{"id":5642,"date":"2023-11-06T12:20:56","date_gmt":"2023-11-06T03:20:56","guid":{"rendered":"https:\/\/et.kyushu-u.ac.jp\/?page_id=5642"},"modified":"2023-11-09T09:46:59","modified_gmt":"2023-11-09T00:46:59","slug":"trymatlab02","status":"publish","type":"page","link":"https:\/\/et.kyushu-u.ac.jp\/index.php\/report\/trymatlab02\/","title":{"rendered":"MATLAB\u3092\u4f7f\u3063\u3066\u307f\u307e\u305b\u3093\u304b\uff1f"},"content":{"rendered":"

\u7b2c\uff12\u56de\uff1a\u30ab\u30e1\u30e9\u304b\u3089\u306e\u753b\u50cf\u53d6\u5f97\u3068\u753b\u50cf\u89e3\u6790<\/h1>\n

\u8a2d\u5099\u30fb\u60c5\u5831\u6280\u8853\u5ba4\u3000AI\u30fb\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u73ed
\n\u6728\u5ead\u3000\u6d0b\u4ecb<\/p>\n

\u306f\u3058\u3081\u306b<\/b><\/h2>\n

\u7686\u69d8\u306fMATLAB\u3068\u3044\u3046\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3092\u3054\u5b58\u77e5\u3067\u3057\u3087\u3046\u304b\u3002MATLAB\u306f\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u958b\u767a\u3001\u30c7\u30fc\u30bf\u89e3\u6790\u3001\u53ef\u8996\u5316\u3001\u6570\u5024\u8a08\u7b97\u306e\u305f\u3081\u306e\u7d71\u5408\u958b\u767a\u74b0\u5883\u3067\u3059\u3002\u69d8\u3005\u306a\u5206\u91ce\u306b\u5bfe\u5fdc\u3057\u305fToolbox\uff08\u30a2\u30c9\u30aa\u30f3\u88fd\u54c1\uff09\u304c\u3042\u308a\u3001\u3053\u308c\u3089\u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3067\u3001\u8907\u96d1\u306a\u51e6\u7406\u3092\u7c21\u6f54\u306a\u30b3\u30fc\u30c9\u3067\u5b9f\u73fe\u3067\u304d\u307e\u3059\u3002<\/p>\n

> MathWorks\u793e\u3000MATLAB\u7d39\u4ecb\u30da\u30fc\u30b8<\/a><\/p>\n

\u4e5d\u5dde\u5927\u5b66\u60c5\u5831\u7d71\u62ec\u672c\u90e8\u306f\u3001\u300cMATLAB Campus-Wide License\uff08\u5305\u62ec\u30e9\u30a4\u30bb\u30f3\u30b9\u5951\u7d04\uff09\u300d\u306e\u904b\u7528\u30922023\u5e741\u67084\u65e5\u304b\u3089\u958b\u59cb\u3057\u307e\u3057\u305f\u3002\u3053\u308c\u306b\u3088\u308a\u3001MATLAB\/Simulink\u304a\u3088\u3073100\u4ee5\u4e0a\u306eToolbox\uff08\u30a2\u30c9\u30aa\u30f3\u88fd\u54c1\uff09\u306e\u4ed6\u30aa\u30f3\u30e9\u30a4\u30f3\u30c4\u30fc\u30eb\u3084\u30b5\u30fc\u30d3\u30b9\u3092\u3001\u6559\u8077\u54e1\u306f\u6709\u511f\u3067\u3059\u304c\u3001\u5b66\u751f\u306f\u7121\u511f\uff08!!\uff09\u3067\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u3053\u3053\u3067\u306f\u3001\u300cMATLAB\u3067\u3053\u3046\u3044\u3046\u4e8b\u304c\u3067\u304d\u307e\u3059\u300d\u3068\u3044\u3046\u3053\u3068\u3092\u3054\u7d39\u4ecb\u3057\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n

\u7b2c\uff12\u56de\u306e\u30c6\u30fc\u30de\u306f\u300c\u30ab\u30e1\u30e9\u304b\u3089\u306e\u753b\u50cf\u53d6\u5f97\u3068\u753b\u50cf\u89e3\u6790\u300d\u3067\u3059\u3002PC\u306b\u63a5\u7d9a\u3057\u305f\u30ab\u30e1\u30e9\u3092\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3057\u3001\u305d\u308c\u3092\u7528\u3044\u306610\u5186\u7389\u306e\u76f4\u5f84\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002\u30ab\u30e1\u30e9\u306f\u3001\u624b\u5143\u306b\u3042\u3063\u305f\u30aa\u30fc\u30c8\u30d5\u30a9\u30fc\u30ab\u30b9WEB\u30ab\u30e1\u30e9\uff08SANWA