Opencv: A Short Introduction To Opencv Libraries

OpenCV
A short introduction to OpenCV libraries
Marco Moltisanti
Image Processing Lab
Dipartimento di Matematica e Informatica
Universit`
a degli Studi di Catania
moltisanti@dmi.unict.it
March 13, 2013
Intro
Resources
What?
OpenCV (Open Source Computer Vision) is a library of programming

functions containing all the standard algorithms for Computer Vision;
M. Moltisanti OpenCV
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Intro
Resources
What?

Currently, functions are implemented in C/C++, Python and Java;
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Intro
Resources
What?

OpenCV libraries can run on Windows, Linux, Android and Mac
systems;
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Intro
Resources
What?

OpenCV libraries can run on Windows, Linux, Android and Mac
systems;
Latest version is 2.4.4.
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Intro
Resources
Where?
Download;
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Intro
Resources
Where?
Download;
Documentation;
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Intro
Resources
Where?
Download;
Documentation;
Tutorials.
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Intro
Resources
Other Resources
Book: Learning OpenCV: Computer Vision with the OpenCV Library ;

Wiki;
C/C++ Cheatsheet (PDF);
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Library structure
Main Packages
core Basic functionalities and data structures;
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Library structure
Main Packages

imgproc Image processing functions (blurring, histograms,
registration, tracking, detection);
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Library structure
Main Packages

highgui High-level Graphical User Interface;
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Library structure
Main Packages

calib3d Camera calibration and 3D Reconstruction;
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Library structure
Main Packages

features2d Features detection and description;
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Library structure
Main Packages

objdetect Object detection;
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Library structure
Main Packages

ml Machine Learning and Pattern Recognition tools (e.g.
k-means, SVM, knn)
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Library structure
Main Packages
ml Machine Learning and Pattern Recognition tools (e.g.
k-means, SVM, knn)
Data structures and functions belong to the namespace cv; therefore, to
access this functionality from your code, use the cv:: specifier or using
namespace cv; directive
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Library structure
Include and libs
Directory structure
Let CVHOME be the folder where you have installed OpenCV.
CVHOME
bin
doc
include
opencv.....................old versions C/C++ header files
opencv2...................new versions C/C++ header files
lib
opencv {package name } {version }d.lib........Debug libs
opencv {package name } {version }.lib.......Release libs
Figure : OpenCV directory tree
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Library structure
Include and libs
Example
Example
If you have installed OpenCV 2.4.2, the core functions and data
structures are declared in include/opencv2/core/core.hpp and can be
found in the library opencv core 242d.lib (Debug) and
opencv core 242.lib (Release)
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Library structure
Compiling and running
Microsoft Visual Studio 2008/2010 - Standard
The Good old method

(1) Create a new, blank, C++ Project;
(2) Open Project Properties;
(3) Click on VC++ Directories;
(a) Add CVHOME/include directory to Additional Include Directories;
(4) Click on Linker ;

(a) Click on General, then add CVHOME/lib directory to Additional
Library Directories;
(b) Click on Input, then add the lib filenames you need to Additional
dependencies.
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Library structure
Microsoft Visual Studio 2008/2010 - Local Property Sheet
Local method
(1) Create a new, blank, C++ Project;
(2) Open the Property Manager ;
(3) Right click on Debug, then click on Add New Property Sheet;
(4) Apply the Good old method and save the property sheet;
(5) Do steps 2 and 3 for Release;
(6) Next time you want to create a new OpenCV-based project, just
click on Add Existing Property Sheet.
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Library structure
Microsoft Visual Studio 2008/2010 - Global Property Sheet

Global method
Visual Studio 2008
(1) Go to Tools Options Projects and Solutions;
(2) Apply the Good old method.
Visual Studio 2010

(1) Apply the local method to the Global Property Sheet (it should be
named Microsoft.Cpp.Win32.user).
Remember that OpenCV libraries for Debug and Release differs

only in the final d!
Be careful ;-)
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Library structure
Basic classes
Geometric primitives - Points and Rectangles

Point Template class that represents a 2-column vector containing
the coordinates of a point in a plane;
Implemented classes:
Point, Point2i: integer coordinates;
Point2d: double coordinates;
Point2f: float coordinates.
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Library structure
Basic classes

Point3 Template class that represents a 3-column vector containing
the coordinates of a point in the space;
Point3, Point3i: integer coordinates;
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Library structure
Basic classes

Rect Template class that represents a rectangle, defined by the
upper-left corner coordinates, width and height.
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Library structure
Basic classes

Rect Template class that represents a rectangle, defined by the
upper-left corner coordinates, width and height.
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Library structure
Basic classes
Geometric primitives - Example

