
binaryImage = grayImage > someThreshold;
binaryImage = bwareafilt(binaryImage, 1); % Take the largest blob ONLY to get rid of noise.
props = regionprops(binaryImage, 'Centroid');
% Now if you're on frame #k of the video
xCentroid(k) = props.Centroid(1);
yCentroid(k) = props.Centroid(2);

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MATLAB: Separate two type of object in the image

Do you mean like this:

clc;    % Clear the command window.
close all;  % Close all figures (except those of imtool.)
clear;  % Erase all existing variables. Or clearvars if you want.
workspace;  % Make sure the workspace panel is showing.
format long g;
format compact;
fontSize = 22;
%--------------------------------------------------------------------------------------------------------

%    READ IN IMAGE
folder = pwd;
baseFileName = 'Q4_4.png';
% Get the full filename, with path prepended.
fullFileName = fullfile(folder, baseFileName);
% Check if file exists.
if ~exist(fullFileName, 'file')
	% The file doesn't exist -- didn't find it there in that folder.
	% Check the entire search path (other folders) for the file by stripping off the folder.
	fullFileNameOnSearchPath = baseFileName; % No path this time.
	if ~exist(fullFileNameOnSearchPath, 'file')
		% Still didn't find it.  Alert user.
		errorMessage = sprintf('Error: %s does not exist in the search path folders.', fullFileName);
		uiwait(warndlg(errorMessage));
		return;
	end
end
grayImage = imread(fullFileName);
% Get the dimensions of the image.
% numberOfColorChannels should be = 1 for a gray scale image, and 3 for an RGB color image.
[rows, columns, numberOfColorChannels] = size(grayImage)
if numberOfColorChannels > 1
	% It's not really gray scale like we expected - it's color.
	% Use weighted sum of ALL channels to create a gray scale image.
	grayImage = rgb2gray(grayImage);
	% ALTERNATE METHOD: Convert it to gray scale by taking only the green channel,
	% which in a typical snapshot will be the least noisy channel.
	% grayImage = grayImage(:, :, 2); % Take green channel.
end
% Display the image.
subplot(2, 3, 1);
imshow(grayImage);
axis('on', 'image');
title('Original Grayscale Image', 'FontSize', fontSize, 'Interpreter', 'None');
impixelinfo;
hFig = gcf;
hFig.WindowState = 'maximized'; % May not work in earlier versions of MATLAB.
drawnow;
%--------------------------------------------------------------------------------------------------------
% Binarize the image.
binaryImage = ~imbinarize(grayImage);
% Get rid of particles less than 200 in area.
binaryImage = bwareaopen(binaryImage, 200);
% Eliminate partial blobs - those touching the edge of the image.
binaryImage = imclearborder(binaryImage);
subplot(2, 3, 2);
imshow(binaryImage, []);
axis('on', 'image');
title('Mask Image', 'FontSize', fontSize, 'Interpreter', 'None');
impixelinfo;
drawnow;
% Find blobs
props = regionprops(binaryImage, 'Centroid', 'Area');
xy = vertcat(props.Centroid)
allAreas = [props.Area];
subplot(2, 3, 3);
histogram(allAreas, 10);
grid on;
title('Histogram of Blob Areas', 'FontSize', fontSize, 'Interpreter', 'None');
xlabel('Area', 'FontSize', fontSize, 'Interpreter', 'None');
ylabel('Count', 'FontSize', fontSize, 'Interpreter', 'None');
% Get blobs smaller than 2500
[labeledImage, numBlobs] = bwlabel(binaryImage);
smallIndexes = find(allAreas < 2500);
largeIndexes = find(allAreas >= 2500);
% Extract the small blobs with ismember()
smallBlobs = ismember(labeledImage, smallIndexes);
subplot(2, 3, 4);
imshow(smallBlobs);
title('Small Blobs', 'FontSize', fontSize, 'Interpreter', 'None');
% Extract the large blobs with ismember()
largeBlobs = ismember(labeledImage, largeIndexes);
subplot(2, 3, 5);
imshow(largeBlobs);
title('Large Blobs', 'FontSize', fontSize, 'Interpreter', 'None');

MATLAB: Regionprops didn’t work

Try this

grayImage = imread('nameimg.png');
% Get the dimensions of the image.  
% numberOfColorChannels should be = 1 for a gray scale image, and 3 for an RGB color image.
[rows, columns, numberOfColorChannels] = size(grayImage);
if numberOfColorChannels > 1
  % It's not really gray scale like we expected - it's color.
  % Use weighted sum of ALL channels to create a gray scale image.
  grayImage = rgb2gray(grayImage); 
  % ALTERNATE METHOD: Convert it to gray scale by taking only the green channel,
  % which in a typical snapshot will be the least noisy channel.
  % grayImage = grayImage(:, :, 2); % Take green channel.
end
% Display the image.
subplot(2, 2, 1);
imshow(grayImage, []);
title('Original Grayscale Image', 'FontSize', fontSize, 'Interpreter', 'None');
binaryImage = im2bw(grayImage);
[labeledImage, numBlobs] = bwlabel(grayImage);
props = regionprops(labeledImage,'Centroid')
allCentroids = [props.Centroid];
xCentroids = allCentroids(1:2:end);
yCentroids = allCentroids(2:2:end);

See my tutorial for a full demo: http://www.mathworks.com/matlabcentral/fileexchange/?term=authorid%3A31862

Best Answer

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