SUPPLY\u88fd CMS-V45S\uff09\u3092\u4f7f\u7528\u3059\u308b\u3053\u3068\u306b\u3057\u307e\u3059\u3002\u3053\u306e\u4f8b\u3067\u306f\u3001WEB\u30ab\u30e1\u30e9\u3068\u306e\u63a5\u7d9a\u306bMATLAB Support Package for USB Webcams<\/span>\u3001\u753b\u50cf\u306e\u53d6\u5f97\u3068\u305d\u306e\u89e3\u6790\u306bImage Processing Toolbox<\/span>\u3001Image Acquisition Toolbox<\/span>\u3001Computer Vision Toolbox<\/span>\u304c\u5fc5\u8981\u3067\u3059\u3002MATLAB\u306fWEB\u30ab\u30e1\u30e9\u4ee5\u5916\u306b\u3082\u69d8\u3005\u306a\u30ab\u30e1\u30e9\u3068\u306e\u63a5\u7d9a\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u30ea\u30f3\u30af\u5148\u306b\u306fImage Acquisition Toolbox\u304c\u30b5\u30dd\u30fc\u30c8\u3057\u3066\u3044\u308b\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u304c\u7d39\u4ecb\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u3054\u53c2\u8003\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n

> Hardware Support from Image Acquisition Toolbox<\/a><\/p>\n

\u3068\u3053\u308d\u3067\u3001\u3067\u304d\u308b\u3060\u3051\u6b63\u78ba\u306b\u6e2c\u5b9a\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u3001\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\u9762\u3068\u6e2c\u5b9a\u3059\u308b10\u5186\u7389\u3092\u7f6e\u304f\u9762\u306f\u307b\u307c\u540c\u3058\u306b\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\u3002\u305d\u3053\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30ab\u30e1\u30e9\u56fa\u5b9a\u53f0\u3092\u4f5c\u88fd\u3057\u307e\u3057\u305f\u3002\u30ab\u30e1\u30e9\u304b\u3089200mm\u96e2\u308c\u305f\u767d\u3044\u677f\u4e0a\u3067\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u306810\u5186\u7389\u306e\u6e2c\u5b9a\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n

\"\"<\/a><\/p>\n

\u30ab\u30e1\u30e9\u304b\u3089\u753b\u50cf\u3092\u53d6\u5f97\u3059\u308b\u65b9\u6cd5<\/b><\/h2>\n

\u307e\u305a\u3001webcamlist\u95a2\u6570\u3067PC\u306b\u63a5\u7d9a\u3057\u3066\u3044\u308b\u30ab\u30e1\u30e9\u306e\u30ea\u30b9\u30c8\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002\u4eca\u56de\u4f7f\u7528\u3059\u308bWEB\u30ab\u30e1\u30e9\uff08SANWA SUPPLY\u88fd CMS-V45S\uff09\u306f”FULL HD webcam”\u3068\u3044\u3046\u540d\u524d\u3067\u767b\u9332\u3055\u308c\u3066\u3044\u308b\u3088\u3046\u3067\u3059\u3002\u3082\u3057\u3001\u8907\u6570\u53f0\u306e\u30ab\u30e1\u30e9\u304c\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u306e\u3067\u3042\u308c\u3070\u3001\u305d\u308c\u305e\u308c\u306e\u540d\u524d\u3092\u5024\u306b\u6301\u3064cell\u914d\u5217\u304c\u51fa\u529b\u3055\u308c\u307e\u3059\u3002<\/p>\n

camlist = webcamlist\r\n<\/pre>\n
camlist =\r\n\r\n  1\u00d71 \u306e cell \u914d\u5217\r\n\r\n    {'FULL HD webcam'}\r\n<\/pre>\n
