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Doxygen tutorials: cpp done

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doc/opencv.bib
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@ -824,3 +824,11 @@
journal = {Machine learning},
volume = {10}
}
@inproceedings{vacavant2013benchmark,
title={A benchmark dataset for outdoor foreground/background extraction},
author={Vacavant, Antoine and Chateau, Thierry and Wilhelm, Alexis and Lequi{\`e}vre, Laurent},
booktitle={Computer Vision-ACCV 2012 Workshops},
pages={291--300},
year={2013},
organization={Springer}
}

20
doc/tutorials/calib3d/camera_calibration/camera_calibration.markdown
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@ -96,7 +96,7 @@ on how to do this you can find in the @ref tutorial_file_input_output_with_xml_y
Explanation
-----------
1. **Read the settings.**
-# **Read the settings.**
@code{.cpp}
Settings s;
const string inputSettingsFile = argc > 1 ? argv[1] : "default.xml";
@ -119,7 +119,7 @@ Explanation
additional post-processing function that checks validity of the input. Only if all inputs are
good then *goodInput* variable will be true.
2. **Get next input, if it fails or we have enough of them - calibrate**. After this we have a big
-# **Get next input, if it fails or we have enough of them - calibrate**. After this we have a big
loop where we do the following operations: get the next image from the image list, camera or
video file. If this fails or we have enough images then we run the calibration process. In case
of image we step out of the loop and otherwise the remaining frames will be undistorted (if the
@ -151,7 +151,7 @@ Explanation
@endcode
For some cameras we may need to flip the input image. Here we do this too.
3. **Find the pattern in the current input**. The formation of the equations I mentioned above aims
-# **Find the pattern in the current input**. The formation of the equations I mentioned above aims
to finding major patterns in the input: in case of the chessboard this are corners of the
squares and for the circles, well, the circles themselves. The position of these will form the
result which will be written into the *pointBuf* vector.
@ -212,7 +212,7 @@ Explanation
drawChessboardCorners( view, s.boardSize, Mat(pointBuf), found );
}
@endcode
4. **Show state and result to the user, plus command line control of the application**. This part
-# **Show state and result to the user, plus command line control of the application**. This part
shows text output on the image.
@code{.cpp}
//----------------------------- Output Text ------------------------------------------------
@ -263,7 +263,7 @@ Explanation
imagePoints.clear();
}
@endcode
5. **Show the distortion removal for the images too**. When you work with an image list it is not
-# **Show the distortion removal for the images too**. When you work with an image list it is not
possible to remove the distortion inside the loop. Therefore, you must do this after the loop.
Taking advantage of this now I'll expand the @ref cv::undistort function, which is in fact first
calls @ref cv::initUndistortRectifyMap to find transformation matrices and then performs
@ -291,6 +291,7 @@ Explanation
}
}
@endcode
The calibration and save
------------------------
@ -419,6 +420,7 @@ double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
return std::sqrt(totalErr/totalPoints); // calculate the arithmetical mean
}
@endcode
Results
-------
@ -444,21 +446,21 @@ images/CameraCalibration/VID5/xx8.jpg
Then passed `images/CameraCalibration/VID5/VID5.XML` as an input in the configuration file. Here's a
chessboard pattern found during the runtime of the application:
![image](images/fileListImage.jpg)
![](images/fileListImage.jpg)
After applying the distortion removal we get:
![image](images/fileListImageUnDist.jpg)
![](images/fileListImageUnDist.jpg)
The same works for [this asymmetrical circle pattern ](acircles_pattern.png) by setting the input
width to 4 and height to 11. This time I've used a live camera feed by specifying its ID ("1") for
the input. Here's, how a detected pattern should look:
![image](images/asymetricalPattern.jpg)
![](images/asymetricalPattern.jpg)
In both cases in the specified output XML/YAML file you'll find the camera and distortion
coefficients matrices:
@code{.cpp}
@code{.xml}
<Camera_Matrix type_id="opencv-matrix">
<rows>3</rows>
<cols>3</cols>

1282
doc/tutorials/calib3d/real_time_pose/real_time_pose.markdown
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8
doc/tutorials/core/adding_images/adding_images.markdown
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@ -73,7 +73,7 @@ int main( int argc, char** argv )
Explanation
-----------
1. Since we are going to perform:
-# Since we are going to perform:
\f[g(x) = (1 - \alpha)f_{0}(x) + \alpha f_{1}(x)\f]
@ -87,7 +87,7 @@ Explanation
Since we are *adding* *src1* and *src2*, they both have to be of the same size (width and
height) and type.
2. Now we need to generate the `g(x)` image. For this, the function add_weighted:addWeighted comes quite handy:
-# Now we need to generate the `g(x)` image. For this, the function add_weighted:addWeighted comes quite handy:
@code{.cpp}
beta = ( 1.0 - alpha );
addWeighted( src1, alpha, src2, beta, 0.0, dst);
@ -96,9 +96,9 @@ Explanation
\f[dst = \alpha \cdot src1 + \beta \cdot src2 + \gamma\f]
In this case, `gamma` is the argument \f$0.0\f$ in the code above.
3. Create windows, show the images and wait for the user to end the program.
-# Create windows, show the images and wait for the user to end the program.
Result
------
![image](images/Adding_Images_Tutorial_Result_Big.jpg)
![](images/Adding_Images_Tutorial_Result_Big.jpg)

10
doc/tutorials/core/basic_geometric_drawing/basic_geometric_drawing.markdown
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@ -52,7 +52,7 @@ Code
Explanation
-----------
1. Since we plan to draw two examples (an atom and a rook), we have to create 02 images and two
-# Since we plan to draw two examples (an atom and a rook), we have to create 02 images and two
windows to display them.
@code{.cpp}
/// Windows names
@ -63,7 +63,7 @@ Explanation
Mat atom_image = Mat::zeros( w, w, CV_8UC3 );
Mat rook_image = Mat::zeros( w, w, CV_8UC3 );
@endcode
2. We created functions to draw different geometric shapes. For instance, to draw the atom we used
-# We created functions to draw different geometric shapes. For instance, to draw the atom we used
*MyEllipse* and *MyFilledCircle*:
@code{.cpp}
/// 1. Draw a simple atom:
@ -77,7 +77,7 @@ Explanation
/// 1.b. Creating circles
MyFilledCircle( atom_image, Point( w/2.0, w/2.0) );
@endcode
3. And to draw the rook we employed *MyLine*, *rectangle* and a *MyPolygon*:
-# And to draw the rook we employed *MyLine*, *rectangle* and a *MyPolygon*:
@code{.cpp}
/// 2. Draw a rook
@ -98,7 +98,7 @@ Explanation
MyLine( rook_image, Point( w/2, 7*w/8 ), Point( w/2, w ) );
MyLine( rook_image, Point( 3*w/4, 7*w/8 ), Point( 3*w/4, w ) );
@endcode
4. Let's check what is inside each of these functions:
-# Let's check what is inside each of these functions:
- *MyLine*
@code{.cpp}
void MyLine( Mat img, Point start, Point end )
@ -240,5 +240,5 @@ Result
Compiling and running your program should give you a result like this:
![image](images/Drawing_1_Tutorial_Result_0.png)
![](images/Drawing_1_Tutorial_Result_0.png)

14
doc/tutorials/core/basic_linear_transform/basic_linear_transform.markdown
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@ -101,16 +101,16 @@ int main( int argc, char** argv )
Explanation
-----------
1. We begin by creating parameters to save \f$\alpha\f$ and \f$\beta\f$ to be entered by the user:
-# We begin by creating parameters to save \f$\alpha\f$ and \f$\beta\f$ to be entered by the user:
@code{.cpp}
double alpha;
int beta;
@endcode
2. We load an image using @ref cv::imread and save it in a Mat object:
-# We load an image using @ref cv::imread and save it in a Mat object:
@code{.cpp}
Mat image = imread( argv[1] );
@endcode
3. Now, since we will make some transformations to this image, we need a new Mat object to store
-# Now, since we will make some transformations to this image, we need a new Mat object to store
it. Also, we want this to have the following features:
- Initial pixel values equal to zero
@ -121,7 +121,7 @@ Explanation
We observe that @ref cv::Mat::zeros returns a Matlab-style zero initializer based on
*image.size()* and *image.type()*
4. Now, to perform the operation \f$g(i,j) = \alpha \cdot f(i,j) + \beta\f$ we will access to each
-# Now, to perform the operation \f$g(i,j) = \alpha \cdot f(i,j) + \beta\f$ we will access to each
pixel in image. Since we are operating with RGB images, we will have three values per pixel (R,
G and B), so we will also access them separately. Here is the piece of code:
@code{.cpp}
@ -141,7 +141,7 @@ Explanation
integers (if \f$\alpha\f$ is float), we use cv::saturate_cast to make sure the
values are valid.
5. Finally, we create windows and show the images, the usual way.
-# Finally, we create windows and show the images, the usual way.
@code{.cpp}
namedWindow("Original Image", 1);
namedWindow("New Image", 1);
@ -166,7 +166,7 @@ Result
- Running our code and using \f$\alpha = 2.2\f$ and \f$\beta = 50\f$
@code{.bash}
\f$ ./BasicLinearTransforms lena.jpg
$ ./BasicLinearTransforms lena.jpg
Basic Linear Transforms
-------------------------
* Enter the alpha value [1.0-3.0]: 2.2
@ -175,4 +175,4 @@ Result
- We get this:
![image](images/Basic_Linear_Transform_Tutorial_Result_big.jpg)
![](images/Basic_Linear_Transform_Tutorial_Result_big.jpg)

32
doc/tutorials/core/discrete_fourier_transform/discrete_fourier_transform.markdown
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@ -22,10 +22,14 @@ OpenCV source code library.
Here's a sample usage of @ref cv::dft() :
@includelineno cpp/tutorial_code/core/discrete_fourier_transform/discrete_fourier_transform.cpp
lines
1-4, 6, 20-21, 24-79
@dontinclude cpp/tutorial_code/core/discrete_fourier_transform/discrete_fourier_transform.cpp
@until highgui.hpp
@skipline iostream
@skip main
@until {
@skip filename
@until return 0;
@until }
Explanation
-----------
@ -52,7 +56,7 @@ Fourier Transform too needs to be of a discrete type resulting in a Discrete Fou
(*DFT*). You'll want to use this whenever you need to determine the structure of an image from a
geometrical point of view. Here are the steps to follow (in case of a gray scale input image *I*):
1. **Expand the image to an optimal size**. The performance of a DFT is dependent of the image
-# **Expand the image to an optimal size**. The performance of a DFT is dependent of the image
size. It tends to be the fastest for image sizes that are multiple of the numbers two, three and
five. Therefore, to achieve maximal performance it is generally a good idea to pad border values
to the image to get a size with such traits. The @ref cv::getOptimalDFTSize() returns this
@ -66,7 +70,7 @@ geometrical point of view. Here are the steps to follow (in case of a gray scale
@endcode
The appended pixels are initialized with zero.
2. **Make place for both the complex and the real values**. The result of a Fourier Transform is
-# **Make place for both the complex and the real values**. The result of a Fourier Transform is
complex. This implies that for each image value the result is two image values (one per
component). Moreover, the frequency domains range is much larger than its spatial counterpart.
Therefore, we store these usually at least in a *float* format. Therefore we'll convert our
@ -76,12 +80,12 @@ geometrical point of view. Here are the steps to follow (in case of a gray scale
Mat complexI;
merge(planes, 2, complexI); // Add to the expanded another plane with zeros
@endcode
3. **Make the Discrete Fourier Transform**. It's possible an in-place calculation (same input as
-# **Make the Discrete Fourier Transform**. It's possible an in-place calculation (same input as
output):
@code{.cpp}
dft(complexI, complexI); // this way the result may fit in the source matrix
@endcode
4. **Transform the real and complex values to magnitude**. A complex number has a real (*Re*) and a
-# **Transform the real and complex values to magnitude**. A complex number has a real (*Re*) and a
complex (imaginary - *Im*) part. The results of a DFT are complex numbers. The magnitude of a
DFT is:
@ -93,7 +97,7 @@ geometrical point of view. Here are the steps to follow (in case of a gray scale
magnitude(planes[0], planes[1], planes[0]);// planes[0] = magnitude
Mat magI = planes[0];
@endcode
5. **Switch to a logarithmic scale**. It turns out that the dynamic range of the Fourier
-# **Switch to a logarithmic scale**. It turns out that the dynamic range of the Fourier
coefficients is too large to be displayed on the screen. We have some small and some high
changing values that we can't observe like this. Therefore the high values will all turn out as
white points, while the small ones as black. To use the gray scale values to for visualization
@ -106,7 +110,7 @@ geometrical point of view. Here are the steps to follow (in case of a gray scale
magI += Scalar::all(1); // switch to logarithmic scale
log(magI, magI);
@endcode
6. **Crop and rearrange**. Remember, that at the first step, we expanded the image? Well, it's time
-# **Crop and rearrange**. Remember, that at the first step, we expanded the image? Well, it's time
to throw away the newly introduced values. For visualization purposes we may also rearrange the
quadrants of the result, so that the origin (zero, zero) corresponds with the image center.
@code{.cpp}
@ -128,13 +132,14 @@ geometrical point of view. Here are the steps to follow (in case of a gray scale
q2.copyTo(q1);
tmp.copyTo(q2);
@endcode
7. **Normalize**. This is done again for visualization purposes. We now have the magnitudes,
-# **Normalize**. This is done again for visualization purposes. We now have the magnitudes,
however this are still out of our image display range of zero to one. We normalize our values to
this range using the @ref cv::normalize() function.
@code{.cpp}
normalize(magI, magI, 0, 1, NORM_MINMAX); // Transform the matrix with float values into a
// viewable image form (float between values 0 and 1).
@endcode
Result
------
@ -147,13 +152,12 @@ image about a text.
In case of the horizontal text:
![image](images/result_normal.jpg)
![](images/result_normal.jpg)
In case of a rotated text:
![image](images/result_rotated.jpg)
![](images/result_rotated.jpg)
You can see that the most influential components of the frequency domain (brightest dots on the
magnitude image) follow the geometric rotation of objects on the image. From this we may calculate
the offset and perform an image rotation to correct eventual miss alignments.

20
doc/tutorials/core/file_input_output_with_xml_yml/file_input_output_with_xml_yml.markdown
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@ -22,10 +22,12 @@ library.
Here's a sample code of how to achieve all the stuff enumerated at the goal list.
@includelineno cpp/tutorial_code/core/file_input_output/file_input_output.cpp
@dontinclude cpp/tutorial_code/core/file_input_output/file_input_output.cpp
lines
1-7, 21-154
@until std;
@skip class MyData
@until return 0;
@until }
Explanation
-----------
@ -36,7 +38,7 @@ structures you may serialize: *mappings* (like the STL map) and *element sequenc
vector). The difference between these is that in a map every element has a unique name through what
you may access it. For sequences you need to go through them to query a specific item.
1. **XML/YAML File Open and Close.** Before you write any content to such file you need to open it
-# **XML/YAML File Open and Close.** Before you write any content to such file you need to open it
and at the end to close it. The XML/YAML data structure in OpenCV is @ref cv::FileStorage . To
specify that this structure to which file binds on your hard drive you can use either its
constructor or the *open()* function of this:
@ -56,7 +58,7 @@ you may access it. For sequences you need to go through them to query a specific
@code{.cpp}
fs.release(); // explicit close
@endcode
2. **Input and Output of text and numbers.** The data structure uses the same \<\< output operator
-# **Input and Output of text and numbers.** The data structure uses the same \<\< output operator
that the STL library. For outputting any type of data structure we need first to specify its
name. We do this by just simply printing out the name of this. For basic types you may follow
this with the print of the value :
@ -70,7 +72,7 @@ you may access it. For sequences you need to go through them to query a specific
fs["iterationNr"] >> itNr;
itNr = (int) fs["iterationNr"];
@endcode
3. **Input/Output of OpenCV Data structures.** Well these behave exactly just as the basic C++
-# **Input/Output of OpenCV Data structures.** Well these behave exactly just as the basic C++
types:
@code{.cpp}
Mat R = Mat_<uchar >::eye (3, 3),
@ -82,7 +84,7 @@ you may access it. For sequences you need to go through them to query a specific
fs["R"] >> R; // Read cv::Mat
fs["T"] >> T;
@endcode
4. **Input/Output of vectors (arrays) and associative maps.** As I mentioned beforehand, we can
-# **Input/Output of vectors (arrays) and associative maps.** As I mentioned beforehand, we can
output maps and sequences (array, vector) too. Again we first print the name of the variable and
then we have to specify if our output is either a sequence or map.
@ -121,7 +123,7 @@ you may access it. For sequences you need to go through them to query a specific
cout << "Two " << (int)(n["Two"]) << "; ";
cout << "One " << (int)(n["One"]) << endl << endl;
@endcode
5. **Read and write your own data structures.** Suppose you have a data structure such as:
-# **Read and write your own data structures.** Suppose you have a data structure such as:
@code{.cpp}
class MyData
{
@ -180,6 +182,7 @@ you may access it. For sequences you need to go through them to query a specific
fs["NonExisting"] >> m; // Do not add a fs << "NonExisting" << m command for this to work
cout << endl << "NonExisting = " << endl << m << endl;
@endcode
Result
------
@ -270,4 +273,3 @@ here](https://www.youtube.com/watch?v=A4yqVnByMMM) .
<iframe title="File Input and Output using XML and YAML files in OpenCV" width="560" height="349" src="http://www.youtube.com/embed/A4yqVnByMMM?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
</div>
\endhtmlonly

