Download - Robótica MO810/MC959 lmarcos/robotica
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RobóticaMO810/MC959
http://www.dca.ufrn.br/~lmarcos/robotica
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Entendendo a luz
• Luz
• Cor
• Iluminação
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Entendendo a luz
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• Violeta 380-440 m (mili-micron ou )
• Azul 440-490 (nano-metro)
• Verde 490-565
• Amarelo 565-590
• Laranja 590-630
• Vermelh 630-700
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RGB
1=700 m (Red)2=546 m (Green)3=435.8 m (Blue)
() = (R(), G(), B())
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XYZ
B
G
R
Z
Y
X
99.001.020.0
01.081.031.0
00.017.049.0
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Sistemas complementares (CMY)
• Ideal para impressoras
• Subtrai do branco (processo subtrativo)
• Ciano = verde+azul=> elimina vermelho
• Magenta=azul+vermelho=> elimina verde
• Amarelo=vermelho+verde=> elimina azul
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Tom, Saturação, Luminância
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Sensores em câmeras
• 3 sensores CCD - charge coupled device
• Sensíveis à vermelho, verde e azul
• Mede intensidade de cada cor e transforma energia luminosa em voltagem que pode ser posteiormente discretizada por algum conversor analógico-digital
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Sensores em câmeras
• Analógico: gera um sinal analógico na saída, codificado, para que a imagem possa ser reconstruída ao ser percebida em algum aparelho (vídeo cassete) - NTSC, PALM, SECAN, PAL
• Digital: converte imediatamente a energia luminosa percebida por cada sensor (CCD) em vários níveis ou valores digitais (geralmente, 256 para cada cor).
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