\u6b21\u306b\u3001webcam\u95a2\u6570\u3067\u4f7f\u7528\u3057\u305f\u3044\u30ab\u30e1\u30e9\u306e\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u5165\u529b\u5f15\u6570\u306b\u5148\u307b\u3069\u53d6\u5f97\u3057\u305f\u30ab\u30e1\u30e9\u540d’FULL HD webcam’\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306b\u306f\u30ab\u30e1\u30e9\u540d\u3001\u8a2d\u5b9a\u53ef\u80fd\u306a\u89e3\u50cf\u5ea6\u3001\u73fe\u5728\u306e\u89e3\u50cf\u5ea6\u306a\u3069\u3001\u69d8\u3005\u306a\u30d1\u30e9\u30e1\u30fc\u30bf\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u3089\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u306f\u30ab\u30e1\u30e9\u306b\u3088\u3063\u3066\u7570\u306a\u308a\u307e\u3059\u3002<\/p>\n
cam = webcam('FULL HD webcam')\r\n<\/pre>\n
cam = \r\n\r\n  webcam \u306e\u30d7\u30ed\u30d1\u30c6\u30a3:\r\n\r\n                     Name: 'FULL HD webcam'\r\n     AvailableResolutions: {'640x480'  '320x240'  '1280x720'  '1920x1080'  '1280x960'  '800x600'}\r\n               Resolution: '640x480'\r\n               Saturation: 40\r\n                 Contrast: 35\r\n                    Focus: 0\r\n             WhiteBalance: 4600\r\n                    Gamma: 140\r\n             ExposureMode: 'auto'\r\n    BacklightCompensation: 65\r\n                 Exposure: -4\r\n                     Iris: 0\r\n                FocusMode: 'auto'\r\n               Brightness: 136\r\n         WhiteBalanceMode: 'auto'\r\n                Sharpness: 5\r\n                      Hue: -600\r\n<\/pre>\n
\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5909\u66f4\u3057\u305f\u3044\u5834\u5408\u306f\u3001\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306e\u5185\u5bb9\u3092\u4e0a\u66f8\u304d\u3057\u307e\u3059\u3002\u4f8b\u3048\u3070\u3001\u89e3\u50cf\u5ea6\u3092’1280×960’\u3001\u30d5\u30a9\u30fc\u30ab\u30b9\u5024\u3092’70’\u306b\u5909\u66f4\u3057\u305f\u3044\u5834\u5408\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n
cam.Resolution = '1280\u00d7960'\r\ncam.FocusMode = 'manual'\r\ncam.Focus = 70\r\n<\/pre>\n
\u305d\u308c\u3067\u306f\u3001snapshot\u95a2\u6570\u3067\u753b\u50cf\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3059\u3002\u5165\u529b\u5f15\u6570\u306b\u4e0e\u3048\u305f\u30ab\u30e1\u30e9\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u304b\u3089\u753b\u50cf\u3092\u53d6\u5f97\u3057\u3001960\u00d71280\u00d73\u306euint8\u578b\u306e\u914d\u5217img\u3068\u3057\u3066\u51fa\u529b\u3057\u307e\u3059\u3002<\/p>\n
img = snapshot(cam);\r\n<\/pre>\n
imwrite\u95a2\u6570\u3067\u753b\u50cf\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u4fdd\u5b58\u3067\u304d\u307e\u3059\u3002<\/p>\n
 imwrite(img,\"image.png\")\r\n<\/pre>\n
\u30ab\u30e1\u30e9\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3<\/b><\/h2>\n
\u30ab\u30e1\u30e9\u3067\u53d6\u5f97\u3057\u305f\u753b\u50cf\u3092\u7528\u3044\u3066\u306a\u306b\u304b\u3092\u6e2c\u5b9a\u3059\u308b\u5834\u5408\u3001\u305d\u306e\u30ab\u30e1\u30e9\u306e\u30ec\u30f3\u30ba\u6b6a\u307f\u3084\uff12\u6b21\u5143\u30a4\u30e1\u30fc\u30b8\u5ea7\u6a19\u3068\u5b9f\u7a7a\u9593\u5ea7\u6a19\u306e\u95a2\u4fc2\u3092\u6c42\u3081\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u308c\u3089\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u3092\u63a8\u5b9a\u3059\u308b\u884c\u70ba\u3092\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3068\u547c\u3073\u307e\u3059\u3002<\/p>\n