1
2
3
4
5
...
P o i n t p1 ( 1 0 , 1 0 ) ;
P o i n t 2 i p2 ( 1 1 , 1 1 ) ;
P o i n t 2 d p3 ( 1 . 0 , 1 . 0 ) ;
P o i n t 2 f p4 ( 2 . 0 f , 2 . 0 f ) ;
6
7
8
9
P o i n t 3 i p5 ( 1 0 , 1 0 , 1 0 ) ;
P o i n t 3 d p6 ( 1 . 0 , 1 . 0 , 1 . 0 ) ;
P o i n t 3 f p7 ( 1 . 0 f , 1 . 0 f , 1 . 0 f ) ;
10
11
12
13
14
R e c t r 1 ( 1 , 1 , 1 0 0 , 1 0 0 ) ;
R e c t r 2 ( p1 , p2 ) ;
R e c t <d o u b l e > r 3 ( p3 , p3 1 0 . 0 ) ;
...
Listing 1: Ex01.cpp
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Library structure
Basic classes
Class Mat
Mat is the fundamental class for doing everything in OpenCV. Mat can
represent:
a matrix;
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Library structure
Basic classes
Class Mat
represent:
a matrix;
a filter;
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Library structure
Basic classes
Class Mat
represent:
a matrix;
a filter;
an image;
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Library structure
Basic classes
Class Mat
represent:
a matrix;
a filter;
an image;
a set of vectors (e.g. descriptors);
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Library structure
Basic classes
Class Mat
represent:
a matrix;
a filter;
an image;
etc.
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Library structure
Basic classes
Class Mat
represent:
a matrix;
a filter;
an image;
etc.
A Mat object should always be released before exiting the program using
the Mat::release() function!
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Library structure
Basic classes
Mat as an image
void loadImage () {
Mat img = i m r e a d ( l e n a . bmp ) ;

imshow ( Window , img ) ;
waitKey (0) ;
img . r e l e a s e ( ) ;
3
4
5
6
7
Listing 2: Ex02-Img.cpp
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Library structure
Basic classes
Mat as a matrix
...
#i n c l u d e <o p e n c v 2 / i m g p r o c / i m g p r o c . hpp>
3 . . .
4 void rotationMatrix () {
5
Mat r o t ;
6
rot = getRotationMatrix2D ( Point2f (0.0 f , 0.0 f ) , 30.0 ,
1.0) ;
1
2
f o r ( i n t i =0; i < r o t . rows ; i ++) {

f o r ( i n t j =0; j < r o t . c o l s ; j ++)
c o u t << r o t . at<d o u b l e >( i , j ) << \ t ;
c o u t << e n d l ;
}
8
9
10
11
12
13
14
Listing 3: Ex02-Mat.cpp
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Library structure
Basic classes
Mat as a filter
...
#i n c l u d e <o p e n c v 2 / i m g p r o c / i m g p r o c . hpp>
3 . . .
4 void
c r e a t e F i l t e r () {
1
2
Mat f l t ;
f l t = getGaussianKernel (5 , 2.0) ;
6
7
8
f o r ( i n t i =0; i < f l t . rows ; i ++) {

f o r ( i n t j =0; j < f l t . c o l s ; j ++)
c o u t << f l t . at<d o u b l e >( i , j ) << \ t ;
}
9
10
11
12
13
14
Listing 4: Ex02-Flt.cpp
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Library structure
Basic classes
Mat as a set
1
2
3
4
5
void createObservationsSet () {
Mat d a t a ( 1 0 , 5 , CV 32S ) ;
f o r ( i n t i =0; i <10; i ++) {
f o r ( i n t j =0; j < 5 ; j ++)
d a t a . at( i , j ) = r a n d ( ) 2 5 6 ;
7
8
f o r ( i n t i =0; i < d a t a . rows ; i ++) {

f o r ( i n t j =0; j < d a t a . c o l s ; j ++)
c o u t << d a t a . at( i , j ) << \ t ;
}
9
10
11
12
13
14
Listing 5: Ex02-Set.cpp
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Library structure
Basic classes
Notes on previous slides
As you probably noticed, we used two functions:

(1) getRotationMatrix2D;
(2) getGaussianKernel.
Both belong to imgproc subset, so we included the correspondent header
file (see source code for details).
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Graphic User Interface
Loading, Showing and Writing an image
All graphical user interface (GUI) utilities are defined in highgui

library;
Include directive: opencv2\highgui\highgui.hpp;
imread(filename): reads the image from the filename passed as a
parameter. Returns a Mat;
imshow(windowname, image): show the image in a new window
titled windowname;
imwrite(filename, image, params): write the image in a new file
named filename using the format specific params. The format is
derived from the extension given in the filename.
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library;
titled windowname;
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library;
titled windowname;
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library;
titled windowname;
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library;
titled windowname;
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...
// Read t h e image
3 cv : : Mat l e n a = cv : : i m r e a d ( l e n a . bmp ) ;
1
2
//Show t h e image
cv : : imshow ( Lena , l e n a ) ;
7 cv : : w a i t K e y ( 0 ) ;
5
6
// S e t params
s t d : : v e c t o r j p g p a r a m ;
11 j p g p a r a m . p u s h b a c k ( CV IMWRITE JPEG QUALITY ) ;
12 j p g p a r a m . p u s h b a c k ( 5 0 ) ;
9
10
13
// W r i t e t h e image
cv : : i m w r i t e ( l e n a . j p g , l e n a , j p g p a r a m ) ;
16 . . .
14
15
Listing 6: Ex03.cpp
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Image Processing
Apply a built-in filter
Include directive: opencv2\imgproc\imgproc.hpp;

Load the image;
Create the output image;
Create and apply the filter;
Show the image;
Save the image.
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Image Processing

Load the image;
Show the image;
Save the image.
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Image Processing

Load the image;
Show the image;
Save the image.
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Image Processing

Load the image;
Show the image;
Save the image.
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Image Processing

Load the image;
Show the image;
Save the image.
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Image Processing

Load the image;
Show the image;
Save the image.
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Image Processing

...
// Read t h e image
3 Mat l e n a = i m r e a d ( l e n a . bmp ) ;
1
2
4
5
6
//Show t h e o r i g i n a l image
imshow ( Lena o r i g i n a l , l e n a ) ;
7
8
9
// C r e a t e t h e o u t p u t image
Mat l e n a c a n n y = l e n a . c l o n e ( ) ;
10
11
...
12
// C r e a t e and a p p l y t h e f i l t e r
Canny ( l e n a , l e n a c a n n y , m[ 0 ] 0 . 6 6 , m[ 0 ] 1 . 3 3 ) ;
15 . . .
13
14
Listing 7: Ex04.cpp
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Image Processing
Video Handling
Video from device
Video handling is included in highgui package;

Declare a VideoCapture(id) object; id is the camera identification
number;
Enter a loop;
In each iteration:
Grab a frame using the >> operator and store it in a Mat object;
Check if the frame is empty;;
Show the frame;
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Image Processing
Video Handling
Video from device

number;
Enter a loop;
In each iteration:
Show the frame;
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Image Processing
Video Handling
Video from device

number;
Enter a loop;
In each iteration:
Show the frame;
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Image Processing
Video Handling
Video from device

number;
Enter a loop;
In each iteration:
Show the frame;
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Image Processing
Video Handling
Video from device

number;
Enter a loop;
In each iteration:
Show the frame;
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Image Processing
Video Handling
Video from device

number;
Enter a loop;
In each iteration:
Show the frame;
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Image Processing
Video Handling
Video from device

number;
Enter a loop;
In each iteration:
Show the frame;
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Image Processing
Video Handling
Video from device

V i d e o C a p t u r e vc ( 0 ) ;
char res = 0 ;
3 int
f p s = vc . g e t ( CV CAP PROP FPS ) ;
4 Mat f r a m e ;
5 while (1) {
6
vc >> f r a m e ;
7
i f ( f r a m e . empty ( ) )
8
break ;
9
imshow ( V i d e o , f r a m e ) ;
10
r e s = ( char ) ( waitKey (0) ) ;
1
2
11
12
13
14
15
i f ( r e s == q )
break ;
}
vc . r e l e a s e ( ) ;
Listing 8: Ex05-In.cpp
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Image Processing
Video Handling
Video from file
The difference between using a video from file and a video from a device is
only in the constructor. Instead of VideoCapture(id) function, we will
use the overloaded version VideoCapure(filename), where filename is
the path to a video file.
Example
VideoCapture vc(video.mp4)
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Image Processing
Video Handling
Save a video
Declare a VideoWriter objectand set the properties for the new

video using the constructor;
Put the frames in the VideoWriter object using the << operator;
Release the VideoWriter object.
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Image Processing
Video Handling
Save a video

23/27
Image Processing
Video Handling
Save a video

23/27
Image Processing
Video Handling
Save a video
1
S i z e s ( vc . g e t (CV CAP PROP FRAME WIDTH) , vc . g e t (