56
doc/tutorials/core/how_to_scan_images/how_to_scan_images.markdown
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@ -59,10 +59,10 @@ how_to_scan_images imageName.jpg intValueToReduce [G]
The final argument is optional. If given the image will be loaded in gray scale format, otherwise
the RGB color way is used. The first thing is to calculate the lookup table.
@includelineno cpp/tutorial_code/core/how_to_scan_images/how_to_scan_images.cpp
@dontinclude cpp/tutorial_code/core/how_to_scan_images/how_to_scan_images.cpp
lines
49-61
@skip int divideWith
@until table[i]
Here we first use the C++ *stringstream* class to convert the third command line argument from text
to an integer format. Then we use a simple look and the upper formula to calculate the lookup table.
@ -88,26 +88,12 @@ As you could already read in my @ref tutorial_mat_the_basic_image_container tuto
depends of the color system used. More accurately, it depends from the number of channels used. In
case of a gray scale image we have something like:
\f[\newcommand{\tabItG}[1] { \textcolor{black}{#1} \cellcolor[gray]{0.8}}
\begin{tabular} {ccccc}
~ & \multicolumn{1}{c}{Column 0} & \multicolumn{1}{c}{Column 1} & \multicolumn{1}{c}{Column ...} & \multicolumn{1}{c}{Column m}\\
Row 0 & \tabItG{0,0} & \tabItG{0,1} & \tabItG{...} & \tabItG{0, m} \\
Row 1 & \tabItG{1,0} & \tabItG{1,1} & \tabItG{...} & \tabItG{1, m} \\
Row ... & \tabItG{...,0} & \tabItG{...,1} & \tabItG{...} & \tabItG{..., m} \\
Row n & \tabItG{n,0} & \tabItG{n,1} & \tabItG{n,...} & \tabItG{n, m} \\
\end{tabular}\f]
![](tutorial_how_matrix_stored_1.png)
For multichannel images the columns contain as many sub columns as the number of channels. For
example in case of an RGB color system:
\f[\newcommand{\tabIt}[1] { \textcolor{yellow}{#1} \cellcolor{blue} & \textcolor{black}{#1} \cellcolor{green} & \textcolor{black}{#1} \cellcolor{red}}
\begin{tabular} {ccccccccccccc}
~ & \multicolumn{3}{c}{Column 0} & \multicolumn{3}{c}{Column 1} & \multicolumn{3}{c}{Column ...} & \multicolumn{3}{c}{Column m}\\
Row 0 & \tabIt{0,0} & \tabIt{0,1} & \tabIt{...} & \tabIt{0, m} \\
Row 1 & \tabIt{1,0} & \tabIt{1,1} & \tabIt{...} & \tabIt{1, m} \\
Row ... & \tabIt{...,0} & \tabIt{...,1} & \tabIt{...} & \tabIt{..., m} \\
Row n & \tabIt{n,0} & \tabIt{n,1} & \tabIt{n,...} & \tabIt{n, m} \\
\end{tabular}\f]
![](tutorial_how_matrix_stored_2.png)
Note that the order of the channels is inverse: BGR instead of RGB. Because in many cases the memory
is large enough to store the rows in a successive fashion the rows may follow one after another,
@ -121,10 +107,9 @@ The efficient way
When it comes to performance you cannot beat the classic C style operator[] (pointer) access.
Therefore, the most efficient method we can recommend for making the assignment is:
@includelineno cpp/tutorial_code/core/how_to_scan_images/how_to_scan_images.cpp
lines
126-153
@skip Mat& ScanImageAndReduceC
@until return
@until }
Here we basically just acquire a pointer to the start of each row and go through it until it ends.
In the special case that the matrix is stored in a continues manner we only need to request the
@ -156,10 +141,9 @@ considered a safer way as it takes over these tasks from the user. All you need
begin and the end of the image matrix and then just increase the begin iterator until you reach the
end. To acquire the value *pointed* by the iterator use the \* operator (add it before it).
@includelineno cpp/tutorial_code/core/how_to_scan_images/how_to_scan_images.cpp
lines
155-183
@skip ScanImageAndReduceIterator
@until return
@until }
In case of color images we have three uchar items per column. This may be considered a short vector
of uchar items, that has been baptized in OpenCV with the *Vec3b* name. To access the n-th sub
@ -177,10 +161,9 @@ what type we are looking at the image. It's no different here as you need manual
type to use at the automatic lookup. You can observe this in case of the gray scale images for the
following source code (the usage of the + @ref cv::at() function):
@includelineno cpp/tutorial_code/core/how_to_scan_images/how_to_scan_images.cpp
lines
185-217
@skip ScanImageAndReduceRandomAccess
@until return
@until }
The functions takes your input type and coordinates and calculates on the fly the address of the
queried item. Then returns a reference to that. This may be a constant when you *get* the value and
@ -209,17 +192,14 @@ OpenCV has a function that makes the modification without the need from you to w
the image. We use the @ref cv::LUT() function of the core module. First we build a Mat type of the
lookup table:
@includelineno cpp/tutorial_code/core/how_to_scan_images/how_to_scan_images.cpp
@dontinclude cpp/tutorial_code/core/how_to_scan_images/how_to_scan_images.cpp
lines
108-111
@skip Mat lookUpTable
@until p[i] = table[i]
Finally call the function (I is our input image and J the output one):
@includelineno cpp/tutorial_code/core/how_to_scan_images/how_to_scan_images.cpp
lines
116
@skipline LUT
Performance Difference
----------------------

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doc/tutorials/core/how_to_use_ippa_conversion/how_to_use_ippa_conversion.markdown
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@ -23,7 +23,7 @@ download it from [here](samples/cpp/tutorial_code/core/ippasync/ippasync_sample.
Explanation
-----------
1. Create parameters for OpenCV:
-# Create parameters for OpenCV:
@code{.cpp}
VideoCapture cap;
Mat image, gray, result;
@ -36,7 +36,7 @@ Explanation
hppStatus sts;
hppiVirtualMatrix * virtMatrix;
@endcode
2. Load input image or video. How to open and read video stream you can see in the
-# Load input image or video. How to open and read video stream you can see in the
@ref tutorial_video_input_psnr_ssim tutorial.
@code{.cpp}
if( useCamera )
@ -56,7 +56,7 @@ Explanation
return -1;
}
@endcode
3. Create accelerator instance using
-# Create accelerator instance using
[hppCreateInstance](http://software.intel.com/en-us/node/501686):
@code{.cpp}
accelType = sAccel == "cpu" ? HPP_ACCEL_TYPE_CPU:
@ -67,12 +67,12 @@ Explanation
sts = hppCreateInstance(accelType, 0, &accel);
CHECK_STATUS(sts, "hppCreateInstance");
@endcode
4. Create an array of virtual matrices using
-# Create an array of virtual matrices using
[hppiCreateVirtualMatrices](http://software.intel.com/en-us/node/501700) function.
@code{.cpp}
virtMatrix = hppiCreateVirtualMatrices(accel, 1);
@endcode
5. Prepare a matrix for input and output data:
-# Prepare a matrix for input and output data:
@code{.cpp}
cap >> image;
if(image.empty())
@ -82,7 +82,7 @@ Explanation
result.create( image.rows, image.cols, CV_8U);
@endcode
6. Convert Mat to [hppiMatrix](http://software.intel.com/en-us/node/501660) using @ref cv::hpp::getHpp
-# Convert Mat to [hppiMatrix](http://software.intel.com/en-us/node/501660) using @ref cv::hpp::getHpp
and call [hppiSobel](http://software.intel.com/en-us/node/474701) function.
@code{.cpp}
//convert Mat to hppiMatrix
@ -104,14 +104,14 @@ Explanation
HPP_DATA_TYPE_16S data type for source matrix with HPP_DATA_TYPE_8U type. You should check
hppStatus after each call IPP Async function.
7. Create windows and show the images, the usual way.
-# Create windows and show the images, the usual way.
@code{.cpp}
imshow("image", image);
imshow("rez", result);
waitKey(15);
@endcode
8. Delete hpp matrices.
-# Delete hpp matrices.
@code{.cpp}
sts = hppiFreeMatrix(src);
CHECK_DEL_STATUS(sts,"hppiFreeMatrix");
@ -119,7 +119,7 @@ Explanation
sts = hppiFreeMatrix(dst);
CHECK_DEL_STATUS(sts,"hppiFreeMatrix");
@endcode
9. Delete virtual matrices and accelerator instance.
-# Delete virtual matrices and accelerator instance.
@code{.cpp}
if (virtMatrix)
{
@ -140,4 +140,4 @@ Result
After compiling the code above we can execute it giving an image or video path and accelerator type
as an argument. For this tutorial we use baboon.png image as input. The result is below.
![image](images/How_To_Use_IPPA_Result.jpg)
![](images/How_To_Use_IPPA_Result.jpg)

41
doc/tutorials/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.markdown
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@ -93,20 +93,18 @@ To further help on seeing the difference the programs supports two modes: one mi
one pure C++. If you define the *DEMO_MIXED_API_USE* you'll end up using the first. The program
separates the color planes, does some modifications on them and in the end merge them back together.
@includelineno
cpp/tutorial_code/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.cpp
lines
1-10, 23-26, 29-46
@dontinclude cpp/tutorial_code/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.cpp
@until namespace cv
@skip ifdef
@until endif
@skip main
@until endif
Here you can observe that with the new structure we have no pointer problems, although it is
possible to use the old functions and in the end just transform the result to a *Mat* object.
@includelineno
cpp/tutorial_code/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.cpp
lines
48-53
@skip convert image
@until split
Because, we want to mess around with the images luma component we first convert from the default RGB
to the YUV color space and then split the result up into separate planes. Here the program splits:
@ -116,11 +114,8 @@ image some Gaussian noise and then mix together the channels according to some f
The scanning version looks like:
@includelineno
cpp/tutorial_code/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.cpp
lines
57-77
@skip #if 1
@until #else
Here you can observe that we may go through all the pixels of an image in three fashions: an
iterator, a C pointer and an individual element access style. You can read a more in-depth
@ -128,26 +123,20 @@ description of these in the @ref tutorial_how_to_scan_images tutorial. Convertin
names is easy. Just remove the cv prefix and use the new *Mat* data structure. Here's an example of
this by using the weighted addition function:
@includelineno
cpp/tutorial_code/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.cpp
lines
81-113
@until planes[0]
@until endif
As you may observe the *planes* variable is of type *Mat*. However, converting from *Mat* to
*IplImage* is easy and made automatically with a simple assignment operator.
@includelineno
cpp/tutorial_code/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.cpp
lines
117-129
@skip merge(planes
@until #endif
The new *imshow* highgui function accepts both the *Mat* and *IplImage* data structures. Compile and
run the program and if the first image below is your input you may get either the first or second as
output:
![image](images/outputInteropOpenCV1.jpg)
![](images/outputInteropOpenCV1.jpg)
You may observe a runtime instance of this on the [YouTube
here](https://www.youtube.com/watch?v=qckm-zvo31w) and you can [download the source code from here

2
doc/tutorials/core/mat-mask-operations/mat_mask_operations.markdown
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@ -130,7 +130,7 @@ difference.
For example:
![image](images/resultMatMaskFilter2D.png)
![](images/resultMatMaskFilter2D.png)
You can download this source code from [here
](samples/cpp/tutorial_code/core/mat_mask_operations/mat_mask_operations.cpp) or look in the

163
doc/tutorials/core/mat_the_basic_image_container/mat_the_basic_image_container.markdown
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@ -9,7 +9,7 @@ computed tomography, and magnetic resonance imaging to name a few. In every case
see are images. However, when transforming this to our digital devices what we record are numerical
values for each of the points of the image.
![image](images/MatBasicImageForComputer.jpg)
![](images/MatBasicImageForComputer.jpg)
For example in the above image you can see that the mirror of the car is nothing more than a matrix
containing all the intensity values of the pixel points. How we get and store the pixels values may
@ -144,18 +144,18 @@ file by using the @ref cv::imwrite() function. However, for debugging purposes i
convenient to see the actual values. You can do this using the \<\< operator of *Mat*. Be aware that
this only works for two dimensional matrices.
@dontinclude cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
Although *Mat* works really well as an image container, it is also a general matrix class.
Therefore, it is possible to create and manipulate multidimensional matrices. You can create a Mat
object in multiple ways:
- @ref cv::Mat::Mat Constructor
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
@skip Mat M(2
@until cout
lines 27-28
![image](images/MatBasicContainerOut1.png)
![](images/MatBasicContainerOut1.png)
For two dimensional and multichannel images we first define their size: row and column count wise.
@ -173,11 +173,8 @@ object in multiple ways:
- Use C/C++ arrays and initialize via constructor
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
35-36
@skip int sz
@until Mat L
The upper example shows how to create a matrix with more than two dimensions. Specify its
dimension, then pass a pointer containing the size for each dimension and the rest remains the
@ -188,14 +185,14 @@ object in multiple ways:
IplImage* img = cvLoadImage("greatwave.png", 1);
Mat mtx(img); // convert IplImage* -> Mat
@endcode
- @ref cv::Mat::create function:
@code
M.create(4,4, CV_8UC(2));
cout << "M = "<< endl << " " << M << endl << endl;
@endcode
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines 31-32
![image](images/MatBasicContainerOut2.png)
![](images/MatBasicContainerOut2.png)
You cannot initialize the matrix values with this construction. It will only reallocate its matrix
data memory if the new size will not fit into the old one.
@ -203,41 +200,31 @@ object in multiple ways:
- MATLAB style initializer: @ref cv::Mat::zeros , @ref cv::Mat::ones , @ref cv::Mat::eye . Specify size and
data type to use:
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
@skip Mat E
@until cout
lines
40-47
![image](images/MatBasicContainerOut3.png)
![](images/MatBasicContainerOut3.png)
- For small matrices you may use comma separated initializers:
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
@skip Mat C
@until cout
lines 50-51
![image](images/MatBasicContainerOut6.png)
![](images/MatBasicContainerOut6.png)
- Create a new header for an existing *Mat* object and @ref cv::Mat::clone or @ref cv::Mat::copyTo it.
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
@skip Mat RowClone
@until cout
lines 53-54
![image](images/MatBasicContainerOut7.png)
![](images/MatBasicContainerOut7.png)
@note
You can fill out a matrix with random values using the @ref cv::randu() function. You need to
give the lower and upper value for the random values:
You can fill out a matrix with random values using the @ref cv::randu() function. You need to
give the lower and upper value for the random values:
@skip Mat R
@until randu
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
57-58
Output formatting
-----------------
@ -246,54 +233,26 @@ In the above examples you could see the default formatting option. OpenCV, howev
format your matrix output:
- Default
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
61
![image](images/MatBasicContainerOut8.png)
@skipline (default)
![](images/MatBasicContainerOut8.png)
- Python
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
62
![image](images/MatBasicContainerOut16.png)
@skipline (python)
![](images/MatBasicContainerOut16.png)
- Comma separated values (CSV)
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
64
![image](images/MatBasicContainerOut10.png)
@skipline (csv)
![](images/MatBasicContainerOut10.png)
- Numpy
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
63
![image](images/MatBasicContainerOut9.png)
@code
cout << "R (numpy) = " << endl << format(R, Formatter::FMT_NUMPY ) << endl << endl;
@endcode
![](images/MatBasicContainerOut9.png)
- C
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
65
![image](images/MatBasicContainerOut11.png)
@skipline (c)
![](images/MatBasicContainerOut11.png)
Output of other common items
----------------------------
@ -301,44 +260,24 @@ Output of other common items
OpenCV offers support for output of other common OpenCV data structures too via the \<\< operator:
- 2D Point
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
67-68
![image](images/MatBasicContainerOut12.png)
@skip Point2f P
@until cout
![](images/MatBasicContainerOut12.png)
- 3D Point
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
70-71
![image](images/MatBasicContainerOut13.png)
@skip Point3f P3f
@until cout
![](images/MatBasicContainerOut13.png)
- std::vector via cv::Mat
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
74-77
![image](images/MatBasicContainerOut14.png)
@skip vector<float> v
@until cout
![](images/MatBasicContainerOut14.png)
- std::vector of points
@includelineno
cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp
lines
79-83
![image](images/MatBasicContainerOut15.png)
@skip vector<Point2f> vPoints
@until cout
![](images/MatBasicContainerOut15.png)
Most of the samples here have been included in a small console application. You can download it from
[here](samples/cpp/tutorial_code/core/mat_the_basic_image_container/mat_the_basic_image_container.cpp)

42
doc/tutorials/core/random_generator_and_text/random_generator_and_text.markdown
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@ -25,7 +25,7 @@ Code
Explanation
-----------
1. Let's start by checking out the *main* function. We observe that first thing we do is creating a
-# Let's start by checking out the *main* function. We observe that first thing we do is creating a
*Random Number Generator* object (RNG):
@code{.cpp}
RNG rng( 0xFFFFFFFF );
@ -33,7 +33,7 @@ Explanation
RNG implements a random number generator. In this example, *rng* is a RNG element initialized
with the value *0xFFFFFFFF*
2. Then we create a matrix initialized to *zeros* (which means that it will appear as black),
-# Then we create a matrix initialized to *zeros* (which means that it will appear as black),
specifying its height, width and its type:
@code{.cpp}
/// Initialize a matrix filled with zeros
@ -42,7 +42,7 @@ Explanation
/// Show it in a window during DELAY ms
imshow( window_name, image );
@endcode
3. Then we proceed to draw crazy stuff. After taking a look at the code, you can see that it is
-# Then we proceed to draw crazy stuff. After taking a look at the code, you can see that it is
mainly divided in 8 sections, defined as functions:
@code{.cpp}
/// Now, let's draw some lines
@ -79,7 +79,7 @@ Explanation
All of these functions follow the same pattern, so we will analyze only a couple of them, since
the same explanation applies for all.
4. Checking out the function **Drawing_Random_Lines**:
-# Checking out the function **Drawing_Random_Lines**:
@code{.cpp}
int Drawing_Random_Lines( Mat image, char* window_name, RNG rng )
{
@ -133,11 +133,11 @@ Explanation
are used as the *R*, *G* and *B* parameters for the line color. Hence, the color of the
lines will be random too!
5. The explanation above applies for the other functions generating circles, ellipses, polygones,
-# The explanation above applies for the other functions generating circles, ellipses, polygones,
etc. The parameters such as *center* and *vertices* are also generated randomly.
6. Before finishing, we also should take a look at the functions *Display_Random_Text* and
-# Before finishing, we also should take a look at the functions *Display_Random_Text* and
*Displaying_Big_End*, since they both have a few interesting features:
7. **Display_Random_Text:**
-# **Display_Random_Text:**
@code{.cpp}
int Displaying_Random_Text( Mat image, char* window_name, RNG rng )
{
@ -178,7 +178,7 @@ Explanation
As a result, we will get (analagously to the other drawing functions) **NUMBER** texts over our
image, in random locations.
8. **Displaying_Big_End**
-# **Displaying_Big_End**
@code{.cpp}
int Displaying_Big_End( Mat image, char* window_name, RNG rng )
{
@ -222,28 +222,28 @@ Result
As you just saw in the Code section, the program will sequentially execute diverse drawing
functions, which will produce:
1. First a random set of *NUMBER* lines will appear on screen such as it can be seen in this
-# First a random set of *NUMBER* lines will appear on screen such as it can be seen in this
screenshot:
![image](images/Drawing_2_Tutorial_Result_0.jpg)
![](images/Drawing_2_Tutorial_Result_0.jpg)
2. Then, a new set of figures, these time *rectangles* will follow.
3. Now some ellipses will appear, each of them with random position, size, thickness and arc
-# Then, a new set of figures, these time *rectangles* will follow.
-# Now some ellipses will appear, each of them with random position, size, thickness and arc
length:
![image](images/Drawing_2_Tutorial_Result_2.jpg)
![](images/Drawing_2_Tutorial_Result_2.jpg)
4. Now, *polylines* with 03 segments will appear on screen, again in random configurations.
-# Now, *polylines* with 03 segments will appear on screen, again in random configurations.
![image](images/Drawing_2_Tutorial_Result_3.jpg)
![](images/Drawing_2_Tutorial_Result_3.jpg)
5. Filled polygons (in this example triangles) will follow.
6. The last geometric figure to appear: circles!
-# Filled polygons (in this example triangles) will follow.
-# The last geometric figure to appear: circles!
![image](images/Drawing_2_Tutorial_Result_5.jpg)
![](images/Drawing_2_Tutorial_Result_5.jpg)
7. Near the end, the text *"Testing Text Rendering"* will appear in a variety of fonts, sizes,
-# Near the end, the text *"Testing Text Rendering"* will appear in a variety of fonts, sizes,
colors and positions.
8. And the big end (which by the way expresses a big truth too):
-# And the big end (which by the way expresses a big truth too):
![image](images/Drawing_2_Tutorial_Result_big.jpg)
![](images/Drawing_2_Tutorial_Result_big.jpg)

