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TECHNOLOGY IN AC TION™

Raspberry Pi
Image Processing
Programming
Develop Real-Life Examples with
Python, Pillow, and SciPy

Ashwin Pajankar
Raspberry Pi
Image Processing
Programming
Develop Real-Life Examples with
Python, Pillow, and SciPy

Ashwin Pajankar
Raspberry Pi Image Processing Programming: Develop Real-Life Examples with Python,
Pillow, and SciPy
Ashwin Pajankar
Nashik, Maharashtra, India
ISBN-13 (pbk): 978-1-4842-2730-5 ISBN-13 (electronic): 978-1-4842-2731-2
DOI 10.1007/978-1-4842-2731-2
Library of Congress Control Number: 2017936370
Copyright © 2017 by Ashwin Pajankar
This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or
dissimilar methodology now known or hereafter developed.
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with every occurrence of a trademarked name, logo, or image we use the names, logos, and images only
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the trademark.
The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are
not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject
to proprietary rights.
While the advice and information in this book are believed to be true and accurate at the date of
publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for
any errors or omissions that may be made. The publisher makes no warranty, express or implied, with
respect to the material contained herein.
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Coordinating Editor: Sanchita Mandal
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Printed on acid-free paper


Contents at a Glance

About the Author������������������������������������������������������������������������������ xi


About the Technical Reviewer�������������������������������������������������������� xiii
Acknowledgments��������������������������������������������������������������������������� xv
Introduction����������������������������������������������������������������������������������� xvii

■■Chapter 1: Introduction to Single Board Computers and


Raspberry Pi����������������������������������������������������������������������������������� 1
■■Chapter 2: Introduction to Python and Digital Image
Processing������������������������������������������������������������������������������������ 25

■Chapter 3: Getting Started������������������������������������������������������������ 41

■Chapter 4: Basic Operations on Images��������������������������������������� 51

■Chapter 5: Advanced Operations on Images�������������������������������� 65

■Chapter 6: Introduction to Scientific Python�������������������������������� 81

■Chapter 7: Transformations and Measurements�������������������������� 93

■Chapter 8: Filters and Their Application��������������������������������������� 99

■Chapter 9: Morphology, Thresholding, and Segmentation���������� 111

Index���������������������������������������������������������������������������������������������� 123

iii
Contents

About the Author������������������������������������������������������������������������������ xi


About the Technical Reviewer�������������������������������������������������������� xiii
Acknowledgments��������������������������������������������������������������������������� xv
Introduction����������������������������������������������������������������������������������� xvii

■■Chapter 1: Introduction to Single Board Computers and


Raspberry Pi����������������������������������������������������������������������������������� 1
Single Board Computers (SBCs)�������������������������������������������������������������� 1
Differences Between SBCs and Regular Computers������������������������������������������������ 2
System on Chips (SoCs)�������������������������������������������������������������������������������������������� 2
History of SBCs��������������������������������������������������������������������������������������������������������� 3
SBC Families������������������������������������������������������������������������������������������������������������� 3

The Raspberry Pi������������������������������������������������������������������������������������� 4


Raspberry Pi Setup���������������������������������������������������������������������������������� 5
Required Hardware��������������������������������������������������������������������������������������������������� 6
Preparation of the microSD Card for Raspberry Pi��������������������������������������������������� 9
Download the Required Free Software������������������������������������������������������������������� 10
Writing the Raspbian OS Image to the microSD Card��������������������������������������������� 10
Altering the Contents of the config.txt File for a VGA Monitor�������������������������������� 12
Booting Up the Pi���������������������������������������������������������������������������������������������������� 13
Configuring the Pi��������������������������������������������������������������������������������������������������� 15

The Raspbian OS����������������������������������������������������������������������������������� 18


The config.txt File���������������������������������������������������������������������������������� 18

v
■ Contents

Connecting the Raspberry Pi to a Network and to the Internet������������� 19


WiFi������������������������������������������������������������������������������������������������������������������������� 19
Ethernet������������������������������������������������������������������������������������������������������������������ 21

