Introduction to OpenCV
Marvin Smith
Introduction
OpenCV is an Image Processing library created by Intel and maintained by Willow Garage. Available for C, C++, and Python Newest update is version 2.2 Open Source and free Easy to use and install
Installation Instructions
For Mac OS X. Simply install Mac Ports then type sudo port install opencv Do not use synaptic on Linux to install OpenCV. It is version 1.2.
For Linux and Windows, follow the installation guide at [Link] Linux users can come to me for help. I have built it on Ubuntu dozens of times. I have built it successfully on Windows once. Make sure to read the beginning as it gives you precise commands to install ffmpeg,libavformat-dev, libswscale-dev, and other required libraries.
Follow instructions exactly!!!!!
BASIC OPENCV STRUCTURES
Point, Size Rect
Point2f - 2D Point
- 2D size structure - 2D rectangle object - Rect object with angle
RotatedRect Mat
- image object
Point
2D
Point Object - int x, y;
-
Math
-
operators, you may use
Point operator + Point operator +=
Functions
[Link](<Point>) - computes dot product - Point operator - [Link](<Rect>) - returns true if point - Point operator -= is inside - Point operator *
-
Point operator *= bool operator == bool operator != double norm
Size
2D
Size Structure - int width, height;
-
Functions
[Link]() - returns (width * height)
RECT
2D
Rectangle Structure - int x, y, width, height;
Functions
-
[Link]() - return top left point [Link]() - return bottom right point
cv::Mat
The primary data structure in OpenCV is the Mat object. It stores images and their components. Main items
rows, cols - length and width(int) channels - 1: grayscale, 3: BGR depth: CV_<depth>C<num chan>
See the manuals for more information
cv::Mat
Functions
-
[Link]<datatype>(row, col)[channel] - returns pointer to image location [Link]() - returns the number of channels [Link]() - returns a deep copy of the image [Link]( rows, cols, TYPE) - re-allocates new memory to matrix [Link](<Mat>) - computes cross product of two matricies [Link]() - returns data type of matrix [Link](<Mat>) - computes the dot product of two matrices
cv::Mat
Functions
-
Mat(Range(xmin,xmax),Range(ymin,ymax)) - returns sub image [Link]() - returns the TYPE of a matrix
Iterator
-
Usage
[Link]() - moves Mat iterator to beginning of image [Link]() - moves Mat iterator to end of image
Image TYPES
The TYPE
is a very important aspect of OpenCV as CV_<Datatype>C<# Channels>
Represented Example
Datatypes/ Depths
Pixeltypes
PixelTypes BGR HSV
shows how the image is represented in data
- The default color of imread(). Normal 3 channel color - Hue is color, Saturation is amount, Value is lightness. 3 channels - Gray values, Single channel
GRAYSCALE OpenCV
requires that images be in BGR or Grayscale in order to be shown or saved. Otherwise, undesirable effects may appear.
HELLO WORLD
Example Code
//Loads image and displays //call by ./[Link] [Link] // #include <cv.h> #include <cvaux.h> #include <highgui.h> using namespace cv; int main(int argc, char* argv[ ]){ Mat image = imread(argv[1]); namedWindow(Sample Window); imshow(Sample Window,image); waitKey(0); return 0; }
This program will load and show an image
Starting Out in OpenCV
OpenCV uses the cv namespace. cv::Mat object replaces the original C standard IplImage and CvMat classes. All original functions and classes of the C standard OpenCV components in the Bradski book are still available and current. However you will need to read that book for it. namedWindow is used for viewing images. See my manual for instructions on calling it. In general, default string as input with original image size set. Else, use string as input name and 0 for adjustable size.
Image I/O
OpenCV provides simple and useful ways to read and write images.