140
doc/tutorials/features2d/akaze_matching/akaze_matching.markdown
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@ -4,10 +4,10 @@ AKAZE local features matching {#tutorial_akaze_matching}
Introduction
------------
In this tutorial we will learn how to use [AKAZE]_ local features to detect and match keypoints on
In this tutorial we will learn how to use AKAZE @cite ANB13 local features to detect and match keypoints on
two images.
We will find keypoints on a pair of images with given homography matrix, match them and count the
number of inliers (i. e. matches that fit in the given homography).
You can find expanded version of this example here:
@ -18,7 +18,7 @@ Data
We are going to use images 1 and 3 from *Graffity* sequence of Oxford dataset.
![image](images/graf.png)
![](images/graf.png)
Homography is given by a 3 by 3 matrix:
@code{.none}
@ -35,92 +35,92 @@ You can find the images (*graf1.png*, *graf3.png*) and homography (*H1to3p.xml*)
### Explanation
1. **Load images and homography**
@code{.cpp}
Mat img1 = imread("graf1.png", IMREAD_GRAYSCALE);
Mat img2 = imread("graf3.png", IMREAD_GRAYSCALE);
-# **Load images and homography**
@code{.cpp}
Mat img1 = imread("graf1.png", IMREAD_GRAYSCALE);
Mat img2 = imread("graf3.png", IMREAD_GRAYSCALE);
Mat homography;
FileStorage fs("H1to3p.xml", FileStorage::READ);
fs.getFirstTopLevelNode() >> homography;
@endcode
We are loading grayscale images here. Homography is stored in the xml created with FileStorage.
Mat homography;
FileStorage fs("H1to3p.xml", FileStorage::READ);
fs.getFirstTopLevelNode() >> homography;
@endcode
We are loading grayscale images here. Homography is stored in the xml created with FileStorage.
1. **Detect keypoints and compute descriptors using AKAZE**
@code{.cpp}
vector<KeyPoint> kpts1, kpts2;
Mat desc1, desc2;
-# **Detect keypoints and compute descriptors using AKAZE**
@code{.cpp}
vector<KeyPoint> kpts1, kpts2;
Mat desc1, desc2;
AKAZE akaze;
akaze(img1, noArray(), kpts1, desc1);
akaze(img2, noArray(), kpts2, desc2);
@endcode
We create AKAZE object and use it's *operator()* functionality. Since we don't need the *mask*
parameter, *noArray()* is used.
AKAZE akaze;
akaze(img1, noArray(), kpts1, desc1);
akaze(img2, noArray(), kpts2, desc2);
@endcode
We create AKAZE object and use it's *operator()* functionality. Since we don't need the *mask*
parameter, *noArray()* is used.
1. **Use brute-force matcher to find 2-nn matches**
@code{.cpp}
BFMatcher matcher(NORM_HAMMING);
vector< vector<DMatch> > nn_matches;
matcher.knnMatch(desc1, desc2, nn_matches, 2);
@endcode
We use Hamming distance, because AKAZE uses binary descriptor by default.
-# **Use brute-force matcher to find 2-nn matches**
@code{.cpp}
BFMatcher matcher(NORM_HAMMING);
vector< vector<DMatch> > nn_matches;
matcher.knnMatch(desc1, desc2, nn_matches, 2);
@endcode
We use Hamming distance, because AKAZE uses binary descriptor by default.
1. **Use 2-nn matches to find correct keypoint matches**
@code{.cpp}
for(size_t i = 0; i < nn_matches.size(); i++) {
DMatch first = nn_matches[i][0];
float dist1 = nn_matches[i][0].distance;
float dist2 = nn_matches[i][1].distance;
-# **Use 2-nn matches to find correct keypoint matches**
@code{.cpp}
for(size_t i = 0; i < nn_matches.size(); i++) {
DMatch first = nn_matches[i][0];
float dist1 = nn_matches[i][0].distance;
float dist2 = nn_matches[i][1].distance;
if(dist1 < nn_match_ratio * dist2) {
matched1.push_back(kpts1[first.queryIdx]);
matched2.push_back(kpts2[first.trainIdx]);
if(dist1 < nn_match_ratio * dist2) {
matched1.push_back(kpts1[first.queryIdx]);
matched2.push_back(kpts2[first.trainIdx]);
}
}
}
@endcode
If the closest match is *ratio* closer than the second closest one, then the match is correct.
@endcode
If the closest match is *ratio* closer than the second closest one, then the match is correct.
1. **Check if our matches fit in the homography model**
@code{.cpp}
for(int i = 0; i < matched1.size(); i++) {
Mat col = Mat::ones(3, 1, CV_64F);
col.at<double>(0) = matched1[i].pt.x;
col.at<double>(1) = matched1[i].pt.y;
-# **Check if our matches fit in the homography model**
@code{.cpp}
for(int i = 0; i < matched1.size(); i++) {
Mat col = Mat::ones(3, 1, CV_64F);
col.at<double>(0) = matched1[i].pt.x;
col.at<double>(1) = matched1[i].pt.y;
col = homography * col;
col /= col.at<double>(2);
float dist = sqrt( pow(col.at<double>(0) - matched2[i].pt.x, 2) +
pow(col.at<double>(1) - matched2[i].pt.y, 2));
col = homography * col;
col /= col.at<double>(2);
float dist = sqrt( pow(col.at<double>(0) - matched2[i].pt.x, 2) +
pow(col.at<double>(1) - matched2[i].pt.y, 2));
if(dist < inlier_threshold) {
int new_i = inliers1.size();
inliers1.push_back(matched1[i]);
inliers2.push_back(matched2[i]);
good_matches.push_back(DMatch(new_i, new_i, 0));
if(dist < inlier_threshold) {
int new_i = inliers1.size();
inliers1.push_back(matched1[i]);
inliers2.push_back(matched2[i]);
good_matches.push_back(DMatch(new_i, new_i, 0));
}
}
}
@endcode
If the distance from first keypoint's projection to the second keypoint is less than threshold,
then it it fits in the homography.
@endcode
If the distance from first keypoint's projection to the second keypoint is less than threshold,
then it it fits in the homography.
We create a new set of matches for the inliers, because it is required by the drawing function.
We create a new set of matches for the inliers, because it is required by the drawing function.
1. **Output results**
@code{.cpp}
Mat res;
drawMatches(img1, inliers1, img2, inliers2, good_matches, res);
imwrite("res.png", res);
...
@endcode
Here we save the resulting image and print some statistics.
-# **Output results**
@code{.cpp}
Mat res;
drawMatches(img1, inliers1, img2, inliers2, good_matches, res);
imwrite("res.png", res);
...
@endcode
Here we save the resulting image and print some statistics.
### Results
Found matches
-------------
![image](images/res.png)
![](images/res.png)
A-KAZE Matching Results
-----------------------

11
doc/tutorials/features2d/akaze_matching/akaze_matching.rst
View File

@ -152,8 +152,9 @@ A-KAZE Matching Results
--------------------------
.. code-block:: none
Keypoints 1: 2943
Keypoints 2: 3511
Matches: 447
Inliers: 308
Inlier Ratio: 0.689038
Keypoints 1 2943
Keypoints 2 3511
Matches 447
Inliers 308
Inlier Ratio 0.689038

124
doc/tutorials/features2d/akaze_tracking/akaze_tracking.markdown
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@ -11,16 +11,17 @@ The algorithm is as follows:
- Detect and describe keypoints on the first frame, manually set object boundaries
- For every next frame:
1. Detect and describe keypoints
2. Match them using bruteforce matcher
3. Estimate homography transformation using RANSAC
4. Filter inliers from all the matches
5. Apply homography transformation to the bounding box to find the object
6. Draw bounding box and inliers, compute inlier ratio as evaluation metric
-# Detect and describe keypoints
-# Match them using bruteforce matcher
-# Estimate homography transformation using RANSAC
-# Filter inliers from all the matches
-# Apply homography transformation to the bounding box to find the object
-# Draw bounding box and inliers, compute inlier ratio as evaluation metric
![image](images/frame.png)
![](images/frame.png)
### Data
Data
----
To do the tracking we need a video and object position on the first frame.
@ -31,14 +32,16 @@ To run the code you have to specify input and output video path and object bound
@code{.none}
./planar_tracking blais.mp4 result.avi blais_bb.xml.gz
@endcode
### Source Code
Source Code
-----------
@includelineno cpp/tutorial_code/features2D/AKAZE_tracking/planar_tracking.cpp
### Explanation
Explanation
-----------
Tracker class
-------------
### Tracker class
This class implements algorithm described abobve using given feature detector and descriptor
matcher.
@ -63,62 +66,60 @@ matcher.
- **Processing frames**
1. Locate keypoints and compute descriptors
@code{.cpp}
(*detector)(frame, noArray(), kp, desc);
@endcode
To find matches between frames we have to locate the keypoints first.
In this tutorial detectors are set up to find about 1000 keypoints on each frame.
-# Locate keypoints and compute descriptors
@code{.cpp}
(*detector)(frame, noArray(), kp, desc);
@endcode
1. Use 2-nn matcher to find correspondences
@code{.cpp}
matcher->knnMatch(first_desc, desc, matches, 2);
for(unsigned i = 0; i < matches.size(); i++) {
if(matches[i][0].distance < nn_match_ratio * matches[i][1].distance) {
matched1.push_back(first_kp[matches[i][0].queryIdx]);
matched2.push_back( kp[matches[i][0].trainIdx]);
To find matches between frames we have to locate the keypoints first.
In this tutorial detectors are set up to find about 1000 keypoints on each frame.
-# Use 2-nn matcher to find correspondences
@code{.cpp}
matcher->knnMatch(first_desc, desc, matches, 2);
for(unsigned i = 0; i < matches.size(); i++) {
if(matches[i][0].distance < nn_match_ratio * matches[i][1].distance) {
matched1.push_back(first_kp[matches[i][0].queryIdx]);
matched2.push_back( kp[matches[i][0].trainIdx]);
}
}
}
@endcode
If the closest match is *nn_match_ratio* closer than the second closest one, then it's a
match.
@endcode
If the closest match is *nn_match_ratio* closer than the second closest one, then it's a
match.
2. Use *RANSAC* to estimate homography transformation
@code{.cpp}
homography = findHomography(Points(matched1), Points(matched2),
RANSAC, ransac_thresh, inlier_mask);
@endcode
If there are at least 4 matches we can use random sample consensus to estimate image
transformation.
-# Use *RANSAC* to estimate homography transformation
@code{.cpp}
homography = findHomography(Points(matched1), Points(matched2),
RANSAC, ransac_thresh, inlier_mask);
@endcode
If there are at least 4 matches we can use random sample consensus to estimate image
transformation.
3. Save the inliers
@code{.cpp}
for(unsigned i = 0; i < matched1.size(); i++) {
if(inlier_mask.at<uchar>(i)) {
int new_i = static_cast<int>(inliers1.size());
inliers1.push_back(matched1[i]);
inliers2.push_back(matched2[i]);
inlier_matches.push_back(DMatch(new_i, new_i, 0));
-# Save the inliers
@code{.cpp}
for(unsigned i = 0; i < matched1.size(); i++) {
if(inlier_mask.at<uchar>(i)) {
int new_i = static_cast<int>(inliers1.size());
inliers1.push_back(matched1[i]);
inliers2.push_back(matched2[i]);
inlier_matches.push_back(DMatch(new_i, new_i, 0));
}
}
}
@endcode
Since *findHomography* computes the inliers we only have to save the chosen points and
matches.
@endcode
Since *findHomography* computes the inliers we only have to save the chosen points and
matches.
4. Project object bounding box
@code{.cpp}
perspectiveTransform(object_bb, new_bb, homography);
@endcode
If there is a reasonable number of inliers we can use estimated transformation to locate the
object.
-# Project object bounding box
@code{.cpp}
perspectiveTransform(object_bb, new_bb, homography);
@endcode
### Results
If there is a reasonable number of inliers we can use estimated transformation to locate the
object.
Results
-------
You can watch the resulting [video on youtube](http://www.youtube.com/watch?v=LWY-w8AGGhE).
@ -129,6 +130,7 @@ Inliers 410
Inlier ratio 0.58
Keypoints 1117
@endcode
*ORB* statistics:
@code{.none}
Matches 504

2
doc/tutorials/features2d/feature_description/feature_description.markdown
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@ -87,4 +87,4 @@ Result
Here is the result after applying the BruteForce matcher between the two original images:
![image](images/Feature_Description_BruteForce_Result.jpg)
![](images/Feature_Description_BruteForce_Result.jpg)

8
doc/tutorials/features2d/feature_detection/feature_detection.markdown
View File

@ -79,10 +79,10 @@ Explanation
Result
------
1. Here is the result of the feature detection applied to the first image:
-# Here is the result of the feature detection applied to the first image:
![image](images/Feature_Detection_Result_a.jpg)
![](images/Feature_Detection_Result_a.jpg)
2. And here is the result for the second image:
-# And here is the result for the second image:
![image](images/Feature_Detection_Result_b.jpg)
![](images/Feature_Detection_Result_b.jpg)

8
doc/tutorials/features2d/feature_flann_matcher/feature_flann_matcher.markdown
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@ -130,10 +130,10 @@ Explanation
Result
------
1. Here is the result of the feature detection applied to the first image:
-# Here is the result of the feature detection applied to the first image:
![image](images/Featur_FlannMatcher_Result.jpg)
![](images/Featur_FlannMatcher_Result.jpg)
2. Additionally, we get as console output the keypoints filtered:
-# Additionally, we get as console output the keypoints filtered:
![image](images/Feature_FlannMatcher_Keypoints_Result.jpg)
![](images/Feature_FlannMatcher_Keypoints_Result.jpg)

4
doc/tutorials/features2d/feature_homography/feature_homography.markdown
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@ -134,8 +134,8 @@ Explanation
Result
------
1. And here is the result for the detected object (highlighted in green)
-# And here is the result for the detected object (highlighted in green)
![image](images/Feature_Homography_Result.jpg)
![](images/Feature_Homography_Result.jpg)

4
doc/tutorials/features2d/trackingmotion/corner_subpixeles/corner_subpixeles.markdown
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@ -122,9 +122,9 @@ Explanation
Result
------
![image](images/Corner_Subpixeles_Original_Image.jpg)
![](images/Corner_Subpixeles_Original_Image.jpg)
Here is the result:
![image](images/Corner_Subpixeles_Result.jpg)
![](images/Corner_Subpixeles_Result.jpg)

4
doc/tutorials/features2d/trackingmotion/generic_corner_detector/generic_corner_detector.markdown
View File

@ -30,7 +30,7 @@ Explanation
Result
------
![image](images/My_Harris_corner_detector_Result.jpg)
![](images/My_Harris_corner_detector_Result.jpg)
![image](images/My_Shi_Tomasi_corner_detector_Result.jpg)
![](images/My_Shi_Tomasi_corner_detector_Result.jpg)

2
doc/tutorials/features2d/trackingmotion/good_features_to_track/good_features_to_track.markdown
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@ -111,5 +111,5 @@ Explanation
Result
------
![image](images/Feature_Detection_Result_a.jpg)
![](images/Feature_Detection_Result_a.jpg)

4
doc/tutorials/features2d/trackingmotion/harris_detector/harris_detector.markdown
View File

@ -201,9 +201,9 @@ Result
The original image:
![image](images/Harris_Detector_Original_Image.jpg)
![](images/Harris_Detector_Original_Image.jpg)
The detected corners are surrounded by a small black circle
![image](images/Harris_Detector_Result.jpg)
![](images/Harris_Detector_Result.jpg)

8
doc/tutorials/general/table_of_content_general/table_of_content_general.markdown
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@ -1,8 +0,0 @@
General tutorials {#tutorial_table_of_content_general}
=================
These tutorials are the bottom of the iceberg as they link together multiple of the modules
presented above in order to solve complex problems.

43
doc/tutorials/gpu/gpu-basics-similarity/gpu_basics_similarity.markdown
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@ -24,28 +24,45 @@ The source code
You may also find the source code and these video file in the
`samples/cpp/tutorial_code/gpu/gpu-basics-similarity/gpu-basics-similarity` folder of the OpenCV
source library or download it from here
\<../../../../samples/cpp/tutorial_code/gpu/gpu-basics-similarity/gpu-basics-similarity.cpp\>. The
full source code is quite long (due to the controlling of the application via the command line
source library or download it from [here](samples/cpp/tutorial_code/gpu/gpu-basics-similarity/gpu-basics-similarity.cpp).
The full source code is quite long (due to the controlling of the application via the command line
arguments and performance measurement). Therefore, to avoid cluttering up these sections with those
you'll find here only the functions itself.
The PSNR returns a float number, that if the two inputs are similar between 30 and 50 (higher is
better).
@includelineno samples/cpp/tutorial_code/gpu/gpu-basics-similarity/gpu-basics-similarity.cpp
@dontinclude samples/cpp/tutorial_code/gpu/gpu-basics-similarity/gpu-basics-similarity.cpp
lines
165-210, 18-23, 210-235
@skip struct BufferPSNR
@until };
@skip double getPSNR(
@until return psnr;
@until }
@until }
@skip double getPSNR_CUDA(
@until return psnr;
@until }
@until }
The SSIM returns the MSSIM of the images. This is too a float number between zero and one (higher is
better), however we have one for each channel. Therefore, we return a *Scalar* OpenCV data
structure:
@includelineno samples/cpp/tutorial_code/gpu/gpu-basics-similarity/gpu-basics-similarity.cpp
@dontinclude samples/cpp/tutorial_code/gpu/gpu-basics-similarity/gpu-basics-similarity.cpp
lines
235-355, 26-42, 357-
@skip struct BufferMSSIM
@until };
@skip Scalar getMSSIM(
@until return mssim;
@until }
@skip Scalar getMSSIM_CUDA_optimized(
@until return mssim;
@until }
How to do it? - The GPU
-----------------------
@ -124,7 +141,7 @@ The reason for this is that you're throwing out on the window the price for memo
data transfer. And on the GPU this is damn high. Another possibility for optimization is to
introduce asynchronous OpenCV GPU calls too with the help of the @ref cv::cuda::Stream.
1. Memory allocation on the GPU is considerable. Therefore, if it’s possible allocate new memory as
-# Memory allocation on the GPU is considerable. Therefore, if it’s possible allocate new memory as
few times as possible. If you create a function what you intend to call multiple times it is a
good idea to allocate any local parameters for the function only once, during the first call. To
do this you create a data structure containing all the local variables you will use. For
@ -148,7 +165,7 @@ introduce asynchronous OpenCV GPU calls too with the help of the @ref cv::cuda::
Now you access these local parameters as: *b.gI1*, *b.buf* and so on. The GpuMat will only
reallocate itself on a new call if the new matrix size is different from the previous one.
2. Avoid unnecessary function data transfers. Any small data transfer will be significant one once
-# Avoid unnecessary function data transfers. Any small data transfer will be significant one once
you go to the GPU. Therefore, if possible make all calculations in-place (in other words do not
create new memory objects - for reasons explained at the previous point). For example, although
expressing arithmetical operations may be easier to express in one line formulas, it will be
@ -164,7 +181,7 @@ introduce asynchronous OpenCV GPU calls too with the help of the @ref cv::cuda::
gpu::multiply(b.mu1_mu2, 2, b.t1); //b.t1 = 2 * b.mu1_mu2 + C1;
gpu::add(b.t1, C1, b.t1);
@endcode
3. Use asynchronous calls (the @ref cv::cuda::Stream ). By default whenever you call a gpu function
-# Use asynchronous calls (the @ref cv::cuda::Stream ). By default whenever you call a gpu function
it will wait for the call to finish and return with the result afterwards. However, it is
possible to make asynchronous calls, meaning it will call for the operation execution, make the
costly data allocations for the algorithm and return back right away. Now you can call another
@ -189,7 +206,7 @@ Result and conclusion
---------------------
On an Intel P8700 laptop CPU paired with a low end NVidia GT220M here are the performance numbers:
@code{.cpp}
@code
Time of PSNR CPU (averaged for 10 runs): 41.4122 milliseconds. With result of: 19.2506
Time of PSNR GPU (averaged for 10 runs): 158.977 milliseconds. With result of: 19.2506
Initial call GPU optimized: 31.3418 milliseconds. With result of: 19.2506