Updating the Pi�������������������������������������������������������������������������������������� 22


Updating the Firmware������������������������������������������������������������������������������������������� 22
Updating and Upgrading Raspbian������������������������������������������������������������������������� 22
Updating raspi-config��������������������������������������������������������������������������������������������� 23

Shutting Down and Restarting Pi���������������������������������������������������������� 24


Conclusion��������������������������������������������������������������������������������������������� 24
■■Chapter 2: Introduction to Python and Digital Image
Processing������������������������������������������������������������������������������������ 25
A History of Python�������������������������������������������������������������������������������� 25
Features of Python�������������������������������������������������������������������������������� 26
Simple�������������������������������������������������������������������������������������������������������������������� 26
Easy to Learn���������������������������������������������������������������������������������������������������������� 27
Easy to Read����������������������������������������������������������������������������������������������������������� 27
Easy to Maintain����������������������������������������������������������������������������������������������������� 27
Open Source����������������������������������������������������������������������������������������������������������� 27
High-Level Language���������������������������������������������������������������������������������������������� 27
Portable������������������������������������������������������������������������������������������������������������������ 27
Interpreted�������������������������������������������������������������������������������������������������������������� 28
Object-Oriented������������������������������������������������������������������������������������������������������ 28
Extensible��������������������������������������������������������������������������������������������������������������� 28
Extensive Libraries������������������������������������������������������������������������������������������������� 28
Robust�������������������������������������������������������������������������������������������������������������������� 28
Rapid Prototyping��������������������������������������������������������������������������������������������������� 29
Memory Management�������������������������������������������������������������������������������������������� 29
Powerful����������������������������������������������������������������������������������������������������������������� 29
Community Support������������������������������������������������������������������������������������������������ 29

vi
■ Contents

Python 3������������������������������������������������������������������������������������������������ 29
The Differences Between Python 2 and Python 3�������������������������������������������������� 30
Why Use Python 3��������������������������������������������������������������������������������������������������� 31

Python 2 and Python 3 on Raspbian������������������������������������������������������ 31


Running a Python Program and Python Modes������������������������������������� 31
Interactive Mode����������������������������������������������������������������������������������������������������� 32
Normal Mode���������������������������������������������������������������������������������������������������������� 32

IDEs for Python�������������������������������������������������������������������������������������� 33


IDLE������������������������������������������������������������������������������������������������������������������������ 33
Geany���������������������������������������������������������������������������������������������������������������������� 34

Introduction to Digital Image Processing���������������������������������������������� 36


Signal Processing��������������������������������������������������������������������������������������������������� 36
Image Processing��������������������������������������������������������������������������������������������������� 37
Using Raspberry Pi and Python for Digital Image Processing (DIP)������������������������ 38

Conclusion��������������������������������������������������������������������������������������������� 39

■Chapter 3: Getting Started������������������������������������������������������������ 41
Image Sources�������������������������������������������������������������������������������������� 41
Using the Webcam�������������������������������������������������������������������������������������������������� 42
The Pi Camera Module�������������������������������������������������������������������������������������������� 44
Using Python 3 for Digital Image Processing���������������������������������������� 46
Working with Images���������������������������������������������������������������������������������������������� 47

Conclusion��������������������������������������������������������������������������������������������� 50

■Chapter 4: Basic Operations on Images��������������������������������������� 51
Image Module���������������������������������������������������������������������������������������� 51
Splitting and Merging Image Channels������������������������������������������������������������������� 51
Image Mode Conversion����������������������������������������������������������������������������������������� 53
Image Blending������������������������������������������������������������������������������������������������������� 53
Resizing an Image�������������������������������������������������������������������������������������������������� 55

vii
■ Contents

Rotating an Image�������������������������������������������������������������������������������������������������� 56
Crop and Paste Operations������������������������������������������������������������������������������������� 57
Copying and Saving Images to a File���������������������������������������������������������������������� 58
Knowing the Value of a Particular Pixel������������������������������������������������������������������ 58