> \u30ab\u30e1\u30e9\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3068\u306f<\/a><\/p>\n
MATLAB\u306b\u306f\u30ab\u30e1\u30e9\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u305f\u3081\u306e\u95a2\u6570\u3084\u30a2\u30d7\u30ea\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u4eca\u56de\u306f\u95a2\u6570\u3092\u7528\u3044\u3066\u30ab\u30e1\u30e9\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u3092\u63a8\u5b9a\u3057\u307e\u3059\u3002\u30a2\u30d7\u30ea\u306b\u3064\u3044\u3066\u306f\u4ee5\u4e0b\u306b\u7d39\u4ecb\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u3054\u53c2\u8003\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
> \u5358\u4e00\u30ab\u30e1\u30e9 \u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30bf\u30fc \u30a2\u30d7\u30ea\u306e\u4f7f\u7528<\/a><\/p>\n
\u30ab\u30e1\u30e9\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u306f\u4e00\u822c\u7684\u306b\u3001\u767d\u9ed2\u306e\u6b63\u65b9\u5f62\u304c\u4e26\u3093\u3060\u975e\u5bfe\u79f0\u306e\u30c1\u30a7\u30c3\u30ab\u30fc\u30dc\u30fc\u30c9\u306e\u89d2\u5ea6\u3092\u5909\u3048\u306a\u304c\u3089\u64ae\u5f71\u3057\u305f\u753b\u50cf\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002\u6b63\u78ba\u306a\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\u306b\u306f10\uff5e20\u679a\u306e\u753b\u50cf\u3092\u4f7f\u7528\u3059\u308b\u3053\u3068\u304c\u63a8\u5968\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n
\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u753b\u50cf\u306e\u6e96\u5099<\/b><\/h3>\n
snapshot\u95a2\u6570\u3068imwrite\u95a2\u6570\u3067\u3001\u30c1\u30a7\u30c3\u30ab\u30fc\u30dc\u30fc\u30c9\u306e\u89d2\u5ea6\u3092\u5909\u3048\u306a\u304c\u3089\u64ae\u5f71\u3057\u3001image1.png\u3001image2.png\u3001…\u3068\u3057\u3066\u4fdd\u5b58\u3057\u307e\u3059\u3002\u4e0b\u56f3\u306f\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u753b\u50cf\u306e\uff11\u4f8b\u3067\u3059\u3002<\/p>\n
\"\"<\/a><\/p>\n
\u6b21\u306b\u3001\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u4f7f\u7528\u3059\u308b\u753b\u50cf\u30d5\u30a1\u30a4\u30eb\u306e\u30d5\u30eb\u30d1\u30b9\u3092\u4ee3\u5165\u3057\u305fcell\u914d\u5217\u3092\u4f5c\u308a\u307e\u3059\u3002<\/p>\n
numImages = 20; % \u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u753b\u50cf\u306e\u679a\u6570\r\nfiles = cell(1, numImages);\r\nfor i = 1:numImages\r\n    % \u30d5\u30a1\u30a4\u30eb\u306e\u30d5\u30eb\u30d1\u30b9\u3092cell\u914d\u5217\u306b\u4ee3\u5165\r\n    files{i} = fullfile(pwd, sprintf('image%d.png', i));\r\nend\r\n<\/pre>\n
\u30ab\u30e1\u30e9\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u63a8\u5b9a<\/b><\/h3>\n
detectCheckerboardPoints\u95a2\u6570\u3067\u5404\u753b\u50cf\u306e\u30c1\u30a7\u30c3\u30ab\u30fc\u30dc\u30fc\u30c9\u3092\u691c\u51fa\u3057\u307e\u3059\u3002\u691c\u51fa\u3055\u308c\u305f\u30c1\u30a7\u30c3\u30ab\u30fc\u30dc\u30fc\u30c9\u306e\u6b63\u65b9\u5f62\u306e\u5404\u9802\u70b9\u306e\uff12\u6b21\u5143\u30a4\u30e1\u30fc\u30b8\u5ea7\u6a19\uff08imgagePoints\uff09\u3068\u6b63\u65b9\u5f62\u306e\u884c\u6570\u3001\u5217\u6570\uff08boradSize\uff09\u304c\u51fa\u529b\u3055\u308c\u307e\u3059\u3002<\/p>\n