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7
doc/tutorials/highgui/raster-gdal/raster_io_gdal.markdown
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@ -94,9 +94,8 @@ Below is the output of the program. Use the first image as the input. For the DE
the SRTM file located at the USGS here.
[<http://dds.cr.usgs.gov/srtm/version2_1/SRTM1/Region_04/N37W123.hgt.zip>](http://dds.cr.usgs.gov/srtm/version2_1/SRTM1/Region_04/N37W123.hgt.zip)
![image](images/output.jpg)
![](images/gdal_output.jpg)
![image](images/heat-map.jpg)
![image](images/flood-zone.jpg)
![](images/gdal_heat-map.jpg)
![](images/gdal_flood-zone.jpg)

6
doc/tutorials/highgui/raster-gdal/raster_io_gdal.rst
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@ -106,8 +106,8 @@ Results
Below is the output of the program. Use the first image as the input. For the DEM model, download the SRTM file located at the USGS here. `http://dds.cr.usgs.gov/srtm/version2_1/SRTM1/Region_04/N37W123.hgt.zip <http://dds.cr.usgs.gov/srtm/version2_1/SRTM1/Region_04/N37W123.hgt.zip>`_
.. image:: images/output.jpg
.. image:: images/gdal_output.jpg
.. image:: images/heat-map.jpg
.. image:: images/gdal_heat-map.jpg
.. image:: images/flood-zone.jpg
.. image:: images/gdal_flood-zone.jpg

14
doc/tutorials/highgui/trackbar/trackbar.markdown
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@ -7,7 +7,7 @@ Adding a Trackbar to our applications! {#tutorial_trackbar}
- Well, it is time to use some fancy GUI tools. OpenCV provides some GUI utilities (*highgui.h*)
for you. An example of this is a **Trackbar**
![image](images/Adding_Trackbars_Tutorial_Trackbar.png)
![](images/Adding_Trackbars_Tutorial_Trackbar.png)
- In this tutorial we will just modify our two previous programs so that they get the input
information from the trackbar.
@ -88,16 +88,16 @@ Explanation
We only analyze the code that is related to Trackbar:
1. First, we load 02 images, which are going to be blended.
-# First, we load 02 images, which are going to be blended.
@code{.cpp}
src1 = imread("../../images/LinuxLogo.jpg");
src2 = imread("../../images/WindowsLogo.jpg");
@endcode
2. To create a trackbar, first we have to create the window in which it is going to be located. So:
-# To create a trackbar, first we have to create the window in which it is going to be located. So:
@code{.cpp}
namedWindow("Linear Blend", 1);
@endcode
3. Now we can create the Trackbar:
-# Now we can create the Trackbar:
@code{.cpp}
createTrackbar( TrackbarName, "Linear Blend", &alpha_slider, alpha_slider_max, on_trackbar );
@endcode
@ -110,7 +110,7 @@ We only analyze the code that is related to Trackbar:
- The numerical value of Trackbar is stored in **alpha_slider**
- Whenever the user moves the Trackbar, the callback function **on_trackbar** is called
4. Finally, we have to define the callback function **on_trackbar**
-# Finally, we have to define the callback function **on_trackbar**
@code{.cpp}
void on_trackbar( int, void* )
{
@ -133,10 +133,10 @@ Result
- Our program produces the following output:
![image](images/Adding_Trackbars_Tutorial_Result_0.jpg)
![](images/Adding_Trackbars_Tutorial_Result_0.jpg)
- As a manner of practice, you can also add 02 trackbars for the program made in
@ref tutorial_basic_linear_transform. One trackbar to set \f$\alpha\f$ and another for \f$\beta\f$. The output might
look like:
![image](images/Adding_Trackbars_Tutorial_Result_1.jpg)
![](images/Adding_Trackbars_Tutorial_Result_1.jpg)

15
doc/tutorials/highgui/video-input-psnr-ssim/video_input_psnr_ssim.markdown
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@ -25,10 +25,14 @@ version of it ](samples/cpp/tutorial_code/HighGUI/video-input-psnr-ssim/video/Me
You may also find the source code and these video file in the
`samples/cpp/tutorial_code/HighGUI/video-input-psnr-ssim/` folder of the OpenCV source library.
@includelineno cpp/tutorial_code/HighGUI/video-input-psnr-ssim/video-input-psnr-ssim.cpp
@dontinclude cpp/tutorial_code/HighGUI/video-input-psnr-ssim/video-input-psnr-ssim.cpp
lines
1-15, 29-31, 33-208
@until Scalar getMSSIM
@skip main
@until {
@skip if
@until return mssim;
@until }
How to read a video stream (online-camera or offline-file)?
-----------------------------------------------------------
@ -243,10 +247,9 @@ for each frame, and the SSIM only for the frames where the PSNR falls below an i
visualization purpose we show both images in an OpenCV window and print the PSNR and MSSIM values to
the console. Expect to see something like:
![image](images/outputVideoInput.png)
![](images/outputVideoInput.png)
You may observe a runtime instance of this on the [YouTube
here](https://www.youtube.com/watch?v=iOcNljutOgg).
You may observe a runtime instance of this on the [YouTube here](https://www.youtube.com/watch?v=iOcNljutOgg).
\htmlonly
<div align="center">

14
doc/tutorials/highgui/video-write/video_write.markdown
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@ -47,7 +47,7 @@ somehow longer and includes names such as *XVID*, *DIVX*, *H264* or *LAGS* (*Lag
Codec*). The full list of codecs you may use on a system depends on just what one you have
installed.
![image](images/videoFileStructure.png)
![](images/videoFileStructure.png)
As you can see things can get really complicated with videos. However, OpenCV is mainly a computer
vision library, not a video stream, codec and write one. Therefore, the developers tried to keep
@ -75,7 +75,7 @@ const string source = argv[1]; // the source file name
string::size_type pAt = source.find_last_of('.'); // Find extension point
const string NAME = source.substr(0, pAt) + argv[2][0] + ".avi"; // Form the new name with container
@endcode
1. The codec to use for the video track. Now all the video codecs have a unique short name of
-# The codec to use for the video track. Now all the video codecs have a unique short name of
maximum four characters. Hence, the *XVID*, *DIVX* or *H264* names. This is called a four
character code. You may also ask this from an input video by using its *get* function. Because
the *get* function is a general function it always returns double values. A double value is
@ -109,13 +109,13 @@ const string NAME = source.substr(0, pAt) + argv[2][0] + ".avi"; // Form the n
If you pass for this argument minus one than a window will pop up at runtime that contains all
the codec installed on your system and ask you to select the one to use:
![image](images/videoCompressSelect.png)
![](images/videoCompressSelect.png)
2. The frame per second for the output video. Again, here I keep the input videos frame per second
-# The frame per second for the output video. Again, here I keep the input videos frame per second
by using the *get* function.
3. The size of the frames for the output video. Here too I keep the input videos frame size per
-# The size of the frames for the output video. Here too I keep the input videos frame size per
second by using the *get* function.
4. The final argument is an optional one. By default is true and says that the output will be a
-# The final argument is an optional one. By default is true and says that the output will be a
colorful one (so for write you will send three channel images). To create a gray scale video
pass a false parameter here.
@ -148,7 +148,7 @@ merge(spl, res);
Put all this together and you'll get the upper source code, whose runtime result will show something
around the idea:
![image](images/resultOutputWideoWrite.png)
![](images/resultOutputWideoWrite.png)
You may observe a runtime instance of this on the [YouTube
here](https://www.youtube.com/watch?v=jpBwHxsl1_0).

16
doc/tutorials/imgproc/erosion_dilatation/erosion_dilatation.markdown
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@ -28,7 +28,7 @@ Morphological Operations
- Finding of intensity bumps or holes in an image
- We will explain dilation and erosion briefly, using the following image as an example:
![image](images/Morphology_1_Tutorial_Theory_Original_Image.png)
![](images/Morphology_1_Tutorial_Theory_Original_Image.png)
### Dilation
@ -40,7 +40,7 @@ Morphological Operations
deduce, this maximizing operation causes bright regions within an image to "grow" (therefore the
name *dilation*). Take as an example the image above. Applying dilation we can get:
![image](images/Morphology_1_Tutorial_Theory_Dilation.png)
![](images/Morphology_1_Tutorial_Theory_Dilation.png)
The background (bright) dilates around the black regions of the letter.
@ -54,7 +54,7 @@ The background (bright) dilates around the black regions of the letter.
(shown above). You can see in the result below that the bright areas of the image (the
background, apparently), get thinner, whereas the dark zones (the "writing") gets bigger.
![image](images/Morphology_1_Tutorial_Theory_Erosion.png)
![](images/Morphology_1_Tutorial_Theory_Erosion.png)
Code
----
@ -66,7 +66,7 @@ This tutorial code's is shown lines below. You can also download it from
Explanation
-----------
1. Most of the stuff shown is known by you (if you have any doubt, please refer to the tutorials in
-# Most of the stuff shown is known by you (if you have any doubt, please refer to the tutorials in
previous sections). Let's check the general structure of the program:
- Load an image (can be RGB or grayscale)
@ -80,7 +80,7 @@ Explanation
Let's analyze these two functions:
2. **erosion:**
-# **erosion:**
@code{.cpp}
/* @function Erosion */
void Erosion( int, void* )
@ -124,7 +124,7 @@ Explanation
(iterations) at once. We are not using it in this simple tutorial, though. You can check out the
Reference for more details.
3. **dilation:**
-# **dilation:**
The code is below. As you can see, it is completely similar to the snippet of code for **erosion**.
Here we also have the option of defining our kernel, its anchor point and the size of the operator
@ -152,10 +152,10 @@ Results
Compile the code above and execute it with an image as argument. For instance, using this image:
![image](images/Morphology_1_Tutorial_Original_Image.jpg)
![](images/Morphology_1_Tutorial_Original_Image.jpg)
We get the results below. Varying the indices in the Trackbars give different output images,
naturally. Try them out! You can even try to add a third Trackbar to control the number of
iterations.
![image](images/Morphology_1_Result.jpg)
![](images/Morphology_1_Result.jpg)

23
doc/tutorials/imgproc/gausian_median_blur_bilateral_filter/gausian_median_blur_bilateral_filter.markdown
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@ -56,17 +56,15 @@ enumeratevisibleitemswithsquare
produce the output array.
- Just to make the picture clearer, remember how a 1D Gaussian kernel look like?
![image](images/Smoothing_Tutorial_theory_gaussian_0.jpg)
![](images/Smoothing_Tutorial_theory_gaussian_0.jpg)
Assuming that an image is 1D, you can notice that the pixel located in the middle would have the
biggest weight. The weight of its neighbors decreases as the spatial distance between them and
the center pixel increases.
@note
Remember that a 2D Gaussian can be represented as :
@note
Remember that a 2D Gaussian can be represented as :
\f[G_{0}(x, y) = A e^{ \dfrac{ -(x - \mu_{x})^{2} }{ 2\sigma^{2}_{x} } + \dfrac{ -(y - \mu_{y})^{2} }{ 2\sigma^{2}_{y} } }\f]
where \f$\mu\f$ is the mean (the peak) and \f$\sigma\f$ represents the variance (per each of the
variables \f$x\f$ and \f$y\f$)
@ -188,12 +186,13 @@ int display_dst( int delay );
return 0;
}
@endcode
Explanation
-----------
1. Let's check the OpenCV functions that involve only the smoothing procedure, since the rest is
-# Let's check the OpenCV functions that involve only the smoothing procedure, since the rest is
already known by now.
2. **Normalized Block Filter:**
-# **Normalized Block Filter:**
OpenCV offers the function @ref cv::blur to perform smoothing with this filter.
@code{.cpp}
@ -211,7 +210,7 @@ Explanation
respect to the neighborhood. If there is a negative value, then the center of the kernel is
considered the anchor point.
3. **Gaussian Filter:**
-# **Gaussian Filter:**
It is performed by the function @ref cv::GaussianBlur :
@code{.cpp}
@ -231,7 +230,7 @@ Explanation
- \f$\sigma_{y}\f$: The standard deviation in y. Writing \f$0\f$ implies that \f$\sigma_{y}\f$ is
calculated using kernel size.
4. **Median Filter:**
-# **Median Filter:**
This filter is provided by the @ref cv::medianBlur function:
@code{.cpp}
@ -245,7 +244,7 @@ Explanation
- *dst*: Destination image, must be the same type as *src*
- *i*: Size of the kernel (only one because we use a square window). Must be odd.
5. **Bilateral Filter**
-# **Bilateral Filter**
Provided by OpenCV function @ref cv::bilateralFilter
@code{.cpp}
@ -268,6 +267,4 @@ Results
filters explained.
- Here is a snapshot of the image smoothed using *medianBlur*:
![image](images/Smoothing_Tutorial_Result_Median_Filter.jpg)
![](images/Smoothing_Tutorial_Result_Median_Filter.jpg)

124
doc/tutorials/imgproc/histograms/back_projection/back_projection.markdown
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@ -28,17 +28,14 @@ Theory
- Let's say you have gotten a skin histogram (Hue-Saturation) based on the image below. The
histogram besides is going to be our *model histogram* (which we know represents a sample of
skin tonality). You applied some mask to capture only the histogram of the skin area:
------ ------
|T0| |T1|
------ ------
![T0](images/Back_Projection_Theory0.jpg)
![T1](images/Back_Projection_Theory1.jpg)
- Now, let's imagine that you get another hand image (Test Image) like the one below: (with its
respective histogram):
![T2](images/Back_Projection_Theory2.jpg)
![T3](images/Back_Projection_Theory3.jpg)
------ ------
|T2| |T3|
------ ------
- What we want to do is to use our *model histogram* (that we know represents a skin tonality) to
detect skin areas in our Test Image. Here are the steps
@ -50,7 +47,7 @@ Theory
the *model histogram* first, so the output for the Test Image can be visible for you.
-# Applying the steps above, we get the following BackProjection image for our Test Image:
![image](images/Back_Projection_Theory4.jpg)
![](images/Back_Projection_Theory4.jpg)
-# In terms of statistics, the values stored in *BackProjection* represent the *probability*
that a pixel in *Test Image* belongs to a skin area, based on the *model histogram* that we
@ -83,98 +80,23 @@ Code
in samples.
- **Code at glance:**
@code{.cpp}
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
@includelineno samples/cpp/tutorial_code/Histograms_Matching/calcBackProject_Demo1.cpp
#include <iostream>
using namespace cv;
using namespace std;
/// Global Variables
Mat src; Mat hsv; Mat hue;
int bins = 25;
/// Function Headers
void Hist_and_Backproj(int, void* );
/* @function main */
int main( int argc, char** argv )
{
/// Read the image
src = imread( argv[1], 1 );
/// Transform it to HSV
cvtColor( src, hsv, COLOR_BGR2HSV );
/// Use only the Hue value
hue.create( hsv.size(), hsv.depth() );
int ch[] = { 0, 0 };
mixChannels( &hsv, 1, &hue, 1, ch, 1 );
/// Create Trackbar to enter the number of bins
char* window_image = "Source image";
namedWindow( window_image, WINDOW_AUTOSIZE );
createTrackbar("* Hue bins: ", window_image, &bins, 180, Hist_and_Backproj );
Hist_and_Backproj(0, 0);
/// Show the image
imshow( window_image, src );
/// Wait until user exits the program
waitKey(0);
return 0;
}
/*
* @function Hist_and_Backproj
* @brief Callback to Trackbar
*/
void Hist_and_Backproj(int, void* )
{
MatND hist;
int histSize = MAX( bins, 2 );
float hue_range[] = { 0, 180 };
const float* ranges = { hue_range };
/// Get the Histogram and normalize it
calcHist( &hue, 1, 0, Mat(), hist, 1, &histSize, &ranges, true, false );
normalize( hist, hist, 0, 255, NORM_MINMAX, -1, Mat() );
/// Get Backprojection
MatND backproj;
calcBackProject( &hue, 1, 0, hist, backproj, &ranges, 1, true );
/// Draw the backproj
imshow( "BackProj", backproj );
/// Draw the histogram
int w = 400; int h = 400;
int bin_w = cvRound( (double) w / histSize );
Mat histImg = Mat::zeros( w, h, CV_8UC3 );
for( int i = 0; i < bins; i ++ )
{ rectangle( histImg, Point( i*bin_w, h ), Point( (i+1)*bin_w, h - cvRound( hist.at<float>(i)*h/255.0 ) ), Scalar( 0, 0, 255 ), -1 ); }
imshow( "Histogram", histImg );
}
@endcode
Explanation
-----------
1. Declare the matrices to store our images and initialize the number of bins to be used by our
-# Declare the matrices to store our images and initialize the number of bins to be used by our
histogram:
@code{.cpp}
Mat src; Mat hsv; Mat hue;
int bins = 25;
@endcode
2. Read the input image and transform it to HSV format:
-# Read the input image and transform it to HSV format:
@code{.cpp}
src = imread( argv[1], 1 );
cvtColor( src, hsv, COLOR_BGR2HSV );
@endcode
3. For this tutorial, we will use only the Hue value for our 1-D histogram (check out the fancier
-# For this tutorial, we will use only the Hue value for our 1-D histogram (check out the fancier
code in the links above if you want to use the more standard H-S histogram, which yields better
results):
@code{.cpp}
@ -182,7 +104,7 @@ Explanation
int ch[] = { 0, 0 };
mixChannels( &hsv, 1, &hue, 1, ch, 1 );
@endcode
as you see, we use the function :mix_channels:mixChannels to get only the channel 0 (Hue) from
as you see, we use the function @ref cv::mixChannels to get only the channel 0 (Hue) from
the hsv image. It gets the following parameters:
- **&hsv:** The source array from which the channels will be copied
@ -193,7 +115,7 @@ Explanation
case, the Hue(0) channel of &hsv is being copied to the 0 channel of &hue (1-channel)
- **1:** Number of index pairs
4. Create a Trackbar for the user to enter the bin values. Any change on the Trackbar means a call
-# Create a Trackbar for the user to enter the bin values. Any change on the Trackbar means a call
to the **Hist_and_Backproj** callback function.
@code{.cpp}
char* window_image = "Source image";
@ -201,14 +123,14 @@ Explanation
createTrackbar("* Hue bins: ", window_image, &bins, 180, Hist_and_Backproj );
Hist_and_Backproj(0, 0);
@endcode
5. Show the image and wait for the user to exit the program:
-# Show the image and wait for the user to exit the program:
@code{.cpp}
imshow( window_image, src );
waitKey(0);
return 0;
@endcode
6. **Hist_and_Backproj function:** Initialize the arguments needed for @ref cv::calcHist . The
-# **Hist_and_Backproj function:** Initialize the arguments needed for @ref cv::calcHist . The
number of bins comes from the Trackbar:
@code{.cpp}
void Hist_and_Backproj(int, void* )
@ -218,12 +140,12 @@ Explanation
float hue_range[] = { 0, 180 };
const float* ranges = { hue_range };
@endcode
7. Calculate the Histogram and normalize it to the range \f$[0,255]\f$
-# Calculate the Histogram and normalize it to the range \f$[0,255]\f$
@code{.cpp}
calcHist( &hue, 1, 0, Mat(), hist, 1, &histSize, &ranges, true, false );
normalize( hist, hist, 0, 255, NORM_MINMAX, -1, Mat() );
@endcode
8. Get the Backprojection of the same image by calling the function @ref cv::calcBackProject
-# Get the Backprojection of the same image by calling the function @ref cv::calcBackProject
@code{.cpp}
MatND backproj;
calcBackProject( &hue, 1, 0, hist, backproj, &ranges, 1, true );
@ -231,11 +153,11 @@ Explanation
all the arguments are known (the same as used to calculate the histogram), only we add the
backproj matrix, which will store the backprojection of the source image (&hue)
9. Display backproj:
-# Display backproj:
@code{.cpp}
imshow( "BackProj", backproj );
@endcode
10. Draw the 1-D Hue histogram of the image:
-# Draw the 1-D Hue histogram of the image:
@code{.cpp}
int w = 400; int h = 400;
int bin_w = cvRound( (double) w / histSize );
@ -246,12 +168,12 @@ Explanation
imshow( "Histogram", histImg );
@endcode
Results
-------
1. Here are the output by using a sample image ( guess what? Another hand ). You can play with the
bin values and you will observe how it affects the results:
------ ------ ------
|R0| |R1| |R2|
------ ------ ------
Here are the output by using a sample image ( guess what? Another hand ). You can play with the
bin values and you will observe how it affects the results:
![R0](images/Back_Projection1_Source_Image.jpg)
![R1](images/Back_Projection1_Histogram.jpg)
![R2](images/Back_Projection1_BackProj.jpg)