ImageChops Module������������������������������������������������������������������������������ 59
ImageOps Module��������������������������������������������������������������������������������� 61
Conclusion��������������������������������������������������������������������������������������������� 63

■Chapter 5: Advanced Operations on Images�������������������������������� 65
The ImageFilter Module������������������������������������������������������������������������ 65
The ImageEnhance Module������������������������������������������������������������������� 74
Color Quantization��������������������������������������������������������������������������������� 76
Histograms and Equalization����������������������������������������������������������������� 77
Histogram Equalization������������������������������������������������������������������������������������������� 78

Conclusion��������������������������������������������������������������������������������������������� 79

■Chapter 6: Introduction to Scientific Python�������������������������������� 81
The Scientific Python Stack������������������������������������������������������������������ 81
Installing the SciPy Stack��������������������������������������������������������������������������������������� 82
A Simple Program��������������������������������������������������������������������������������������������������� 82
Simple Image Processing��������������������������������������������������������������������������������������� 83
Introduction to NumPy�������������������������������������������������������������������������������������������� 84
Matplotlib���������������������������������������������������������������������������������������������������������������� 86
Image Channels������������������������������������������������������������������������������������� 89
Conversion Between PIL Image Objects
and NumPy ndarrays����������������������������������������������������������������������������� 91
Conclusion��������������������������������������������������������������������������������������������� 92

viii
■ Contents


■Chapter 7: Transformations and Measurements�������������������������� 93
Transformations������������������������������������������������������������������������������������ 93
Measurements�������������������������������������������������������������������������������������� 95
Conclusion��������������������������������������������������������������������������������������������� 98

■Chapter 8: Filters and Their Application��������������������������������������� 99
Filters���������������������������������������������������������������������������������������������������� 99
Low-Pass Filters��������������������������������������������������������������������������������������������������� 100
High-Pass Filters�������������������������������������������������������������������������������������������������� 105
Fourier Filters������������������������������������������������������������������������������������������������������� 108

Conclusion������������������������������������������������������������������������������������������� 110

■Chapter 9: Morphology, Thresholding, and Segmentation���������� 111
Distance Transforms���������������������������������������������������������������������������� 111
Morphology and Morphological Operations����������������������������������������� 113
Structuring Element���������������������������������������������������������������������������������������������� 113
Various Morphological Operations������������������������������������������������������������������������ 113
Grayscale Morphological Operations�������������������������������������������������������������������� 115

Thresholding and Segmentation��������������������������������������������������������� 117


Conclusion������������������������������������������������������������������������������������������� 121
Book Summary������������������������������������������������������������������������������������ 121
What’s Next����������������������������������������������������������������������������������������� 121

Index���������������������������������������������������������������������������������������������� 123

ix
About the Author

Ashwin Pajankar is a polymath. He is a Science popularizer, a programmer, a maker, an


author, and a YouTuber. He graduated from IIIT Hyderabad with MTech in Computer
Science and Engineering. He has a keen interest in the promotion of science, technology,
engineering, and mathematics (STEM) education. He has written three books with Packt
Publication, six books with Leanpub, and one book with Apress Media, and he has also
reviewed four books for Packt Publications. He’s currently working on several more books
with Apress Media as well.
His personal web site is found at www.AshwinPajankar.com.
His LinkedIn profile is found at https://in.linkedin.com/in/ashwinpajankar.

