First commit

First commit

README.md

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 # ERVII_Image_Processing
+
+## Introduction
+The main idea of this file is to present the analysis, design, problems and implementation of a c++ program instance that could control the ERVII (ER7) arm in order to detect several different objects and manipulate them in such a way that could be staffed in a pyramid ordered by size.
+
+## Goal
+
+This project's main goal is stated as \emph{Given a set of randomly picked objects, you need to locate these objects through a given camera and pick and place these objects as a stack.} With this idea in mind, the logic of the processes needed to solve this were stated as
+1. Obtain images from camera.
+2. Work on camera calibration.
+3. Work on the inverse kinematics (when solvable)
+4. Design and implement a c++ program to communicate with the ER7 arm via ACL.
+
+## Camera software and calibration
+
+In order to use the camera's images and make an analysis of the objects captured by it, we used *openCV* libraries that already have several different image processing characteristics inside their methods.
+
+## Datastructure
+
+The *main()* clause in our c++ implementation is stated as follows:
+```c++
+int main(){
+    hCom = rs232_open("COM1");
+    if(hCom == 0)
+        exit(-1);
+    //Initialize arm
+    initializeArm();
+    //Make camera calibration and obtain objects in obtainObjectsAndNumbers()
+    er7Actions(obtainObjectsAndNumbers());
+    return 0;
+}
+```