[imagePoints, boardSize] = detectCheckerboardPoints(files);\r\n<\/pre>\n
\u6b21\u306b\u3001generateCheckerboardPoints\u95a2\u6570\u306bboardSize\u3068\u6b63\u65b9\u5f62\u306e\uff11\u8fba\u306e\u9577\u3055\uff08squareSize\uff09\u3092\u4e0e\u3048\u3001\u6b63\u65b9\u5f62\u306e\u5404\u9802\u70b9\u306e\u5ea7\u6a19\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n
\r\nsquareSize = 10.0; % \u6b63\u65b9\u5f62\u306e\uff11\u8fba\u306e\u9577\u3055(mm)\r\nworldPoints = generateCheckerboardPoints(boardSize, squareSize);\r\n<\/pre>\n
\u305d\u308c\u3067\u306f\u3001estimateCameraParameters\u95a2\u6570\u3067\u30ab\u30e1\u30e9\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u63a8\u5b9a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u5165\u529b\u5f15\u6570\u3068\u3057\u3066\u3001\u5148\u307b\u3069\u4f5c\u3063\u305f\u5ea7\u6a19\u306eimagePoints\u3001worldPoints\u3068\u753b\u50cf\u30b5\u30a4\u30ba\uff08imageSize\uff09\u3092\u4e0e\u3048\u307e\u3059\u3002\u4ed6\u306b\u3082\u8a2d\u5b9a\u3067\u304d\u308b\u30aa\u30d7\u30b7\u30e7\u30f3\u304c\u3042\u308b\u306e\u3067\u3059\u304c\u3001\u305d\u308c\u3089\u306f\u898f\u5b9a\u5024\u306e\u307e\u307e\u3068\u3057\u307e\u3059\u3002\u51fa\u529b\u306ecameraParams\u306f\u30ab\u30e1\u30e9\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u3001\u30ec\u30f3\u30ba\u6b6a\u307f\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u3001\u63a8\u5b9a\u7cbe\u5ea6\u306a\u3069\u304c\u542b\u307e\u308c\u308b\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3067\u3059\u3002<\/p>\n
\r\nimageSize = [size(I, 1), size(I, 2)];\r\ncameraParams = estimateCameraParameters(imagePoints, worldPoints, ...\r\n                                     ImageSize = imageSize);\r\n<\/pre>\n
\u63a8\u5b9a\u3055\u308c\u305f\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u306e\u7cbe\u5ea6\u3092\u8a55\u4fa1\u3059\u308b\u95a2\u6570\u3082\u7528\u610f\u3055\u308c\u3066\u304a\u308a\u3001\u3053\u308c\u3089\u3092\u7528\u3044\u3066\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u3046\u307e\u304f\u3067\u304d\u305f\u304b\u3069\u3046\u304b\u304c\u8a55\u4fa1\u304c\u3067\u304d\u307e\u3059\u3002\u671b\u307e\u3057\u3044\u7cbe\u5ea6\u304c\u5f97\u3089\u308c\u3066\u3044\u306a\u3044\u5834\u5408\u306f\u3001\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u63a8\u5b9a\u6642\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u306e\u5909\u66f4\u3084\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u753b\u50cf\u306e\u8ffd\u52a0\u3001\u7cbe\u5ea6\u3092\u60aa\u304f\u3057\u3066\u3044\u308b\u539f\u56e0\u306e\u753b\u50cf\u306e\u524a\u9664\u306a\u3069\u3092\u8a66\u3057\u306a\u304c\u3089\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u63a8\u5b9a\u3092\u7e70\u308a\u8fd4\u3057\u307e\u3059\u3002<\/p>\n