xi
About the Technical
Reviewer

Lentin Joseph is an author, entrepreneur, electronics


engineer, robotics enthusiast, machine vision expert,
embedded programmer, and the founder and the
CEO of Qbotics Labs (http://www.qboticslabs.com)
from India.
He completed his bachelor’s degree in electronics
and communication engineering at the Federal
Institute of Science and Technology (FISAT), Kerala.
For his final year engineering project, he made a social
robot that interacted with people. The project was a
huge success and was mentioned in many forms of
visual and print media. His robot can communicate with people and reply intelligently
and has image-processing capabilities such as face, motion, and color detection. The
entire project was implemented using the Python programming language. His interest in
robotics, image processing, and Python started with that project.
After his graduation, he worked for three years at a startup company focusing on
robotics and image processing. In the meantime, he learned to work with famous robotic
software platforms such as Robot Operating System (ROS), V-REP, and Actin (a robotic
simulation tool), as well as with image-processing libraries such as OpenCV, OpenNI, and
PCL. He also knows about robot 3D designing and embedded programming on Arduino
and Tiva Launchpad.
After three years, he started a new company called Qbotics Labs, which mainly
focuses on research to build great products in domains such as robotics and machine
vision. He maintains a personal web site (at http://www.lentinjoseph.com) and a
technology blog called technolabsz (see http://www.technolabsz.com). He publishes
his works on his tech blog. He was also a speaker at PyCon2013, India, on the topic of
learning about robotics using Python.
Lentin is the author of the books, Learning Robotics Using Python (see http://
learn-robotics.com to find out more) and Mastering ROS for Robotics Programming
(see http://mastering-ros.com to find out more), both by Packt. The first book was
about building an autonomous mobile robot using ROS and OpenCV. This book was
launched at ICRA 2015 and was featured in the ROS blog, Robohub, OpenCV, the Python
web site, and various other such forums. The second book is on mastering the Robot
Operating System, which was also launched at ICRA 2016, and is one of the bestselling
books on ROS. The third book is on ROS robotics projects (see http://rosrobots.com),
and is expected to be published by April 2017.

xiii
■ About the Technical Reviewer

He also reviewed one book about the Robot Operating System called Effective
Robotics Programming Using ROS (https://www.packtpub.com/hardware-and-
creative/effective-robotics-programming-ros-third-edition).
Lentin and his team were also winners of the HRATC 2016 challenge conducted
as part of ICRA 2016. He was also a finalist in the ICRA 2015 challenge, HRATC
(see http://www.icra2016.org/conference/challenges/).

xiv
Acknowledgments

Writing a book is a journey that I am glad I undertook. First, I want to thank my wife
Kavitha, without whose support the journey would never have been possible. The journey
spanned a few months but the experience will last a lifetime. I had my wife Kavitha with
me onboard this journey and I wish to express my deepest gratitude to her. Without her
unwavering support and affection, I couldn’t have pulled it off.
I am grateful to the community of professionals, students, trainers, and teachers
who, with their continual bombardment of queries, impelled me to learn more, simplify
my knowledge and findings, and place it neatly in the book. This book is for all of them.
I want to thank my friends and colleagues—the practitioners from the industry and
experts from academia—for their good counsel and filling me in with the knowledge
on the latest in the fields of single board computers, computer vision, digital image
processing, and Python.
I want to thank the technical reviewer for his vigilant reviews, suggestions,
corrections, and expert opinion.
I consider myself very fortunate for the editorial assistance provided by Apress
Media. This is my second book with Apress and collaborating with them on both the
books has been fabulous. I am thankful to Celestin Suresh John, Senior Manager, Editorial
Acquisition, Apress and Springer Science and Business Media Company, for giving me a
long-desired opportunity to collaborate and write for Apress. I also want to acknowledge
Sanchita Mandal, coordinating editor, Anila Vincent, development editor, and the team
of associates from Apress Media who adeptly guided me through the entire process of
preparation and publication.

xv
Introduction

Why This Book?