28
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@ -21,7 +21,7 @@ histogram called *Image histogram*. Now we will considerate it in its more gener
- Let's see an example. Imagine that a Matrix contains information of an image (i.e. intensity in
the range \f$0-255\f$):
![image](images/Histogram_Calculation_Theory_Hist0.jpg)
![](images/Histogram_Calculation_Theory_Hist0.jpg)
- What happens if we want to *count* this data in an organized way? Since we know that the *range*
of information value for this case is 256 values, we can segment our range in subparts (called
@ -36,7 +36,7 @@ histogram called *Image histogram*. Now we will considerate it in its more gener
this to the example above we get the image below ( axis x represents the bins and axis y the
number of pixels in each of them).
![image](images/Histogram_Calculation_Theory_Hist1.jpg)
![](images/Histogram_Calculation_Theory_Hist1.jpg)
- This was just a simple example of how an histogram works and why it is useful. An histogram can
keep count not only of color intensities, but of whatever image features that we want to measure
@ -73,18 +73,18 @@ Code
Explanation
-----------
1. Create the necessary matrices:
-# Create the necessary matrices:
@code{.cpp}
Mat src, dst;
@endcode
2. Load the source image
-# Load the source image
@code{.cpp}
src = imread( argv[1], 1 );
if( !src.data )
{ return -1; }
@endcode
3. Separate the source image in its three R,G and B planes. For this we use the OpenCV function
-# Separate the source image in its three R,G and B planes. For this we use the OpenCV function
@ref cv::split :
@code{.cpp}
vector<Mat> bgr_planes;
@ -93,7 +93,7 @@ Explanation
our input is the image to be divided (this case with three channels) and the output is a vector
of Mat )
4. Now we are ready to start configuring the **histograms** for each plane. Since we are working
-# Now we are ready to start configuring the **histograms** for each plane. Since we are working
with the B, G and R planes, we know that our values will range in the interval \f$[0,255]\f$
-# Establish number of bins (5, 10...):
@code{.cpp}
@ -137,7 +137,7 @@ Explanation
- **uniform** and **accumulate**: The bin sizes are the same and the histogram is cleared
at the beginning.
5. Create an image to display the histograms:
-# Create an image to display the histograms:
@code{.cpp}
// Draw the histograms for R, G and B
int hist_w = 512; int hist_h = 400;
@ -145,7 +145,7 @@ Explanation
Mat histImage( hist_h, hist_w, CV_8UC3, Scalar( 0,0,0) );
@endcode
6. Notice that before drawing, we first @ref cv::normalize the histogram so its values fall in the
-# Notice that before drawing, we first @ref cv::normalize the histogram so its values fall in the
range indicated by the parameters entered:
@code{.cpp}
/// Normalize the result to [ 0, histImage.rows ]
@ -164,7 +164,7 @@ Explanation
- **-1:** Implies that the output normalized array will be the same type as the input
- **Mat():** Optional mask
7. Finally, observe that to access the bin (in this case in this 1D-Histogram):
-# Finally, observe that to access the bin (in this case in this 1D-Histogram):
@code{.cpp}
/// Draw for each channel
for( int i = 1; i < histSize; i++ )
@ -189,7 +189,7 @@ Explanation
b_hist.at<float>( i, j )
@endcode
8. Finally we display our histograms and wait for the user to exit:
-# Finally we display our histograms and wait for the user to exit:
@code{.cpp}
namedWindow("calcHist Demo", WINDOW_AUTOSIZE );
imshow("calcHist Demo", histImage );
@ -202,10 +202,10 @@ Explanation
Result
------
1. Using as input argument an image like the shown below:
-# Using as input argument an image like the shown below:
![image](images/Histogram_Calculation_Original_Image.jpg)
![](images/Histogram_Calculation_Original_Image.jpg)
2. Produces the following histogram:
-# Produces the following histogram:
![image](images/Histogram_Calculation_Result.jpg)
![](images/Histogram_Calculation_Result.jpg)

61
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@ -18,25 +18,18 @@ Theory
- OpenCV implements the function @ref cv::compareHist to perform a comparison. It also offers 4
different metrics to compute the matching:
-# **Correlation ( CV_COMP_CORREL )**
\f[d(H_1,H_2) = \frac{\sum_I (H_1(I) - \bar{H_1}) (H_2(I) - \bar{H_2})}{\sqrt{\sum_I(H_1(I) - \bar{H_1})^2 \sum_I(H_2(I) - \bar{H_2})^2}}\f]
where
\f[\bar{H_k} = \frac{1}{N} \sum _J H_k(J)\f]
and \f$N\f$ is the total number of histogram bins.
-# **Chi-Square ( CV_COMP_CHISQR )**
\f[d(H_1,H_2) = \sum _I \frac{\left(H_1(I)-H_2(I)\right)^2}{H_1(I)}\f]
-# **Intersection ( method=CV_COMP_INTERSECT )**
\f[d(H_1,H_2) = \sum _I \min (H_1(I), H_2(I))\f]
-# **Bhattacharyya distance ( CV_COMP_BHATTACHARYYA )**
\f[d(H_1,H_2) = \sqrt{1 - \frac{1}{\sqrt{\bar{H_1} \bar{H_2} N^2}} \sum_I \sqrt{H_1(I) \cdot H_2(I)}}\f]
Code
@ -59,7 +52,7 @@ Code
Explanation
-----------
1. Declare variables such as the matrices to store the base image and the two other images to
-# Declare variables such as the matrices to store the base image and the two other images to
compare ( RGB and HSV )
@code{.cpp}
Mat src_base, hsv_base;
@ -67,7 +60,7 @@ Explanation
Mat src_test2, hsv_test2;
Mat hsv_half_down;
@endcode
2. Load the base image (src_base) and the other two test images:
-# Load the base image (src_base) and the other two test images:
@code{.cpp}
if( argc < 4 )
{ printf("** Error. Usage: ./compareHist_Demo <image_settings0> <image_setting1> <image_settings2>\n");
@ -78,17 +71,17 @@ Explanation
src_test1 = imread( argv[2], 1 );
src_test2 = imread( argv[3], 1 );
@endcode
3. Convert them to HSV format:
-# Convert them to HSV format:
@code{.cpp}
cvtColor( src_base, hsv_base, COLOR_BGR2HSV );
cvtColor( src_test1, hsv_test1, COLOR_BGR2HSV );
cvtColor( src_test2, hsv_test2, COLOR_BGR2HSV );
@endcode
4. Also, create an image of half the base image (in HSV format):
-# Also, create an image of half the base image (in HSV format):
@code{.cpp}
hsv_half_down = hsv_base( Range( hsv_base.rows/2, hsv_base.rows - 1 ), Range( 0, hsv_base.cols - 1 ) );
@endcode
5. Initialize the arguments to calculate the histograms (bins, ranges and channels H and S ).
-# Initialize the arguments to calculate the histograms (bins, ranges and channels H and S ).
@code{.cpp}
int h_bins = 50; int s_bins = 60;
int histSize[] = { h_bins, s_bins };
@ -100,14 +93,14 @@ Explanation
int channels[] = { 0, 1 };
@endcode
6. Create the MatND objects to store the histograms:
-# Create the MatND objects to store the histograms:
@code{.cpp}
MatND hist_base;
MatND hist_half_down;
MatND hist_test1;
MatND hist_test2;
@endcode
7. Calculate the Histograms for the base image, the 2 test images and the half-down base image:
-# Calculate the Histograms for the base image, the 2 test images and the half-down base image:
@code{.cpp}
calcHist( &hsv_base, 1, channels, Mat(), hist_base, 2, histSize, ranges, true, false );
normalize( hist_base, hist_base, 0, 1, NORM_MINMAX, -1, Mat() );
@ -121,7 +114,7 @@ Explanation
calcHist( &hsv_test2, 1, channels, Mat(), hist_test2, 2, histSize, ranges, true, false );
normalize( hist_test2, hist_test2, 0, 1, NORM_MINMAX, -1, Mat() );
@endcode
8. Apply sequentially the 4 comparison methods between the histogram of the base image (hist_base)
-# Apply sequentially the 4 comparison methods between the histogram of the base image (hist_base)
and the other histograms:
@code{.cpp}
for( int i = 0; i < 4; i++ )
@ -134,34 +127,32 @@ Explanation
printf( " Method [%d] Perfect, Base-Half, Base-Test(1), Base-Test(2) : %f, %f, %f, %f \n", i, base_base, base_half , base_test1, base_test2 );
}
@endcode
Results
-------
1. We use as input the following images:
----------- ----------- -----------
|Base_0| |Test_1| |Test_2|
----------- ----------- -----------
-# We use as input the following images:
![Base_0](images/Histogram_Comparison_Source_0.jpg)
![Test_1](images/Histogram_Comparison_Source_1.jpg)
![Test_2](images/Histogram_Comparison_Source_2.jpg)
where the first one is the base (to be compared to the others), the other 2 are the test images.
We will also compare the first image with respect to itself and with respect of half the base
image.
2. We should expect a perfect match when we compare the base image histogram with itself. Also,
-# We should expect a perfect match when we compare the base image histogram with itself. Also,
compared with the histogram of half the base image, it should present a high match since both
are from the same source. For the other two test images, we can observe that they have very
different lighting conditions, so the matching should not be very good:
3. Here the numeric results:
*Method* Base - Base Base - Half Base - Test 1 Base - Test 2
----------------- ------------- ------------- --------------- ---------------
*Correlation* 1.000000 0.930766 0.182073 0.120447
*Chi-square* 0.000000 4.940466 21.184536 49.273437
*Intersection* 24.391548 14.959809 3.889029 5.775088
*Bhattacharyya* 0.000000 0.222609 0.646576 0.801869
For the *Correlation* and *Intersection* methods, the higher the metric, the more accurate the
match. As we can see, the match *base-base* is the highest of all as expected. Also we can observe
that the match *base-half* is the second best match (as we predicted). For the other two metrics,
the less the result, the better the match. We can observe that the matches between the test 1 and
test 2 with respect to the base are worse, which again, was expected.
-# Here the numeric results:
*Method* | Base - Base | Base - Half | Base - Test 1 | Base - Test 2
----------------- | ------------ | ------------ | -------------- | ---------------
*Correlation* | 1.000000 | 0.930766 | 0.182073 | 0.120447
*Chi-square* | 0.000000 | 4.940466 | 21.184536 | 49.273437
*Intersection* | 24.391548 | 14.959809 | 3.889029 | 5.775088
*Bhattacharyya* | 0.000000 | 0.222609 | 0.646576 | 0.801869
For the *Correlation* and *Intersection* methods, the higher the metric, the more accurate the
match. As we can see, the match *base-base* is the highest of all as expected. Also we can observe
that the match *base-half* is the second best match (as we predicted). For the other two metrics,
the less the result, the better the match. We can observe that the matches between the test 1 and
test 2 with respect to the base are worse, which again, was expected.

30
doc/tutorials/imgproc/histograms/histogram_equalization/histogram_equalization.markdown
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@ -17,7 +17,7 @@ Theory
- It is a graphical representation of the intensity distribution of an image.
- It quantifies the number of pixels for each intensity value considered.
![image](images/Histogram_Equalization_Theory_0.jpg)
![](images/Histogram_Equalization_Theory_0.jpg)
### What is Histogram Equalization?
@ -29,7 +29,7 @@ Theory
*underpopulated* intensities. After applying the equalization, we get an histogram like the
figure in the center. The resulting image is shown in the picture at right.
![image](images/Histogram_Equalization_Theory_1.jpg)
![](images/Histogram_Equalization_Theory_1.jpg)
### How does it work?
@ -46,7 +46,7 @@ Theory
is 255 ( or the maximum value for the intensity of the image ). From the example above, the
cumulative function is:
![image](images/Histogram_Equalization_Theory_2.jpg)
![](images/Histogram_Equalization_Theory_2.jpg)
- Finally, we use a simple remapping procedure to obtain the intensity values of the equalized
image:
@ -69,14 +69,14 @@ Code
Explanation
-----------
1. Declare the source and destination images as well as the windows names:
-# Declare the source and destination images as well as the windows names:
@code{.cpp}
Mat src, dst;
char* source_window = "Source image";
char* equalized_window = "Equalized Image";
@endcode
2. Load the source image:
-# Load the source image:
@code{.cpp}
src = imread( argv[1], 1 );
@ -84,18 +84,18 @@ Explanation
{ cout<<"Usage: ./Histogram_Demo <path_to_image>"<<endl;
return -1;}
@endcode
3. Convert it to grayscale:
-# Convert it to grayscale:
@code{.cpp}
cvtColor( src, src, COLOR_BGR2GRAY );
@endcode
4. Apply histogram equalization with the function @ref cv::equalizeHist :
-# Apply histogram equalization with the function @ref cv::equalizeHist :
@code{.cpp}
equalizeHist( src, dst );
@endcode
As it can be easily seen, the only arguments are the original image and the output (equalized)
image.
5. Display both images (original and equalized) :
-# Display both images (original and equalized) :
@code{.cpp}
namedWindow( source_window, WINDOW_AUTOSIZE );
namedWindow( equalized_window, WINDOW_AUTOSIZE );
@ -103,7 +103,7 @@ Explanation
imshow( source_window, src );
imshow( equalized_window, dst );
@endcode
6. Wait until user exists the program
-# Wait until user exists the program
@code{.cpp}
waitKey(0);
return 0;
@ -112,24 +112,24 @@ Explanation
Results
-------
1. To appreciate better the results of equalization, let's introduce an image with not much
-# To appreciate better the results of equalization, let's introduce an image with not much
contrast, such as:
![image](images/Histogram_Equalization_Original_Image.jpg)
![](images/Histogram_Equalization_Original_Image.jpg)
which, by the way, has this histogram:
![image](images/Histogram_Equalization_Original_Histogram.jpg)
![](images/Histogram_Equalization_Original_Histogram.jpg)
notice that the pixels are clustered around the center of the histogram.
2. After applying the equalization with our program, we get this result:
-# After applying the equalization with our program, we get this result:
![image](images/Histogram_Equalization_Equalized_Image.jpg)
![](images/Histogram_Equalization_Equalized_Image.jpg)
this image has certainly more contrast. Check out its new histogram like this:
![image](images/Histogram_Equalization_Equalized_Histogram.jpg)
![](images/Histogram_Equalization_Equalized_Histogram.jpg)
Notice how the number of pixels is more distributed through the intensity range.