> \u5358\u4e00\u30ab\u30e1\u30e9\u306e\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7cbe\u5ea6\u306e\u8a55\u4fa1<\/a><\/p>\n
10\u5186\u7389\u306e\u691c\u51fa\u3068\u76f4\u5f84\u306e\u6e2c\u5b9a<\/b><\/h2>\n
\u6c42\u3081\u305f\u30ab\u30e1\u30e9\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u7528\u3044\u3066\u3001\u753b\u50cf\u306e\u4e2d\u306e10\u5186\u7389\u306e\u76f4\u5f84\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002\u4eca\u56de\u4f7f\u7528\u3059\u308b\u753b\u50cf\u306f\u4ee5\u4e0b\u306e\u3082\u306e\u3067\u3059\u3002
\n\"\"<\/a><\/p>\n
\u753b\u50cf\u306e\u6b6a\u307f\u306e\u88dc\u6b63<\/b><\/h3>\n
\u307e\u305a\u3001\u8aad\u307f\u8fbc\u3093\u3060\u753b\u50cf\u306e\u30ec\u30f3\u30ba\u6b6a\u307f\u3092\u88dc\u6b63\u3057\u307e\u3059\u3002undistortImage\u95a2\u6570\u306b\u3001\u88dc\u6b63\u3057\u305f\u3044\u753b\u50cfimOrig\u3068\u30ab\u30e1\u30e9\u30d1\u30e9\u30e1\u30fc\u30bf\u30aa\u30d6\u30b8\u30a7\u30af\u30c8cameraParams\u3092\u4e0e\u3048\u307e\u3059\u3002OutputView\u306f\u51fa\u529b\u30a4\u30e1\u30fc\u30b8\u306e\u30b5\u30a4\u30ba\u3092\u6307\u5b9a\u3059\u308b\u30aa\u30d7\u30b7\u30e7\u30f3\u3067\u3059\u3002\u88dc\u6b63\u5f8c\u306e\u753b\u50cf\uff08im\uff09\u3068\u305d\u306e\u539f\u70b9\uff08newOrigin\uff09\u304c\u51fa\u529b\u3055\u308c\u307e\u3059\u3002<\/p>\n
imOrig = imread(fullfile(pwd, \"coins.png\")); % \u753b\u50cf\u306e\u8aad\u307f\u8fbc\u307f\r\n[im, newOrigin] = undistortImage(imOrig, cameraParams, OutputView = \"same\");\r\n<\/pre>\n
\u753b\u50cf\u306e\uff12\u5024\u5316<\/b><\/h3>\n
\u6b21\u306b\u300110\u5186\u7389\u3092\u691c\u51fa\u3059\u308b\u305f\u3081\u306b\u753b\u50cf\u3092\uff12\u5024\u5316\u3059\u308b\u306e\u3067\u3059\u304c\u3001\u8aad\u307f\u8fbc\u3093\u3060\u753b\u50cf\uff08RGB\u30a4\u30e1\u30fc\u30b8\uff09\u3092\u305d\u306e\u307e\u307e\u30b0\u30ec\u30fc\u30b9\u30b1\u30fc\u30eb\u5316\u3057\u3066\uff12\u5024\u5316\u51e6\u7406\u3092\u884c\u3046\u3068\u3001\u30d5\u30ec\u30fc\u30e0\u306a\u3069\u306e\u6697\u3044\u90e8\u5206\u3082\u62fe\u3063\u3066\u3057\u307e\u3044\u305d\u3046\u3067\u3059\u3002\u306a\u306e\u3067\u3001\u8272\u76f8(H)\u3001\u5f69\u5ea6(S)\u3001\u660e\u5ea6(V)\u30a4\u30e1\u30fc\u30b8\u306b\u5909\u63db\u3057\u3001\u5f69\u5ea6\u306e\u5024\u3092\u7528\u3044\u3066\uff12\u5024\u5316\u51e6\u7406\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n
imHSV = rgb2hsv(im); % hsv\u30a4\u30e1\u30fc\u30b8\u306b\u5909\u63db\r\nsaturation = imHSV(:, :, 2); % \u5f69\u5ea6\u306e\u5024\u3060\u3051\u53d6\u308a\u51fa\u3059\r\n<\/pre>\n
\u5f69\u5ea6\u306e\u5024\u3092\u753b\u50cf\u3067\u8868\u793a\u3057\u305f\u3082\u306e\u3092\u4ee5\u4e0b\u306b\u793a\u3057\u307e\u3059\u3002\u307b\u307c10\u5186\u7389\u3060\u3051\u304c\u9ad8\u3044\u5024\u3092\u53d6\u3063\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002
\n\"\"<\/a><\/p>\n
\u5f69\u5ea6\u306e\u5024\u304b\u3089\u5927\u6d25\u6cd5\u3092\u7528\u3044\u3066\uff12\u5024\u5316\u306e\u95be\u5024\u3092\u6c42\u3081\uff08graythresh\uff09\u3001\uff12\u5024\u5316\u753b\u50cf\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u95be\u5024\u3088\u308a\u9ad8\u3044\u5f69\u5ea6\u3092\u3082\u3064\u8981\u7d20\u306f\u767d\u8272\u3067\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n