I have been using Python for more than 10 years for a variety of tasks. Initially, I used it
for GUI applications. Then I quickly moved to scientific uses as my academic projects
demanded it. When I entered professional life, I used it for automation first and then
for implementation of alert mechanisms. I have been using Python the last six years
for various fields like scientific computing, the Internet of Things, and single board
computers. I have written plenty of Python code all these years. I prefer Python to Bash
scripting, which offers limited capabilities to users like me. Over the last 10 years, I have
worked as a developer, an R&D engineer, a maker, an author, and a QA specialist. I used
Python in every single role.
This is my third dedicated book on the topic of digital image processing. I have
extensive work experience in the field of digital image processing and computer vision.
Almost all of the digital image processing programming I did was in C++ and Python. For
beginners in image processing programming, I always recommend Python, as it is easy
to learn. Also, if you are working in the research areas like Medical imaging, optics, and
biology, where the core expertise is not computer science but you must use digital image
processing, Python is the best choice, as you won’t get bogged down with its syntax.
To prepare for and write this book, I spent a lot of time writing code examples from
scratch, testing them, and then checking the PEP-8 compatibility. Also, I spent numerous
hours writing and editing the text in order to explain the image processing concepts in very
simple and plain language. I did not keep track of the time I spent posting on various forums
and discussing problems with colleagues from the industry and academia. I have poured my
heart and soul into writing this book. I hope that you readers who want to get started with
digital image processing and single board computers will find this book immensely valuable.
I wrote this book to share my knowledge and experiences while programming in
the field of digital image processing with Python 3 and Raspberry Pi. I explored multiple
techniques, frameworks, and libraries for capturing, processing, and displaying digital
images in this book. I hope you will enjoy reading and following the book as much as I
enjoyed writing it. The book covers the following topics:
• Introduction to single board computers, Python 3, and Raspberry Pi
• Interfacing Raspberry Pi with the Pi Camera module and a
Webcam
• Exploring various image-processing libraries like Pillow and
scipy.ndimage
• Introduction to additional libraries such as NumPy, matplotlib,
and Tkinter, which assist us in image processing

xvii
■ Introduction

Who This Book Is For


Raspberry Pi enthusiasts are the main audience of this book. This includes a large and
diverse set of people such as developers, students, researchers, and novice learners.
The book is for those who have some prior knowledge of the Python programming
language. If you are a developer, student, or a researcher with some experience in Python
programming, you can quickly learn the concepts related to digital image processing with
your favorite little British computer, Raspberry Pi.

What This Book Is Not


This is not a book for learning Python 3 programming and syntax from scratch. It is more
of a DIY cookbook for Raspberry Pi and digital image processing. If your understanding
of coding is limited or you are not from computer science background, you will find it
difficult to follow this book.

How This Book Is Organized


This book has nine chapters. Here is a sneak peek into the chapters of the book:
Chapter 1: This chapter introduces the readers to the history and the philosophy of
single board computers. Then it explores Raspberry Pi basics. It teaches readers to set up
the Raspberry Pi and connect it to a network.
Chapter 2: This chapter introduces the readers to the history and the philosophy
of Python. It teaches you how to install Python and how to set up the environment for
Python 3 programming. It also explores new features of Python 3 in brief and introduces
the readers to a few popular Python 3 IDEs. The chapter concludes with a brief
introduction to the concepts related to digital image processing and related areas.
Chapter 3: The aim of this chapter is to quickly get the readers started with digital
image processing in Python 3. The chapter introduces the readers to capture images with
a Webcam and Pi Camera. It introduces the readers to Pillow for image processing and to
Tkinter for GUI.
Chapter 4: This chapter serves to introduce basic arithmetic and logical operations
on Image. Readers also study the image channels in this chapter.
Chapter 5: This chapter explores advanced operations like filtering and effects on
images. Readers are introduced to the concept of the histogram and its computation.
Chapter 6: This chapter introduces you to the world of scientific image processing.
We will install the SciPy stack on Raspberry Pi. We also get started with SciPy, NumPy,
and matplotlib in this chapter.
Chapter 7: This chapter helps readers understand the measurements and
transformations using the scipy.ndimage module of SciPy library.
Chapter 8: This chapter introduces readers to the important concept of filtering. We
will study types of filters (such as low-pass and high-pass filters) and their applications.
Chapter 9: This chapter helps readers understand the concepts related to
morphology. It also covers thresholding. Finally, the chapter uses both concepts to
achieve segmentation in binary images.

xviii
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