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@ -28,12 +28,12 @@ template image (patch).
our goal is to detect the highest matching area:
![image](images/Template_Matching_Template_Theory_Summary.jpg)
![](images/Template_Matching_Template_Theory_Summary.jpg)
- To identify the matching area, we have to *compare* the template image against the source image
by sliding it:
![image](images/Template_Matching_Template_Theory_Sliding.jpg)
![](images/Template_Matching_Template_Theory_Sliding.jpg)
- By **sliding**, we mean moving the patch one pixel at a time (left to right, up to down). At
each location, a metric is calculated so it represents how "good" or "bad" the match at that
@ -41,7 +41,7 @@ template image (patch).
- For each location of **T** over **I**, you *store* the metric in the *result matrix* **(R)**.
Each location \f$(x,y)\f$ in **R** contains the match metric:
![image](images/Template_Matching_Template_Theory_Result.jpg)
![](images/Template_Matching_Template_Theory_Result.jpg)
the image above is the result **R** of sliding the patch with a metric **TM_CCORR_NORMED**.
The brightest locations indicate the highest matches. As you can see, the location marked by the
@ -56,23 +56,23 @@ template image (patch).
Good question. OpenCV implements Template matching in the function @ref cv::matchTemplate . The
available methods are 6:
a. **method=CV_TM_SQDIFF**
-# **method=CV_TM_SQDIFF**
\f[R(x,y)= \sum _{x',y'} (T(x',y')-I(x+x',y+y'))^2\f]
b. **method=CV_TM_SQDIFF_NORMED**
-# **method=CV_TM_SQDIFF_NORMED**
\f[R(x,y)= \frac{\sum_{x',y'} (T(x',y')-I(x+x',y+y'))^2}{\sqrt{\sum_{x',y'}T(x',y')^2 \cdot \sum_{x',y'} I(x+x',y+y')^2}}\f]
c. **method=CV_TM_CCORR**
-# **method=CV_TM_CCORR**
\f[R(x,y)= \sum _{x',y'} (T(x',y') \cdot I(x+x',y+y'))\f]
d. **method=CV_TM_CCORR_NORMED**
-# **method=CV_TM_CCORR_NORMED**
\f[R(x,y)= \frac{\sum_{x',y'} (T(x',y') \cdot I(x+x',y+y'))}{\sqrt{\sum_{x',y'}T(x',y')^2 \cdot \sum_{x',y'} I(x+x',y+y')^2}}\f]
e. **method=CV_TM_CCOEFF**
-# **method=CV_TM_CCOEFF**
\f[R(x,y)= \sum _{x',y'} (T'(x',y') \cdot I(x+x',y+y'))\f]
@ -80,7 +80,7 @@ e. **method=CV_TM_CCOEFF**
\f[\begin{array}{l} T'(x',y')=T(x',y') - 1/(w \cdot h) \cdot \sum _{x'',y''} T(x'',y'') \\ I'(x+x',y+y')=I(x+x',y+y') - 1/(w \cdot h) \cdot \sum _{x'',y''} I(x+x'',y+y'') \end{array}\f]
f. **method=CV_TM_CCOEFF_NORMED**
-# **method=CV_TM_CCOEFF_NORMED**
\f[R(x,y)= \frac{ \sum_{x',y'} (T'(x',y') \cdot I'(x+x',y+y')) }{ \sqrt{\sum_{x',y'}T'(x',y')^2 \cdot \sum_{x',y'} I'(x+x',y+y')^2} }\f]
@ -98,93 +98,12 @@ Code
- **Downloadable code**: Click
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/Histograms_Matching/MatchTemplate_Demo.cpp)
- **Code at glance:**
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
@includelineno samples/cpp/tutorial_code/Histograms_Matching/MatchTemplate_Demo.cpp
using namespace std;
using namespace cv;
/// Global Variables
Mat img; Mat templ; Mat result;
char* image_window = "Source Image";
char* result_window = "Result window";
int match_method;
int max_Trackbar = 5;
/// Function Headers
void MatchingMethod( int, void* );
/* @function main */
int main( int argc, char** argv )
{
/// Load image and template
img = imread( argv[1], 1 );
templ = imread( argv[2], 1 );
/// Create windows
namedWindow( image_window, WINDOW_AUTOSIZE );
namedWindow( result_window, WINDOW_AUTOSIZE );
/// Create Trackbar
char* trackbar_label = "Method: \n 0: SQDIFF \n 1: SQDIFF NORMED \n 2: TM CCORR \n 3: TM CCORR NORMED \n 4: TM COEFF \n 5: TM COEFF NORMED";
createTrackbar( trackbar_label, image_window, &match_method, max_Trackbar, MatchingMethod );
MatchingMethod( 0, 0 );
waitKey(0);
return 0;
}
/*
* @function MatchingMethod
* @brief Trackbar callback
*/
void MatchingMethod( int, void* )
{
/// Source image to display
Mat img_display;
img.copyTo( img_display );
/// Create the result matrix
int result_cols = img.cols - templ.cols + 1;
int result_rows = img.rows - templ.rows + 1;
result.create( result_cols, result_rows, CV_32FC1 );
/// Do the Matching and Normalize
matchTemplate( img, templ, result, match_method );
normalize( result, result, 0, 1, NORM_MINMAX, -1, Mat() );
/// Localizing the best match with minMaxLoc
double minVal; double maxVal; Point minLoc; Point maxLoc;
Point matchLoc;
minMaxLoc( result, &minVal, &maxVal, &minLoc, &maxLoc, Mat() );
/// For SQDIFF and SQDIFF_NORMED, the best matches are lower values. For all the other methods, the higher the better
if( match_method == CV_TM_SQDIFF || match_method == CV_TM_SQDIFF_NORMED )
{ matchLoc = minLoc; }
else
{ matchLoc = maxLoc; }
/// Show me what you got
rectangle( img_display, matchLoc, Point( matchLoc.x + templ.cols , matchLoc.y + templ.rows ), Scalar::all(0), 2, 8, 0 );
rectangle( result, matchLoc, Point( matchLoc.x + templ.cols , matchLoc.y + templ.rows ), Scalar::all(0), 2, 8, 0 );
imshow( image_window, img_display );
imshow( result_window, result );
return;
}
@endcode
Explanation
-----------
1. Declare some global variables, such as the image, template and result matrices, as well as the
-# Declare some global variables, such as the image, template and result matrices, as well as the
match method and the window names:
@code{.cpp}
Mat img; Mat templ; Mat result;
@ -194,33 +113,33 @@ Explanation
int match_method;
int max_Trackbar = 5;
@endcode
2. Load the source image and template:
-# Load the source image and template:
@code{.cpp}
img = imread( argv[1], 1 );
templ = imread( argv[2], 1 );
@endcode
3. Create the windows to show the results:
-# Create the windows to show the results:
@code{.cpp}
namedWindow( image_window, WINDOW_AUTOSIZE );
namedWindow( result_window, WINDOW_AUTOSIZE );
@endcode
4. Create the Trackbar to enter the kind of matching method to be used. When a change is detected
-# Create the Trackbar to enter the kind of matching method to be used. When a change is detected
the callback function **MatchingMethod** is called.
@code{.cpp}
char* trackbar_label = "Method: \n 0: SQDIFF \n 1: SQDIFF NORMED \n 2: TM CCORR \n 3: TM CCORR NORMED \n 4: TM COEFF \n 5: TM COEFF NORMED";
createTrackbar( trackbar_label, image_window, &match_method, max_Trackbar, MatchingMethod );
@endcode
5. Wait until user exits the program.
-# Wait until user exits the program.
@code{.cpp}
waitKey(0);
return 0;
@endcode
6. Let's check out the callback function. First, it makes a copy of the source image:
-# Let's check out the callback function. First, it makes a copy of the source image:
@code{.cpp}
Mat img_display;
img.copyTo( img_display );
@endcode
7. Next, it creates the result matrix that will store the matching results for each template
-# Next, it creates the result matrix that will store the matching results for each template
location. Observe in detail the size of the result matrix (which matches all possible locations
for it)
@code{.cpp}
@ -229,18 +148,18 @@ Explanation
result.create( result_cols, result_rows, CV_32FC1 );
@endcode
8. Perform the template matching operation:
-# Perform the template matching operation:
@code{.cpp}
matchTemplate( img, templ, result, match_method );
@endcode
the arguments are naturally the input image **I**, the template **T**, the result **R** and the
match_method (given by the Trackbar)
9. We normalize the results:
-# We normalize the results:
@code{.cpp}
normalize( result, result, 0, 1, NORM_MINMAX, -1, Mat() );
@endcode
10. We localize the minimum and maximum values in the result matrix **R** by using @ref
-# We localize the minimum and maximum values in the result matrix **R** by using @ref
cv::minMaxLoc .
@code{.cpp}
double minVal; double maxVal; Point minLoc; Point maxLoc;
@ -256,7 +175,7 @@ Explanation
array.
- **Mat():** Optional mask
11. For the first two methods ( TM_SQDIFF and MT_SQDIFF_NORMED ) the best match are the lowest
-# For the first two methods ( TM_SQDIFF and MT_SQDIFF_NORMED ) the best match are the lowest
values. For all the others, higher values represent better matches. So, we save the
corresponding value in the **matchLoc** variable:
@code{.cpp}
@ -265,7 +184,7 @@ Explanation
else
{ matchLoc = maxLoc; }
@endcode
12. Display the source image and the result matrix. Draw a rectangle around the highest possible
-# Display the source image and the result matrix. Draw a rectangle around the highest possible
matching area:
@code{.cpp}
rectangle( img_display, matchLoc, Point( matchLoc.x + templ.cols , matchLoc.y + templ.rows ), Scalar::all(0), 2, 8, 0 );
@ -274,29 +193,32 @@ Explanation
imshow( image_window, img_display );
imshow( result_window, result );
@endcode
Results
-------
1. Testing our program with an input image such as:
-# Testing our program with an input image such as:
![image](images/Template_Matching_Original_Image.jpg)
![](images/Template_Matching_Original_Image.jpg)
and a template image:
![image](images/Template_Matching_Template_Image.jpg)
![](images/Template_Matching_Template_Image.jpg)
2. Generate the following result matrices (first row are the standard methods SQDIFF, CCORR and
-# Generate the following result matrices (first row are the standard methods SQDIFF, CCORR and
CCOEFF, second row are the same methods in its normalized version). In the first column, the
darkest is the better match, for the other two columns, the brighter a location, the higher the
match.
![Result_0](images/Template_Matching_Correl_Result_0.jpg)
![Result_1](images/Template_Matching_Correl_Result_1.jpg)
![Result_2](images/Template_Matching_Correl_Result_2.jpg)
![Result_3](images/Template_Matching_Correl_Result_3.jpg)
![Result_4](images/Template_Matching_Correl_Result_4.jpg)
![Result_5](images/Template_Matching_Correl_Result_5.jpg)
|Result_0| |Result_2| |Result_4|
------------- ------------- -------------
|Result_1| |Result_3| |Result_5|
3. The right match is shown below (black rectangle around the face of the guy at the right). Notice
-# The right match is shown below (black rectangle around the face of the guy at the right). Notice
that CCORR and CCDEFF gave erroneous best matches, however their normalized version did it
right, this may be due to the fact that we are only considering the "highest match" and not the
other possible high matches.
![image](images/Template_Matching_Image_Result.jpg)
![](images/Template_Matching_Image_Result.jpg)

63
doc/tutorials/imgproc/imgtrans/canny_detector/canny_detector.markdown
View File

@ -20,7 +20,7 @@ The *Canny Edge detector* was developed by John F. Canny in 1986. Also known to
### Steps
1. Filter out any noise. The Gaussian filter is used for this purpose. An example of a Gaussian
-# Filter out any noise. The Gaussian filter is used for this purpose. An example of a Gaussian
kernel of \f$size = 5\f$ that might be used is shown below:
\f[K = \dfrac{1}{159}\begin{bmatrix}
@ -31,8 +31,8 @@ The *Canny Edge detector* was developed by John F. Canny in 1986. Also known to
2 & 4 & 5 & 4 & 2
\end{bmatrix}\f]
2. Find the intensity gradient of the image. For this, we follow a procedure analogous to Sobel:
1. Apply a pair of convolution masks (in \f$x\f$ and \f$y\f$ directions:
-# Find the intensity gradient of the image. For this, we follow a procedure analogous to Sobel:
-# Apply a pair of convolution masks (in \f$x\f$ and \f$y\f$ directions:
\f[G_{x} = \begin{bmatrix}
-1 & 0 & +1 \\
-2 & 0 & +2 \\
@ -43,44 +43,44 @@ The *Canny Edge detector* was developed by John F. Canny in 1986. Also known to
+1 & +2 & +1
\end{bmatrix}\f]
2. Find the gradient strength and direction with:
-# Find the gradient strength and direction with:
\f[\begin{array}{l}
G = \sqrt{ G_{x}^{2} + G_{y}^{2} } \\
\theta = \arctan(\dfrac{ G_{y} }{ G_{x} })
\end{array}\f]
The direction is rounded to one of four possible angles (namely 0, 45, 90 or 135)
3. *Non-maximum* suppression is applied. This removes pixels that are not considered to be part of
-# *Non-maximum* suppression is applied. This removes pixels that are not considered to be part of
an edge. Hence, only thin lines (candidate edges) will remain.
4. *Hysteresis*: The final step. Canny does use two thresholds (upper and lower):
-# *Hysteresis*: The final step. Canny does use two thresholds (upper and lower):
1. If a pixel gradient is higher than the *upper* threshold, the pixel is accepted as an edge
2. If a pixel gradient value is below the *lower* threshold, then it is rejected.
3. If the pixel gradient is between the two thresholds, then it will be accepted only if it is
-# If a pixel gradient is higher than the *upper* threshold, the pixel is accepted as an edge
-# If a pixel gradient value is below the *lower* threshold, then it is rejected.
-# If the pixel gradient is between the two thresholds, then it will be accepted only if it is
connected to a pixel that is above the *upper* threshold.
Canny recommended a *upper*:*lower* ratio between 2:1 and 3:1.
5. For more details, you can always consult your favorite Computer Vision book.
-# For more details, you can always consult your favorite Computer Vision book.
Code
----
1. **What does this program do?**
-# **What does this program do?**
- Asks the user to enter a numerical value to set the lower threshold for our *Canny Edge
Detector* (by means of a Trackbar)
- Applies the *Canny Detector* and generates a **mask** (bright lines representing the edges
on a black background).
- Applies the mask obtained on the original image and display it in a window.
2. The tutorial code's is shown lines below. You can also download it from
-# The tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgTrans/CannyDetector_Demo.cpp)
@includelineno samples/cpp/tutorial_code/ImgTrans/CannyDetector_Demo.cpp
Explanation
-----------
1. Create some needed variables:
-# Create some needed variables:
@code{.cpp}
Mat src, src_gray;
Mat dst, detected_edges;
@ -94,12 +94,12 @@ Explanation
@endcode
Note the following:
1. We establish a ratio of lower:upper threshold of 3:1 (with the variable *ratio*)
2. We set the kernel size of \f$3\f$ (for the Sobel operations to be performed internally by the
-# We establish a ratio of lower:upper threshold of 3:1 (with the variable *ratio*)
-# We set the kernel size of \f$3\f$ (for the Sobel operations to be performed internally by the
Canny function)
3. We set a maximum value for the lower Threshold of \f$100\f$.
-# We set a maximum value for the lower Threshold of \f$100\f$.
2. Loads the source image:
-# Loads the source image:
@code{.cpp}
/// Load an image
src = imread( argv[1] );
@ -107,35 +107,35 @@ Explanation
if( !src.data )
{ return -1; }
@endcode
3. Create a matrix of the same type and size of *src* (to be *dst*)
-# Create a matrix of the same type and size of *src* (to be *dst*)
@code{.cpp}
dst.create( src.size(), src.type() );
@endcode
4. Convert the image to grayscale (using the function @ref cv::cvtColor :
-# Convert the image to grayscale (using the function @ref cv::cvtColor :
@code{.cpp}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
@endcode
5. Create a window to display the results
-# Create a window to display the results
@code{.cpp}
namedWindow( window_name, WINDOW_AUTOSIZE );
@endcode
6. Create a Trackbar for the user to enter the lower threshold for our Canny detector:
-# Create a Trackbar for the user to enter the lower threshold for our Canny detector:
@code{.cpp}
createTrackbar( "Min Threshold:", window_name, &lowThreshold, max_lowThreshold, CannyThreshold );
@endcode
Observe the following:
1. The variable to be controlled by the Trackbar is *lowThreshold* with a limit of
-# The variable to be controlled by the Trackbar is *lowThreshold* with a limit of
*max_lowThreshold* (which we set to 100 previously)
2. Each time the Trackbar registers an action, the callback function *CannyThreshold* will be
-# Each time the Trackbar registers an action, the callback function *CannyThreshold* will be
invoked.
7. Let's check the *CannyThreshold* function, step by step:
1. First, we blur the image with a filter of kernel size 3:
-# Let's check the *CannyThreshold* function, step by step:
-# First, we blur the image with a filter of kernel size 3:
@code{.cpp}
blur( src_gray, detected_edges, Size(3,3) );
@endcode
2. Second, we apply the OpenCV function @ref cv::Canny :
-# Second, we apply the OpenCV function @ref cv::Canny :
@code{.cpp}
Canny( detected_edges, detected_edges, lowThreshold, lowThreshold*ratio, kernel_size );
@endcode
@ -149,11 +149,11 @@ Explanation
- *kernel_size*: We defined it to be 3 (the size of the Sobel kernel to be used
internally)
8. We fill a *dst* image with zeros (meaning the image is completely black).
-# We fill a *dst* image with zeros (meaning the image is completely black).
@code{.cpp}
dst = Scalar::all(0);
@endcode
9. Finally, we will use the function @ref cv::Mat::copyTo to map only the areas of the image that are
-# Finally, we will use the function @ref cv::Mat::copyTo to map only the areas of the image that are
identified as edges (on a black background).
@code{.cpp}
src.copyTo( dst, detected_edges);
@ -163,20 +163,21 @@ Explanation
contours on a black background, the resulting *dst* will be black in all the area but the
detected edges.
10. We display our result:
-# We display our result:
@code{.cpp}
imshow( window_name, dst );
@endcode
Result
------
- After compiling the code above, we can run it giving as argument the path to an image. For
example, using as an input the following image:
![image](images/Canny_Detector_Tutorial_Original_Image.jpg)
![](images/Canny_Detector_Tutorial_Original_Image.jpg)
- Moving the slider, trying different threshold, we obtain the following result:
![image](images/Canny_Detector_Tutorial_Result.jpg)
![](images/Canny_Detector_Tutorial_Result.jpg)
- Notice how the image is superposed to the black background on the edge regions.

102
doc/tutorials/imgproc/imgtrans/copyMakeBorder/copyMakeBorder.markdown
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@ -14,14 +14,14 @@ Theory
@note The explanation below belongs to the book **Learning OpenCV** by Bradski and Kaehler.
1. In our previous tutorial we learned to use convolution to operate on images. One problem that
-# In our previous tutorial we learned to use convolution to operate on images. One problem that
naturally arises is how to handle the boundaries. How can we convolve them if the evaluated
points are at the edge of the image?
2. What most of OpenCV functions do is to copy a given image onto another slightly larger image and
-# What most of OpenCV functions do is to copy a given image onto another slightly larger image and
then automatically pads the boundary (by any of the methods explained in the sample code just
below). This way, the convolution can be performed over the needed pixels without problems (the
extra padding is cut after the operation is done).
3. In this tutorial, we will briefly explore two ways of defining the extra padding (border) for an
-# In this tutorial, we will briefly explore two ways of defining the extra padding (border) for an
image:
-# **BORDER_CONSTANT**: Pad the image with a constant value (i.e. black or \f$0\f$
@ -33,91 +33,26 @@ Theory
Code
----
1. **What does this program do?**
-# **What does this program do?**
- Load an image
- Let the user choose what kind of padding use in the input image. There are two options:
1. *Constant value border*: Applies a padding of a constant value for the whole border.
-# *Constant value border*: Applies a padding of a constant value for the whole border.
This value will be updated randomly each 0.5 seconds.
2. *Replicated border*: The border will be replicated from the pixel values at the edges of
-# *Replicated border*: The border will be replicated from the pixel values at the edges of
the original image.
The user chooses either option by pressing 'c' (constant) or 'r' (replicate)
- The program finishes when the user presses 'ESC'
2. The tutorial code's is shown lines below. You can also download it from
-# The tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgTrans/copyMakeBorder_demo.cpp)
@code{.cpp}
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
@includelineno samples/cpp/tutorial_code/ImgTrans/copyMakeBorder_demo.cpp
using namespace cv;
/// Global Variables
Mat src, dst;
int top, bottom, left, right;
int borderType;
Scalar value;
char* window_name = "copyMakeBorder Demo";
RNG rng(12345);
/* @function main */
int main( int argc, char** argv )
{
int c;
/// Load an image
src = imread( argv[1] );
if( !src.data )
{ return -1;
printf(" No data entered, please enter the path to an image file \n");
}
/// Brief how-to for this program
printf( "\n \t copyMakeBorder Demo: \n" );
printf( "\t -------------------- \n" );
printf( " ** Press 'c' to set the border to a random constant value \n");
printf( " ** Press 'r' to set the border to be replicated \n");
printf( " ** Press 'ESC' to exit the program \n");
/// Create window
namedWindow( window_name, WINDOW_AUTOSIZE );
/// Initialize arguments for the filter
top = (int) (0.05*src.rows); bottom = (int) (0.05*src.rows);
left = (int) (0.05*src.cols); right = (int) (0.05*src.cols);
dst = src;
imshow( window_name, dst );
while( true )
{
c = waitKey(500);
if( (char)c == 27 )
{ break; }
else if( (char)c == 'c' )
{ borderType = BORDER_CONSTANT; }
else if( (char)c == 'r' )
{ borderType = BORDER_REPLICATE; }
value = Scalar( rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255) );
copyMakeBorder( src, dst, top, bottom, left, right, borderType, value );
imshow( window_name, dst );
}
return 0;
}
@endcode
Explanation
-----------
1. First we declare the variables we are going to use:
-# First we declare the variables we are going to use:
@code{.cpp}
Mat src, dst;
int top, bottom, left, right;
@ -129,7 +64,7 @@ Explanation
Especial attention deserves the variable *rng* which is a random number generator. We use it to
generate the random border color, as we will see soon.
2. As usual we load our source image *src*:
-# As usual we load our source image *src*:
@code{.cpp}
src = imread( argv[1] );
@ -138,17 +73,17 @@ Explanation
printf(" No data entered, please enter the path to an image file \n");
}
@endcode
3. After giving a short intro of how to use the program, we create a window:
-# After giving a short intro of how to use the program, we create a window:
@code{.cpp}
namedWindow( window_name, WINDOW_AUTOSIZE );
@endcode
4. Now we initialize the argument that defines the size of the borders (*top*, *bottom*, *left* and
-# Now we initialize the argument that defines the size of the borders (*top*, *bottom*, *left* and
*right*). We give them a value of 5% the size of *src*.
@code{.cpp}
top = (int) (0.05*src.rows); bottom = (int) (0.05*src.rows);
left = (int) (0.05*src.cols); right = (int) (0.05*src.cols);
@endcode
5. The program begins a *while* loop. If the user presses 'c' or 'r', the *borderType* variable
-# The program begins a *while* loop. If the user presses 'c' or 'r', the *borderType* variable
takes the value of *BORDER_CONSTANT* or *BORDER_REPLICATE* respectively:
@code{.cpp}
while( true )
@ -162,14 +97,14 @@ Explanation
else if( (char)c == 'r' )
{ borderType = BORDER_REPLICATE; }
@endcode
6. In each iteration (after 0.5 seconds), the variable *value* is updated...
-# In each iteration (after 0.5 seconds), the variable *value* is updated...
@code{.cpp}
value = Scalar( rng.uniform(0, 255), rng.uniform(0, 255), rng.uniform(0, 255) );
@endcode
with a random value generated by the **RNG** variable *rng*. This value is a number picked
randomly in the range \f$[0,255]\f$
7. Finally, we call the function @ref cv::copyMakeBorder to apply the respective padding:
-# Finally, we call the function @ref cv::copyMakeBorder to apply the respective padding:
@code{.cpp}
copyMakeBorder( src, dst, top, bottom, left, right, borderType, value );
@endcode
@ -184,14 +119,15 @@ Explanation
-# *value*: If *borderType* is *BORDER_CONSTANT*, this is the value used to fill the border
pixels.
8. We display our output image in the image created previously
-# We display our output image in the image created previously
@code{.cpp}
imshow( window_name, dst );
@endcode
Results
-------
1. After compiling the code above, you can execute it giving as argument the path of an image. The
-# After compiling the code above, you can execute it giving as argument the path of an image. The
result should be:
- By default, it begins with the border set to BORDER_CONSTANT. Hence, a succession of random
@ -203,4 +139,4 @@ Results
Below some screenshot showing how the border changes color and how the *BORDER_REPLICATE*
option looks:
![image](images/CopyMakeBorder_Tutorial_Results.jpg)
![](images/CopyMakeBorder_Tutorial_Results.jpg)