t = graythresh(saturation);\r\nimCoin = (saturation > t);\r\n<\/pre>\n
\"\"<\/a><\/p>\n
10\u5186\u7389\u306e\u691c\u51fa\u3068\u76f4\u5f84\u306e\u6e2c\u5b9a<\/b><\/h3>\n
\u4e0a\u306e\uff12\u5024\u5316\u753b\u50cf\u3092\u898b\u308b\u3068\u3001\u5927\u304d\u306a\u767d\u8272\u306e\u9023\u7d50\u8981\u7d20\u304c10\u5186\u7389\u306b\u5bfe\u5fdc\u3059\u308b\u3068\u4eee\u5b9a\u3067\u304d\u305d\u3046\u3067\u3059\u3002\u30d6\u30ed\u30d6\u89e3\u6790\u3067\u9023\u7d50\u8981\u7d20\u3092\u691c\u51fa\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u307e\u305a\u3001vision.BlobAnalysis\u95a2\u6570\u3067\u30d6\u30ed\u30d6\u89e3\u6790\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u3053\u306e\u3068\u304d\u3001\u9023\u7d50\u8981\u7d20\u306e\u9762\u7a4d\uff08AreaOutputPort\uff09\u3001\u9023\u7d50\u8981\u7d20\u306e\u5883\u754c\u30dc\u30c3\u30af\u30b9\u306e\u5ea7\u6a19\uff08BoundingBoxOutputPort\uff09\u3092\u51fa\u529b\u3059\u308b\u3088\u3046\u306b\u8a2d\u5b9a\u3057\u3001\u691c\u51fa\u3059\u308b\u9023\u7d50\u8981\u7d20\u306e\u6700\u5c0f\u9762\u7a4d\uff08MinimumBlobArea\uff09\u306f10,000\u30d4\u30af\u30bb\u30eb\u306b\u3057\u307e\u3059\u3002\u4f5c\u6210\u3057\u305f\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306b\u753b\u50cf\u3092\u4e0e\u3048\u308b\u3068\u3001\u691c\u51fa\u3057\u305f\u9023\u7d50\u8981\u7d20\u306e\u9762\u7a4d\uff08areas\uff09\u3068\u9023\u7d50\u8981\u7d20\u3092\u56f2\u3080\u5883\u754c\u30dc\u30c3\u30af\u30b9\u306e\u5ea7\u6a19\uff08boxes\uff09\u304c\u51fa\u529b\u3055\u308c\u307e\u3059\u3002<\/p>\n
\r\nblobAnalysis = vision.BlobAnalysis(AreaOutputPort = true,...\r\n    CentroidOutputPort = false,...\r\n    BoundingBoxOutputPort = true,...\r\n    MinimumBlobArea = 10000);\r\n[areas, boxes] = blobAnalysis(imCoin);\r\n<\/pre>\n
\u6700\u5f8c\u306b10\u5186\u7389\u306e\u76f4\u5f84\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u304c\u3001\u3053\u308c\u306f\u5883\u754c\u30dc\u30c3\u30af\u30b9\u306e\uff11\u8fba\u306e\u9577\u3055\u3068\u7b49\u3057\u3044\u3068\u4eee\u5b9a\u3057\u307e\u3059\u3002\u9023\u7d50\u8981\u7d20\u306e\u5883\u754c\u30dc\u30c3\u30af\u30b9\u306e\u5de6\u4e0a\u3001\u53f3\u4e0a\u306e\u9802\u70b9\u306e\uff12\u6b21\u5143\u30a4\u30e1\u30fc\u30b8\u5ea7\u6a19\u3092\u5b9f\u7a7a\u9593\u5ea7\u6a19\u3078\u5909\u63db\u3057\u3001\u305d\u306e\u8ddd\u96e2\u3092\u6c42\u3081\u307e\u3059\u3002<\/p>\n
\r\nNumofCoins = size(areas,1); % \u691c\u51fa\u3057\u305f\u9023\u7d50\u8981\u7d20\u6570\u3092\u30ab\u30a6\u30f3\u30c8\r\n\r\n% \u30ab\u30e1\u30e9\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\r\ncamIntrinsics = cameraParams.Intrinsics;\r\ncamExtrinsics = cameraParams.PatternExtrinsics(1);\r\n\r\nimagePoints = cell(NumofCoins,1);\r\nworldPoints = cell(NumofCoins,1);\r\ndiameterInMillimeters = cell(NumofCoins,1);\r\n\r\nboxes = double(boxes);\r\nfor i = 1:NumofCoins\r\n    % \u5883\u754c\u30dc\u30c3\u30af\u30b9\u306e\u5de6\u4e0a\u3001\u53f3\u4e0a\u306e\u9802\u70b9\u306e\uff12\u6b21\u5143\u30a4\u30e1\u30fc\u30b8\u5ea7\u6a19\u306e\u8a08\u7b97\r\n    imagePoints{i} = [boxes(i,1:2); ...