CV CAP PROP FRAME HEIGHT ) ) ;
V i d e o W r i t e r vw ( v i d e o O u t . a v i , vc . g e t ( CV CAP PROP FOURCC )
, vc . g e t ( CV CAP PROP FPS ) , s , t r u e ) ;
3
4
while (1) {
...
f l i p ( frame , newFrame , 1 ) ;
vw << newFrame ;
imshow ( I t s s o m e t h i n g ! , newFrame ) ;
r e s = ( char ) waitKey (1000/ f p s ) ;
...
6
7
8
9
10
11
12
Listing 9: Ex05-Out.cpp
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Machine Learning
Available methods
Statistical Models;
24/27
Machine Learning
Available methods
Statistical Models;
Normal Bayes Classifier;
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Machine Learning
Available methods
Statistical Models;
K-NN;
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Machine Learning
Available methods
Statistical Models;
K-NN;
SVM;
24/27
Machine Learning
Available methods
Statistical Models;
K-NN;
SVM;
Decision Trees;
24/27
Machine Learning
Available methods
Statistical Models;
K-NN;
SVM;
Decision Trees;
Boosting;
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Machine Learning
Available methods
Statistical Models;
K-NN;
SVM;
Decision Trees;
Boosting;
Gradient Boosted Trees;
24/27
Machine Learning
Available methods
Statistical Models;
K-NN;
SVM;
Decision Trees;
Boosting;
Random Trees;
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Machine Learning
Available methods
Statistical Models;
K-NN;
SVM;
Decision Trees;
Boosting;
Random Trees;
EM algorithm;
24/27
Machine Learning
Available methods
Statistical Models;
K-NN;
SVM;
Decision Trees;
Boosting;
Random Trees;
EM algorithm;
Neural Networks.
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Machine Learning
Available methods
Include Directive
Include path: <opencv2\ml\ml.hpp>
Documentation is fundamental using ml functions!
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In conclusion...
Tips & Tricks

Tip #1
Documentation is your biggest friend while developing!
Tip #2
Community is your second biggest friend!
Google to find out how your colleagues all around the world solved their
problems!
Tip #3
Dont try to copy!
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In conclusion...
If you have doubts dont hesitate to contact me at:

moltisanti@dmi.unict.it;
IPLab (room 146 - ground floor);
Room 31 - first floor in the classrooms area.
Slides available at
Course page
Personal page
Code available here - Personal page
26/27
In conclusion...
Question time!
27/27

Opencv: A Short Introduction To Opencv Libraries

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OpenCV

A short introduction to OpenCV libraries

March 13, 2013

OpenCV (Open Source Computer Vision) is a library of programming

OpenCV (Open Source Computer Vision) is a library of programming

OpenCV (Open Source Computer Vision) is a library of programming

OpenCV (Open Source Computer Vision) is a library of programming

Book: Learning OpenCV: Computer Vision with the OpenCV Library ;

core Basic functionalities and data structures;

core Basic functionalities and data structures;

core Basic functionalities and data structures;

core Basic functionalities and data structures;

core Basic functionalities and data structures;

core Basic functionalities and data structures;

core Basic functionalities and data structures;

Include and libs

Include and libs

Compiling and running

Microsoft Visual Studio 2008/2010 - Standard

The Good old method

(4) Click on Linker ;

Compiling and running

Microsoft Visual Studio 2008/2010 - Local Property Sheet

Compiling and running

Microsoft Visual Studio 2008/2010 - Global Property Sheet

Visual Studio 2010

Remember that OpenCV libraries for Debug and Release differs

Geometric primitives - Points and Rectangles

Geometric primitives - Points and Rectangles

Geometric primitives - Points and Rectangles

Geometric primitives - Points and Rectangles

Geometric primitives - Example

Mat img = i m r e a d ( l e n a . bmp ) ;

f o r ( i n t i =0; i < r o t . rows ; i ++) {

f o r ( i n t i =0; i < f l t . rows ; i ++) {

f o r ( i n t i =0; i < d a t a . rows ; i ++) {

Notes on previous slides

As you probably noticed, we used two functions:

Graphic User Interface

Loading, Showing and Writing an image

All graphical user interface (GUI) utilities are defined in highgui

Graphic User Interface

Loading, Showing and Writing an image

All graphical user interface (GUI) utilities are defined in highgui

Graphic User Interface

Loading, Showing and Writing an image

All graphical user interface (GUI) utilities are defined in highgui

Graphic User Interface

Loading, Showing and Writing an image

All graphical user interface (GUI) utilities are defined in highgui

Graphic User Interface

Loading, Showing and Writing an image

All graphical user interface (GUI) utilities are defined in highgui

Graphic User Interface

Loading, Showing and Writing an image

Apply a built-in filter

Include directive: opencv2\imgproc\imgproc.hpp;

Apply a built-in filter

Include directive: opencv2\imgproc\imgproc.hpp;

Apply a built-in filter

Include directive: opencv2\imgproc\imgproc.hpp;

Apply a built-in filter

Include directive: opencv2\imgproc\imgproc.hpp;