32
doc/tutorials/imgproc/imgtrans/filter_2d/filter_2d.markdown
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@ -23,18 +23,18 @@ In a very general sense, convolution is an operation between every part of an im
A kernel is essentially a fixed size array of numerical coefficeints along with an *anchor point* in
that array, which is tipically located at the center.
![image](images/filter_2d_tutorial_kernel_theory.png)
![](images/filter_2d_tutorial_kernel_theory.png)
### How does convolution with a kernel work?
Assume you want to know the resulting value of a particular location in the image. The value of the
convolution is calculated in the following way:
1. Place the kernel anchor on top of a determined pixel, with the rest of the kernel overlaying the
-# Place the kernel anchor on top of a determined pixel, with the rest of the kernel overlaying the
corresponding local pixels in the image.
2. Multiply the kernel coefficients by the corresponding image pixel values and sum the result.
3. Place the result to the location of the *anchor* in the input image.
4. Repeat the process for all pixels by scanning the kernel over the entire image.
-# Multiply the kernel coefficients by the corresponding image pixel values and sum the result.
-# Place the result to the location of the *anchor* in the input image.
-# Repeat the process for all pixels by scanning the kernel over the entire image.
Expressing the procedure above in the form of an equation we would have:
@ -46,7 +46,7 @@ these operations.
Code
----
1. **What does this program do?**
-# **What does this program do?**
- Loads an image
- Performs a *normalized box filter*. For instance, for a kernel of size \f$size = 3\f$, the
kernel would be:
@ -61,7 +61,7 @@ Code
- The filter output (with each kernel) will be shown during 500 milliseconds
2. The tutorial code's is shown lines below. You can also download it from
-# The tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgTrans/filter2D_demo.cpp)
@code{.cpp}
#include "opencv2/imgproc.hpp"
@ -125,26 +125,26 @@ int main ( int argc, char** argv )
Explanation
-----------
1. Load an image
-# Load an image
@code{.cpp}
src = imread( argv[1] );
if( !src.data )
{ return -1; }
@endcode
2. Create a window to display the result
-# Create a window to display the result
@code{.cpp}
namedWindow( window_name, WINDOW_AUTOSIZE );
@endcode
3. Initialize the arguments for the linear filter
-# Initialize the arguments for the linear filter
@code{.cpp}
anchor = Point( -1, -1 );
delta = 0;
ddepth = -1;
@endcode
4. Perform an infinite loop updating the kernel size and applying our linear filter to the input
-# Perform an infinite loop updating the kernel size and applying our linear filter to the input
image. Let's analyze that more in detail:
5. First we define the kernel our filter is going to use. Here it is:
-# First we define the kernel our filter is going to use. Here it is:
@code{.cpp}
kernel_size = 3 + 2*( ind%5 );
kernel = Mat::ones( kernel_size, kernel_size, CV_32F )/ (float)(kernel_size*kernel_size);
@ -153,7 +153,7 @@ Explanation
line actually builds the kernel by setting its value to a matrix filled with \f$1's\f$ and
normalizing it by dividing it between the number of elements.
6. After setting the kernel, we can generate the filter by using the function @ref cv::filter2D :
-# After setting the kernel, we can generate the filter by using the function @ref cv::filter2D :
@code{.cpp}
filter2D(src, dst, ddepth , kernel, anchor, delta, BORDER_DEFAULT );
@endcode
@ -169,14 +169,14 @@ Explanation
-# *delta*: A value to be added to each pixel during the convolution. By default it is \f$0\f$
-# *BORDER_DEFAULT*: We let this value by default (more details in the following tutorial)
7. Our program will effectuate a *while* loop, each 500 ms the kernel size of our filter will be
-# Our program will effectuate a *while* loop, each 500 ms the kernel size of our filter will be
updated in the range indicated.
Results
-------
1. After compiling the code above, you can execute it giving as argument the path of an image. The
-# After compiling the code above, you can execute it giving as argument the path of an image. The
result should be a window that shows an image blurred by a normalized filter. Each 0.5 seconds
the kernel size should change, as can be seen in the series of snapshots below:
![image](images/filter_2d_tutorial_result.jpg)
![](images/filter_2d_tutorial_result.jpg)

77
doc/tutorials/imgproc/imgtrans/hough_circle/hough_circle.markdown
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@ -23,7 +23,7 @@ Theory
where \f$(x_{center}, y_{center})\f$ define the center position (green point) and \f$r\f$ is the radius,
which allows us to completely define a circle, as it can be seen below:
![image](images/Hough_Circle_Tutorial_Theory_0.jpg)
![](images/Hough_Circle_Tutorial_Theory_0.jpg)
- For sake of efficiency, OpenCV implements a detection method slightly trickier than the standard
Hough Transform: *The Hough gradient method*, which is made up of two main stages. The first
@ -34,82 +34,35 @@ Theory
Code
----
1. **What does this program do?**
-# **What does this program do?**
- Loads an image and blur it to reduce the noise
- Applies the *Hough Circle Transform* to the blurred image .
- Display the detected circle in a window.
2. The sample code that we will explain can be downloaded from
|TutorialHoughCirclesSimpleDownload|_. A slightly fancier version (which shows trackbars for
changing the threshold values) can be found |TutorialHoughCirclesFancyDownload|_.
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
-# The sample code that we will explain can be downloaded from [here](https://github.com/Itseez/opencv/tree/master/samples/cpp/houghcircles.cpp).
A slightly fancier version (which shows trackbars for
changing the threshold values) can be found [here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgTrans/HoughCircle_Demo.cpp).
@includelineno samples/cpp/houghcircles.cpp
using namespace cv;
/* @function main */
int main(int argc, char** argv)
{
Mat src, src_gray;
/// Read the image
src = imread( argv[1], 1 );
if( !src.data )
{ return -1; }
/// Convert it to gray
cvtColor( src, src_gray, COLOR_BGR2GRAY );
/// Reduce the noise so we avoid false circle detection
GaussianBlur( src_gray, src_gray, Size(9, 9), 2, 2 );
vector<Vec3f> circles;
/// Apply the Hough Transform to find the circles
HoughCircles( src_gray, circles, HOUGH_GRADIENT, 1, src_gray.rows/8, 200, 100, 0, 0 );
/// Draw the circles detected
for( size_t i = 0; i < circles.size(); i++ )
{
Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));
int radius = cvRound(circles[i][2]);
// circle center
circle( src, center, 3, Scalar(0,255,0), -1, 8, 0 );
// circle outline
circle( src, center, radius, Scalar(0,0,255), 3, 8, 0 );
}
/// Show your results
namedWindow( "Hough Circle Transform Demo", WINDOW_AUTOSIZE );
imshow( "Hough Circle Transform Demo", src );
waitKey(0);
return 0;
}
@endcode
Explanation
-----------
1. Load an image
-# Load an image
@code{.cpp}
src = imread( argv[1], 1 );
if( !src.data )
{ return -1; }
@endcode
2. Convert it to grayscale:
-# Convert it to grayscale:
@code{.cpp}
cvtColor( src, src_gray, COLOR_BGR2GRAY );
@endcode
3. Apply a Gaussian blur to reduce noise and avoid false circle detection:
-# Apply a Gaussian blur to reduce noise and avoid false circle detection:
@code{.cpp}
GaussianBlur( src_gray, src_gray, Size(9, 9), 2, 2 );
@endcode
4. Proceed to apply Hough Circle Transform:
-# Proceed to apply Hough Circle Transform:
@code{.cpp}
vector<Vec3f> circles;
@ -129,7 +82,7 @@ Explanation
- *min_radius = 0*: Minimum radio to be detected. If unknown, put zero as default.
- *max_radius = 0*: Maximum radius to be detected. If unknown, put zero as default.
5. Draw the detected circles:
-# Draw the detected circles:
@code{.cpp}
for( size_t i = 0; i < circles.size(); i++ )
{
@ -143,19 +96,19 @@ Explanation
@endcode
You can see that we will draw the circle(s) on red and the center(s) with a small green dot
6. Display the detected circle(s):
-# Display the detected circle(s):
@code{.cpp}
namedWindow( "Hough Circle Transform Demo", WINDOW_AUTOSIZE );
imshow( "Hough Circle Transform Demo", src );
@endcode
7. Wait for the user to exit the program
-# Wait for the user to exit the program
@code{.cpp}
waitKey(0);
@endcode
Result
------
The result of running the code above with a test image is shown below:
![image](images/Hough_Circle_Tutorial_Result.jpg)
![](images/Hough_Circle_Tutorial_Result.jpg)

116
doc/tutorials/imgproc/imgtrans/hough_lines/hough_lines.markdown
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@ -12,18 +12,22 @@ In this tutorial you will learn how to:
Theory
------
@note The explanation below belongs to the book **Learning OpenCV** by Bradski and Kaehler. Hough
Line Transform ---------------------\#. The Hough Line Transform is a transform used to detect
straight lines. \#. To apply the Transform, first an edge detection pre-processing is desirable.
@note The explanation below belongs to the book **Learning OpenCV** by Bradski and Kaehler.
Hough Line Transform
--------------------
-# The Hough Line Transform is a transform used to detect straight lines.
-# To apply the Transform, first an edge detection pre-processing is desirable.
### How does it work?
1. As you know, a line in the image space can be expressed with two variables. For example:
-# As you know, a line in the image space can be expressed with two variables. For example:
-# In the **Cartesian coordinate system:** Parameters: \f$(m,b)\f$.
-# In the **Polar coordinate system:** Parameters: \f$(r,\theta)\f$
![image](images/Hough_Lines_Tutorial_Theory_0.jpg)
![](images/Hough_Lines_Tutorial_Theory_0.jpg)
For Hough Transforms, we will express lines in the *Polar system*. Hence, a line equation can be
written as:
@ -32,7 +36,7 @@ straight lines. \#. To apply the Transform, first an edge detection pre-processi
Arranging the terms: \f$r = x \cos \theta + y \sin \theta\f$
1. In general for each point \f$(x_{0}, y_{0})\f$, we can define the family of lines that goes through
-# In general for each point \f$(x_{0}, y_{0})\f$, we can define the family of lines that goes through
that point as:
\f[r_{\theta} = x_{0} \cdot \cos \theta + y_{0} \cdot \sin \theta\f]
@ -40,30 +44,30 @@ Arranging the terms: \f$r = x \cos \theta + y \sin \theta\f$
Meaning that each pair \f$(r_{\theta},\theta)\f$ represents each line that passes by
\f$(x_{0}, y_{0})\f$.
2. If for a given \f$(x_{0}, y_{0})\f$ we plot the family of lines that goes through it, we get a
-# If for a given \f$(x_{0}, y_{0})\f$ we plot the family of lines that goes through it, we get a
sinusoid. For instance, for \f$x_{0} = 8\f$ and \f$y_{0} = 6\f$ we get the following plot (in a plane
\f$\theta\f$ - \f$r\f$):
![image](images/Hough_Lines_Tutorial_Theory_1.jpg)
![](images/Hough_Lines_Tutorial_Theory_1.jpg)
We consider only points such that \f$r > 0\f$ and \f$0< \theta < 2 \pi\f$.
3. We can do the same operation above for all the points in an image. If the curves of two
-# We can do the same operation above for all the points in an image. If the curves of two
different points intersect in the plane \f$\theta\f$ - \f$r\f$, that means that both points belong to a
same line. For instance, following with the example above and drawing the plot for two more
points: \f$x_{1} = 9\f$, \f$y_{1} = 4\f$ and \f$x_{2} = 12\f$, \f$y_{2} = 3\f$, we get:
![image](images/Hough_Lines_Tutorial_Theory_2.jpg)
![](images/Hough_Lines_Tutorial_Theory_2.jpg)
The three plots intersect in one single point \f$(0.925, 9.6)\f$, these coordinates are the
parameters (\f$\theta, r\f$) or the line in which \f$(x_{0}, y_{0})\f$, \f$(x_{1}, y_{1})\f$ and
\f$(x_{2}, y_{2})\f$ lay.
4. What does all the stuff above mean? It means that in general, a line can be *detected* by
-# What does all the stuff above mean? It means that in general, a line can be *detected* by
finding the number of intersections between curves.The more curves intersecting means that the
line represented by that intersection have more points. In general, we can define a *threshold*
of the minimum number of intersections needed to *detect* a line.
5. This is what the Hough Line Transform does. It keeps track of the intersection between curves of
-# This is what the Hough Line Transform does. It keeps track of the intersection between curves of
every point in the image. If the number of intersections is above some *threshold*, then it
declares it as a line with the parameters \f$(\theta, r_{\theta})\f$ of the intersection point.
@ -86,83 +90,20 @@ b. **The Probabilistic Hough Line Transform**
Code
----
1. **What does this program do?**
-# **What does this program do?**
- Loads an image
- Applies either a *Standard Hough Line Transform* or a *Probabilistic Line Transform*.
- Display the original image and the detected line in two windows.
2. The sample code that we will explain can be downloaded from here_. A slightly fancier version
-# The sample code that we will explain can be downloaded from [here](https://github.com/Itseez/opencv/tree/master/samples/cpp/houghlines.cpp). A slightly fancier version
(which shows both Hough standard and probabilistic with trackbars for changing the threshold
values) can be found here_.
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
values) can be found [here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgTrans/HoughLines_Demo.cpp).
@includelineno samples/cpp/houghlines.cpp
#include <iostream>
using namespace cv;
using namespace std;
void help()
{
cout << "\nThis program demonstrates line finding with the Hough transform.\n"
"Usage:\n"
"./houghlines <image_name>, Default is pic1.jpg\n" << endl;
}
int main(int argc, char** argv)
{
const char* filename = argc >= 2 ? argv[1] : "pic1.jpg";
Mat src = imread(filename, 0);
if(src.empty())
{
help();
cout << "can not open " << filename << endl;
return -1;
}
Mat dst, cdst;
Canny(src, dst, 50, 200, 3);
cvtColor(dst, cdst, COLOR_GRAY2BGR);
#if 0
vector<Vec2f> lines;
HoughLines(dst, lines, 1, CV_PI/180, 100, 0, 0 );
for( size_t i = 0; i < lines.size(); i++ )
{
float rho = lines[i][0], theta = lines[i][1];
Point pt1, pt2;
double a = cos(theta), b = sin(theta);
double x0 = a*rho, y0 = b*rho;
pt1.x = cvRound(x0 + 1000*(-b));
pt1.y = cvRound(y0 + 1000*(a));
pt2.x = cvRound(x0 - 1000*(-b));
pt2.y = cvRound(y0 - 1000*(a));
line( cdst, pt1, pt2, Scalar(0,0,255), 3, LINE_AA);
}
#else
vector<Vec4i> lines;
HoughLinesP(dst, lines, 1, CV_PI/180, 50, 50, 10 );
for( size_t i = 0; i < lines.size(); i++ )
{
Vec4i l = lines[i];
line( cdst, Point(l[0], l[1]), Point(l[2], l[3]), Scalar(0,0,255), 3, CV_AA);
}
#endif
imshow("source", src);
imshow("detected lines", cdst);
waitKey();
return 0;
}
@endcode
Explanation
-----------
1. Load an image
-# Load an image
@code{.cpp}
Mat src = imread(filename, 0);
if(src.empty())
@ -172,14 +113,14 @@ Explanation
return -1;
}
@endcode
2. Detect the edges of the image by using a Canny detector
-# Detect the edges of the image by using a Canny detector
@code{.cpp}
Canny(src, dst, 50, 200, 3);
@endcode
Now we will apply the Hough Line Transform. We will explain how to use both OpenCV functions
available for this purpose:
3. **Standard Hough Line Transform**
-# **Standard Hough Line Transform**
-# First, you apply the Transform:
@code{.cpp}
vector<Vec2f> lines;
@ -211,7 +152,7 @@ Explanation
line( cdst, pt1, pt2, Scalar(0,0,255), 3, LINE_AA);
}
@endcode
4. **Probabilistic Hough Line Transform**
-# **Probabilistic Hough Line Transform**
-# First you apply the transform:
@code{.cpp}
vector<Vec4i> lines;
@ -239,15 +180,16 @@ Explanation
line( cdst, Point(l[0], l[1]), Point(l[2], l[3]), Scalar(0,0,255), 3, LINE_AA);
}
@endcode
5. Display the original image and the detected lines:
-# Display the original image and the detected lines:
@code{.cpp}
imshow("source", src);
imshow("detected lines", cdst);
@endcode
6. Wait until the user exits the program
-# Wait until the user exits the program
@code{.cpp}
waitKey();
@endcode
Result
------
@ -258,11 +200,11 @@ Result
Using an input image such as:
![image](images/Hough_Lines_Tutorial_Original_Image.jpg)
![](images/Hough_Lines_Tutorial_Original_Image.jpg)
We get the following result by using the Probabilistic Hough Line Transform:
![image](images/Hough_Lines_Tutorial_Result.jpg)
![](images/Hough_Lines_Tutorial_Result.jpg)
You may observe that the number of lines detected vary while you change the *threshold*. The
explanation is sort of evident: If you establish a higher threshold, fewer lines will be detected