\r\n        boxes(i,1) + boxes(i,3), boxes(i,2)];\r\n\r\n    % \uff12\u6b21\u5143\u30a4\u30e1\u30fc\u30b8\u5ea7\u6a19\u304b\u3089\u5b9f\u7a7a\u9593\u5ea7\u6a19\u3078\u5909\u63db\r\n    worldPoints{i} = img2world2d(imagePoints{i}, camExtrinsics, camIntrinsics);\r\n\r\n    % \uff12\u70b9\u9593\u306e\u30e6\u30fc\u30af\u30ea\u30c3\u30c9\u8ddd\u96e2\u3092\u8a08\u7b97\r\n    d = worldPoints{i}(2, :) - worldPoints{i}(1, :);\r\n    diameterInMillimeters{i} = hypot(d(1), d(2));\r\nend\r\n<\/pre>\n
\u5883\u754c\u30dc\u30c3\u30af\u30b9\u3054\u3068\u306b\u6c42\u3081\u305f\u9577\u3055\u3092\u8868\u793a\u3059\u308b\u30e9\u30d9\u30eb\u3092\u4f5c\u6210\u3057\u3001\u56f3\u793a\u3059\u308b\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u3059\u3079\u3066\u306e10\u5186\u7389\u306e\u691c\u51fa\u304c\u3046\u307e\u304f\u3044\u3063\u3066\u3044\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u76f4\u5f84\u306e\u5b9f\u6e2c\u5024\u306f23.45mm\u3067\u3057\u305f\u306e\u3067\u30011%\u307b\u3069\u5c0f\u3055\u304f\u6e2c\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u8a66\u3057\u306b\u4e0b\u56f3\u3092\u6c42\u3081\u305f\u3068\u304d\u3088\u308a\u3082\u95be\u5024\u3092\u4e0b\u3052\u3066\u518d\u8a08\u7b97\u3057\u305f\u3068\u3053\u308d\u3001\uff12\u5024\u5316\u753b\u50cf\u306e\u767d\u8272\u306e\u9818\u57df\u304c\u82e5\u5e72\u5927\u304d\u304f\u306a\u308a\u3001\u7d50\u679c10\u5186\u7389\u306e\u76f4\u5f84\u3082\u5927\u304d\u304f\u306a\u308a\u307e\u3057\u305f\u3002\u3053\u306e\u3053\u3068\u304b\u3089\u3001\u9023\u7d50\u8981\u7d20\u3092\u6c42\u3081\u308b\u305f\u3081\u306b\u4f7f\u7528\u3059\u308b\u3001\uff12\u5024\u5316\u753b\u50cf\u3092\u4f5c\u6210\u3059\u308b\u3068\u304d\u306e\u95be\u5024\u306e\u8a2d\u5b9a\u304c\u7cbe\u5ea6\u306b\u5f71\u97ff\u3059\u308b\u3068\u3044\u3046\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002\uff12\u5024\u5316\u753b\u50cf\u3092\u4f5c\u6210\u3059\u308b\u3068\u304d\u306e\u6700\u9069\u306a\u95be\u5024\u3092\u3069\u306e\u3088\u3046\u306b\u6c7a\u5b9a\u3059\u308b\u304b\u3001\u307e\u305f\uff12\u5024\u5316\u306b\u4f7f\u7528\u3059\u308b\u30c7\u30fc\u30bf\u306f\u5f69\u5ea6\u306e\u5024\u3067\u3088\u3044\u306e\u304b\u3068\u3044\u3063\u305f\u691c\u8a0e\u304c\u5fc5\u8981\u3067\u3059\u3002<\/p>\n
\r\n% \u5404\u9023\u7d50\u8981\u7d20\u3054\u3068\u306e\u30e9\u30d9\u30eb\u3092\u4f5c\u6210\r\nlabel_str = cell(NumofCoins,1);\r\nfor i = 1:NumofCoins\r\n    label_str{i} = ['Coin: ' num2str(diameterInMillimeters{i},'%0.2f') 'mm'];\r\nend\r\n\r\n% \u6e2c\u5b9a\u7d50\u679c\u306e\u8868\u793a\r\nim = insertObjectAnnotation(im, \"rectangle\", boxes, label_str ,FontSize=36);\r\nfigure; imshow(im);\r\ntitle(\"Detected Coins\", \"FontSize\",30);\r\n\r\n<\/pre>\n
\"\"<\/a><\/p>\n
\u304a\u308f\u308a\u306b<\/b><\/h2>\n
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