find pose and angel of marker

hi

in my project i have to set two markers to the robot and capture from 2 video real time

and my goal is find pose and angel of markers online and use them for simulink

can help me?

[darova]

Can you be more specific? Attach something? I like pictures

[moh ab]

i import one image of project.

the black points in image are marker that i want find distance angel between them

[moh ab]

please help me thanks

Answer 1

[darova]

Here is a start to find markers

I0 = imread('rob.png');
I1 = im2bw(I0,graythresh(I0)-0.3);
imshow(I1)

Then just use find() to identificate first and last pixels

Use atan2d to calculate angle

[moh ab]

excuse me

when ,and how use find() and atan2d finction?

im beginner

sorry

[moh ab]

could you please write complete code?

is the first time that i wnt work by image acq process

[moh ab]

if i want measure the lenght of the black line in red circle what i do?

[darova]

You need to identificate first and last pixels, substract them to find sides of triangle

[y,x] = find(I1);           % find all pixels

[moh ab]

sorry

in this image how can find the pose of black point relet to the center?

[moh ab]

please help me

[darova]

use bwlabel

L = bwlabel(I);
[y1,x1] = find(L==1);
x1 = mean(x1);      % coordinates of the center
y1 = mean(y1);