Examples
//Read an image Mat image = imread( <string>, <0 -gray, 1 -BGR>) //Note 1 is default
Note that there are many extra options to these commands which are //Write an image available on the wiki. imwrite( <string lename> , image );
//Create window for output waitKey( int x ) has two main features. namedWindow( <window name> );
- if x > 0, then waitKey will wait x milliseconds - if x = 0, then waitKey will not move until key is pressed
//Output image to window imshow( <window name> , <image Mat to show> ); //pause program for input key = waitKey( 0 );
DRAWING STUFF
Sometimes it is necessary to draw stuff onto the image. Instead of using complicated functions, why not just call a simple function? Here are some simple examples... void circle(image, Point(x,y),int rad, CV_BGR(b,g,r), int thickness=1) void ellipse(image, RotatedRect box, CV_BGR(b,g,r), int thickness=1) void line(image, Point(x,y), Point(x,y), CV_BGR(b,g,r), int thickness= 1)
void rectangle(img, Point(x,y), Point(x,y), CV_BGR(b,g,r), int thickness)
NOTE: negative thickness will ll in the rectangle
MORE... [Link]
Drawing stuff
Using the Mouse
OpenCV
allows you to use the mouse to interact with the screen. Note that this feature is from OpenCV 1.0 and is compatible with Mat objects. program allows you to draw dots on the image.
This
USING THE MOUSE
Converting colorspaces
cvtColor( image, image, code) Codes CV_<colorspace>2<colorspace> Examples CV_BGR2GRAY CV_BGR2HSV CV_BGR2LUV
Image Normalization
normalize(imagein, imageout, low, high, method);
Image normalization is the process of stretching the range of an image from [a, b] to [c, d]. This is incredibly important for visualization because if the image is beyond [0,255] it will cause truncation or unsightly effects.
Thresholding
threshold(
image, image, thresh, maxVal, CODE);
CODE - this is the method of thresholding. Different actions will be taken
depending on this code.
Edge Detection
Sobel Edge Detection Scharr Edge Detection Laplacian Edge Detection
void cv::Sobel(image in, image out, CV_DEPTH, dx, dy);
void cv::Scharr(image in, image out, CV_DEPTH, dx, dy);
void cv::Laplacian( image in, image out, CV_DEPTH);
Image smoothing is used to reduce the the sharpness of edges and detail in an image. OpenCV includes most of the commonly used methods.
Image Smoothing
void GaussianBlur(imagein, imageout, Size ksize, sig); Note that there are more options, however this
should keep things simple
void medianBlur (imagein, imageout, Size ksize);
Other functions include generic convolution, separable convolution, dilate, and erode.
Original
Gaussian Blur
Median Blur
STOP!
This is not relevent until the last part of the class.
Beware!
Linear Algebra
OpenCV contains many useful and simple functions for applying linear algebra on images. Most major operators are allowed.
Operators
given: Mat image;
[Link](); //inverse image.t(); //transpose operator * performs matrix [Link](); //creates deep copy multiplication, NOT elementwise [Link](int d=0) //returns diagonal multiplication. [Link](mat, double); //performs
elementwise multiplication.
[Link](mat); //performs cross product [Link](mat); //performs dot product [Link](); //converts mat to identity
matrix
Singular Value Decomposition
Example
given:
Singular Value Decomposition is a vital part of any computer vision based system. Luckily, OpenCV makes this a trivial task. To solve a least-squares problem, simply call the solve command.
bool solve(src1, src2, dst, int ags); Usually, src1 is A, src2 is b, and dst is x. Remember ags is method...
DECOMP_LU - Fast but cannot solve over-determined
systems.
-11x + 2y = 0 2x + 3y = 7 2x - y = 5
DECOMP_SVD - SVD, can solve just about anything
Others available, but stick to the basics...
SVD Results
Using
OpenCV
Using
GNU Octave
Principle Component Analysis
Since you will need to learn this, I will include it. Although you will undoubtably will have to create your own PCA program, OpenCV covers it very nicely.
PCA(
Mat data, Mat mean, int FLAG, int numcomp=0)
FLAG: PCA_DATA_AS_ROW / PCA_DATA_AS_COL numcomp is the k value, 0 means all values retained in general, just pass the vectors into data and the mean will be returned.
[Link](
Mat vector) Mat vector)
projects the vector into the built eigenspace and returns the result
[Link](
reconstructs the vector from the principle component subspace
Important Tips
Remember that images are read from le as 8-bit unsigned integers. In order to do complicated math operations, convert to 32-bit oating point type. Then convert back to write to le. Always remember that rows is your y coordinate and that cols is your x coordinate. Size objects are called X,Y while images are referenced row, col. There are many subtle things that will ruin good code.