92
doc/tutorials/imgproc/imgtrans/laplace_operator/laplace_operator.markdown
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@ -12,16 +12,16 @@ In this tutorial you will learn how to:
Theory
------
1. In the previous tutorial we learned how to use the *Sobel Operator*. It was based on the fact
-# In the previous tutorial we learned how to use the *Sobel Operator*. It was based on the fact
that in the edge area, the pixel intensity shows a "jump" or a high variation of intensity.
Getting the first derivative of the intensity, we observed that an edge is characterized by a
maximum, as it can be seen in the figure:
![image](images/Laplace_Operator_Tutorial_Theory_Previous.jpg)
![](images/Laplace_Operator_Tutorial_Theory_Previous.jpg)
2. And...what happens if we take the second derivative?
-# And...what happens if we take the second derivative?
![image](images/Laplace_Operator_Tutorial_Theory_ddIntensity.jpg)
![](images/Laplace_Operator_Tutorial_Theory_ddIntensity.jpg)
You can observe that the second derivative is zero! So, we can also use this criterion to
attempt to detect edges in an image. However, note that zeros will not only appear in edges
@ -30,81 +30,34 @@ Theory
### Laplacian Operator
1. From the explanation above, we deduce that the second derivative can be used to *detect edges*.
-# From the explanation above, we deduce that the second derivative can be used to *detect edges*.
Since images are "*2D*", we would need to take the derivative in both dimensions. Here, the
Laplacian operator comes handy.
2. The *Laplacian operator* is defined by:
-# The *Laplacian operator* is defined by:
\f[Laplace(f) = \dfrac{\partial^{2} f}{\partial x^{2}} + \dfrac{\partial^{2} f}{\partial y^{2}}\f]
1. The Laplacian operator is implemented in OpenCV by the function @ref cv::Laplacian . In fact,
-# The Laplacian operator is implemented in OpenCV by the function @ref cv::Laplacian . In fact,
since the Laplacian uses the gradient of images, it calls internally the *Sobel* operator to
perform its computation.
Code
----
1. **What does this program do?**
-# **What does this program do?**
- Loads an image
- Remove noise by applying a Gaussian blur and then convert the original image to grayscale
- Applies a Laplacian operator to the grayscale image and stores the output image
- Display the result in a window
2. The tutorial code's is shown lines below. You can also download it from
-# The tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgTrans/Laplace_Demo.cpp)
@code{.cpp}
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
@includelineno samples/cpp/tutorial_code/ImgTrans/Laplace_Demo.cpp
using namespace cv;
/* @function main */
int main( int argc, char** argv )
{
Mat src, src_gray, dst;
int kernel_size = 3;
int scale = 1;
int delta = 0;
int ddepth = CV_16S;
char* window_name = "Laplace Demo";
int c;
/// Load an image
src = imread( argv[1] );
if( !src.data )
{ return -1; }
/// Remove noise by blurring with a Gaussian filter
GaussianBlur( src, src, Size(3,3), 0, 0, BORDER_DEFAULT );
/// Convert the image to grayscale
cvtColor( src, src_gray, COLOR_RGB2GRAY );
/// Create window
namedWindow( window_name, WINDOW_AUTOSIZE );
/// Apply Laplace function
Mat abs_dst;
Laplacian( src_gray, dst, ddepth, kernel_size, scale, delta, BORDER_DEFAULT );
convertScaleAbs( dst, abs_dst );
/// Show what you got
imshow( window_name, abs_dst );
waitKey(0);
return 0;
}
@endcode
Explanation
-----------
1. Create some needed variables:
-# Create some needed variables:
@code{.cpp}
Mat src, src_gray, dst;
int kernel_size = 3;
@ -113,22 +66,22 @@ Explanation
int ddepth = CV_16S;
char* window_name = "Laplace Demo";
@endcode
2. Loads the source image:
-# Loads the source image:
@code{.cpp}
src = imread( argv[1] );
if( !src.data )
{ return -1; }
@endcode
3. Apply a Gaussian blur to reduce noise:
-# Apply a Gaussian blur to reduce noise:
@code{.cpp}
GaussianBlur( src, src, Size(3,3), 0, 0, BORDER_DEFAULT );
@endcode
4. Convert the image to grayscale using @ref cv::cvtColor
-# Convert the image to grayscale using @ref cv::cvtColor
@code{.cpp}
cvtColor( src, src_gray, COLOR_RGB2GRAY );
@endcode
5. Apply the Laplacian operator to the grayscale image:
-# Apply the Laplacian operator to the grayscale image:
@code{.cpp}
Laplacian( src_gray, dst, ddepth, kernel_size, scale, delta, BORDER_DEFAULT );
@endcode
@ -142,27 +95,26 @@ Explanation
this example.
- *scale*, *delta* and *BORDER_DEFAULT*: We leave them as default values.
6. Convert the output from the Laplacian operator to a *CV_8U* image:
-# Convert the output from the Laplacian operator to a *CV_8U* image:
@code{.cpp}
convertScaleAbs( dst, abs_dst );
@endcode
7. Display the result in a window:
-# Display the result in a window:
@code{.cpp}
imshow( window_name, abs_dst );
@endcode
Results
-------
1. After compiling the code above, we can run it giving as argument the path to an image. For
-# After compiling the code above, we can run it giving as argument the path to an image. For
example, using as an input:
![image](images/Laplace_Operator_Tutorial_Original_Image.jpg)
![](images/Laplace_Operator_Tutorial_Original_Image.jpg)
2. We obtain the following result. Notice how the trees and the silhouette of the cow are
-# We obtain the following result. Notice how the trees and the silhouette of the cow are
approximately well defined (except in areas in which the intensity are very similar, i.e. around
the cow's head). Also, note that the roof of the house behind the trees (right side) is
notoriously marked. This is due to the fact that the contrast is higher in that region.
![image](images/Laplace_Operator_Tutorial_Result.jpg)
![](images/Laplace_Operator_Tutorial_Result.jpg)

139
doc/tutorials/imgproc/imgtrans/remap/remap.markdown
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@ -33,146 +33,53 @@ Theory
What would happen? It is easily seen that the image would flip in the \f$x\f$ direction. For
instance, consider the input image:
![image](images/Remap_Tutorial_Theory_0.jpg)
![](images/Remap_Tutorial_Theory_0.jpg)
observe how the red circle changes positions with respect to x (considering \f$x\f$ the horizontal
direction):
![image](images/Remap_Tutorial_Theory_1.jpg)
![](images/Remap_Tutorial_Theory_1.jpg)
- In OpenCV, the function @ref cv::remap offers a simple remapping implementation.
Code
----
1. **What does this program do?**
-# **What does this program do?**
- Loads an image
- Each second, apply 1 of 4 different remapping processes to the image and display them
indefinitely in a window.
- Wait for the user to exit the program
2. The tutorial code's is shown lines below. You can also download it from
-# The tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgTrans/Remap_Demo.cpp)
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
using namespace cv;
/// Global variables
Mat src, dst;
Mat map_x, map_y;
char* remap_window = "Remap demo";
int ind = 0;
/// Function Headers
void update_map( void );
/*
* @function main
*/
int main( int argc, char** argv )
{
/// Load the image
src = imread( argv[1], 1 );
/// Create dst, map_x and map_y with the same size as src:
dst.create( src.size(), src.type() );
map_x.create( src.size(), CV_32FC1 );
map_y.create( src.size(), CV_32FC1 );
/// Create window
namedWindow( remap_window, WINDOW_AUTOSIZE );
/// Loop
while( true )
{
/// Each 1 sec. Press ESC to exit the program
int c = waitKey( 1000 );
if( (char)c == 27 )
{ break; }
/// Update map_x & map_y. Then apply remap
update_map();
remap( src, dst, map_x, map_y, INTER_LINEAR, BORDER_CONSTANT, Scalar(0,0, 0) );
/// Display results
imshow( remap_window, dst );
}
return 0;
}
/*
* @function update_map
* @brief Fill the map_x and map_y matrices with 4 types of mappings
*/
void update_map( void )
{
ind = ind%4;
for( int j = 0; j < src.rows; j++ )
{ for( int i = 0; i < src.cols; i++ )
{
switch( ind )
{
case 0:
if( i > src.cols*0.25 && i < src.cols*0.75 && j > src.rows*0.25 && j < src.rows*0.75 )
{
map_x.at<float>(j,i) = 2*( i - src.cols*0.25 ) + 0.5 ;
map_y.at<float>(j,i) = 2*( j - src.rows*0.25 ) + 0.5 ;
}
else
{ map_x.at<float>(j,i) = 0 ;
map_y.at<float>(j,i) = 0 ;
}
break;
case 1:
map_x.at<float>(j,i) = i ;
map_y.at<float>(j,i) = src.rows - j ;
break;
case 2:
map_x.at<float>(j,i) = src.cols - i ;
map_y.at<float>(j,i) = j ;
break;
case 3:
map_x.at<float>(j,i) = src.cols - i ;
map_y.at<float>(j,i) = src.rows - j ;
break;
} // end of switch
}
}
ind++;
@endcode
}
@includelineno samples/cpp/tutorial_code/ImgTrans/Remap_Demo.cpp
Explanation
-----------
1. Create some variables we will use:
-# Create some variables we will use:
@code{.cpp}
Mat src, dst;
Mat map_x, map_y;
char* remap_window = "Remap demo";
int ind = 0;
@endcode
2. Load an image:
-# Load an image:
@code{.cpp}
src = imread( argv[1], 1 );
@endcode
3. Create the destination image and the two mapping matrices (for x and y )
-# Create the destination image and the two mapping matrices (for x and y )
@code{.cpp}
dst.create( src.size(), src.type() );
map_x.create( src.size(), CV_32FC1 );
map_y.create( src.size(), CV_32FC1 );
@endcode
4. Create a window to display results
-# Create a window to display results
@code{.cpp}
namedWindow( remap_window, WINDOW_AUTOSIZE );
@endcode
5. Establish a loop. Each 1000 ms we update our mapping matrices (*mat_x* and *mat_y*) and apply
-# Establish a loop. Each 1000 ms we update our mapping matrices (*mat_x* and *mat_y*) and apply
them to our source image:
@code{.cpp}
while( true )
@ -205,14 +112,11 @@ Explanation
How do we update our mapping matrices *mat_x* and *mat_y*? Go on reading:
6. **Updating the mapping matrices:** We are going to perform 4 different mappings:
-# **Updating the mapping matrices:** We are going to perform 4 different mappings:
-# Reduce the picture to half its size and will display it in the middle:
\f[h(i,j) = ( 2*i - src.cols/2 + 0.5, 2*j - src.rows/2 + 0.5)\f]
for all pairs \f$(i,j)\f$ such that: \f$\dfrac{src.cols}{4}<i<\dfrac{3 \cdot src.cols}{4}\f$ and
\f$\dfrac{src.rows}{4}<j<\dfrac{3 \cdot src.rows}{4}\f$
-# Turn the image upside down: \f$h( i, j ) = (i, src.rows - j)\f$
-# Reflect the image from left to right: \f$h(i,j) = ( src.cols - i, j )\f$
-# Combination of b and c: \f$h(i,j) = ( src.cols - i, src.rows - j )\f$
@ -254,26 +158,27 @@ for( int j = 0; j < src.rows; j++ )
ind++;
}
@endcode
Result
------
1. After compiling the code above, you can execute it giving as argument an image path. For
-# After compiling the code above, you can execute it giving as argument an image path. For
instance, by using the following image:
![image](images/Remap_Tutorial_Original_Image.jpg)
![](images/Remap_Tutorial_Original_Image.jpg)
2. This is the result of reducing it to half the size and centering it:
-# This is the result of reducing it to half the size and centering it:
![image](images/Remap_Tutorial_Result_0.jpg)
![](images/Remap_Tutorial_Result_0.jpg)
3. Turning it upside down:
-# Turning it upside down:
![image](images/Remap_Tutorial_Result_1.jpg)
![](images/Remap_Tutorial_Result_1.jpg)
4. Reflecting it in the x direction:
-# Reflecting it in the x direction:
![image](images/Remap_Tutorial_Result_2.jpg)
![](images/Remap_Tutorial_Result_2.jpg)
5. Reflecting it in both directions:
-# Reflecting it in both directions:
![image](images/Remap_Tutorial_Result_3.jpg)
![](images/Remap_Tutorial_Result_3.jpg)

57
doc/tutorials/imgproc/imgtrans/sobel_derivatives/sobel_derivatives.markdown
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@ -15,45 +15,45 @@ Theory
@note The explanation below belongs to the book **Learning OpenCV** by Bradski and Kaehler.
1. In the last two tutorials we have seen applicative examples of convolutions. One of the most
-# In the last two tutorials we have seen applicative examples of convolutions. One of the most
important convolutions is the computation of derivatives in an image (or an approximation to
them).
2. Why may be important the calculus of the derivatives in an image? Let's imagine we want to
-# Why may be important the calculus of the derivatives in an image? Let's imagine we want to
detect the *edges* present in the image. For instance:
![image](images/Sobel_Derivatives_Tutorial_Theory_0.jpg)
![](images/Sobel_Derivatives_Tutorial_Theory_0.jpg)
You can easily notice that in an *edge*, the pixel intensity *changes* in a notorious way. A
good way to express *changes* is by using *derivatives*. A high change in gradient indicates a
major change in the image.
3. To be more graphical, let's assume we have a 1D-image. An edge is shown by the "jump" in
-# To be more graphical, let's assume we have a 1D-image. An edge is shown by the "jump" in
intensity in the plot below:
![image](images/Sobel_Derivatives_Tutorial_Theory_Intensity_Function.jpg)
![](images/Sobel_Derivatives_Tutorial_Theory_Intensity_Function.jpg)
4. The edge "jump" can be seen more easily if we take the first derivative (actually, here appears
-# The edge "jump" can be seen more easily if we take the first derivative (actually, here appears
as a maximum)
![image](images/Sobel_Derivatives_Tutorial_Theory_dIntensity_Function.jpg)
![](images/Sobel_Derivatives_Tutorial_Theory_dIntensity_Function.jpg)
5. So, from the explanation above, we can deduce that a method to detect edges in an image can be
-# So, from the explanation above, we can deduce that a method to detect edges in an image can be
performed by locating pixel locations where the gradient is higher than its neighbors (or to
generalize, higher than a threshold).
6. More detailed explanation, please refer to **Learning OpenCV** by Bradski and Kaehler
-# More detailed explanation, please refer to **Learning OpenCV** by Bradski and Kaehler
### Sobel Operator
1. The Sobel Operator is a discrete differentiation operator. It computes an approximation of the
-# The Sobel Operator is a discrete differentiation operator. It computes an approximation of the
gradient of an image intensity function.
2. The Sobel Operator combines Gaussian smoothing and differentiation.
-# The Sobel Operator combines Gaussian smoothing and differentiation.
#### Formulation
Assuming that the image to be operated is \f$I\f$:
1. We calculate two derivatives:
1. **Horizontal changes**: This is computed by convolving \f$I\f$ with a kernel \f$G_{x}\f$ with odd
-# We calculate two derivatives:
-# **Horizontal changes**: This is computed by convolving \f$I\f$ with a kernel \f$G_{x}\f$ with odd
size. For example for a kernel size of 3, \f$G_{x}\f$ would be computed as:
\f[G_{x} = \begin{bmatrix}
@ -62,7 +62,7 @@ Assuming that the image to be operated is \f$I\f$:
-1 & 0 & +1
\end{bmatrix} * I\f]
2. **Vertical changes**: This is computed by convolving \f$I\f$ with a kernel \f$G_{y}\f$ with odd
-# **Vertical changes**: This is computed by convolving \f$I\f$ with a kernel \f$G_{y}\f$ with odd
size. For example for a kernel size of 3, \f$G_{y}\f$ would be computed as:
\f[G_{y} = \begin{bmatrix}
@ -71,7 +71,7 @@ Assuming that the image to be operated is \f$I\f$:
+1 & +2 & +1
\end{bmatrix} * I\f]
2. At each point of the image we calculate an approximation of the *gradient* in that point by
-# At each point of the image we calculate an approximation of the *gradient* in that point by
combining both results above:
\f[G = \sqrt{ G_{x}^{2} + G_{y}^{2} }\f]
@ -83,7 +83,7 @@ Assuming that the image to be operated is \f$I\f$:
@note
When the size of the kernel is `3`, the Sobel kernel shown above may produce noticeable
inaccuracies (after all, Sobel is only an approximation of the derivative). OpenCV addresses
this inaccuracy for kernels of size 3 by using the :scharr:\`Scharr function. This is as fast
this inaccuracy for kernels of size 3 by using the @ref cv::Scharr function. This is as fast
but more accurate than the standar Sobel function. It implements the following kernels:
\f[G_{x} = \begin{bmatrix}
-3 & 0 & +3 \\
@ -103,18 +103,18 @@ Assuming that the image to be operated is \f$I\f$:
Code
----
1. **What does this program do?**
-# **What does this program do?**
- Applies the *Sobel Operator* and generates as output an image with the detected *edges*
bright on a darker background.
2. The tutorial code's is shown lines below. You can also download it from
-# The tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgTrans/Sobel_Demo.cpp)
@includelineno samples/cpp/tutorial_code/ImgTrans/Sobel_Demo.cpp
Explanation
-----------
1. First we declare the variables we are going to use:
-# First we declare the variables we are going to use:
@code{.cpp}
Mat src, src_gray;
Mat grad;
@ -123,22 +123,22 @@ Explanation
int delta = 0;
int ddepth = CV_16S;
@endcode
2. As usual we load our source image *src*:
-# As usual we load our source image *src*:
@code{.cpp}
src = imread( argv[1] );
if( !src.data )
{ return -1; }
@endcode
3. First, we apply a @ref cv::GaussianBlur to our image to reduce the noise ( kernel size = 3 )
-# First, we apply a @ref cv::GaussianBlur to our image to reduce the noise ( kernel size = 3 )
@code{.cpp}
GaussianBlur( src, src, Size(3,3), 0, 0, BORDER_DEFAULT );
@endcode
4. Now we convert our filtered image to grayscale:
-# Now we convert our filtered image to grayscale:
@code{.cpp}
cvtColor( src, src_gray, COLOR_RGB2GRAY );
@endcode
5. Second, we calculate the "*derivatives*" in *x* and *y* directions. For this, we use the
-# Second, we calculate the "*derivatives*" in *x* and *y* directions. For this, we use the
function @ref cv::Sobel as shown below:
@code{.cpp}
Mat grad_x, grad_y;
@ -161,23 +161,24 @@ Explanation
Notice that to calculate the gradient in *x* direction we use: \f$x_{order}= 1\f$ and
\f$y_{order} = 0\f$. We do analogously for the *y* direction.
6. We convert our partial results back to *CV_8U*:
-# We convert our partial results back to *CV_8U*:
@code{.cpp}
convertScaleAbs( grad_x, abs_grad_x );
convertScaleAbs( grad_y, abs_grad_y );
@endcode
7. Finally, we try to approximate the *gradient* by adding both directional gradients (note that
-# Finally, we try to approximate the *gradient* by adding both directional gradients (note that
this is not an exact calculation at all! but it is good for our purposes).
@code{.cpp}
addWeighted( abs_grad_x, 0.5, abs_grad_y, 0.5, 0, grad );
@endcode
8. Finally, we show our result:
-# Finally, we show our result:
@code{.cpp}
imshow( window_name, grad );
@endcode
Results
-------
1. Here is the output of applying our basic detector to *lena.jpg*:
-# Here is the output of applying our basic detector to *lena.jpg*:
![image](images/Sobel_Derivatives_Tutorial_Result.jpg)
![](images/Sobel_Derivatives_Tutorial_Result.jpg)

145
doc/tutorials/imgproc/imgtrans/warp_affine/warp_affine.markdown
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@ -6,17 +6,17 @@ Goal
In this tutorial you will learn how to:
a. Use the OpenCV function @ref cv::warpAffine to implement simple remapping routines.
b. Use the OpenCV function @ref cv::getRotationMatrix2D to obtain a \f$2 \times 3\f$ rotation matrix
- Use the OpenCV function @ref cv::warpAffine to implement simple remapping routines.
- Use the OpenCV function @ref cv::getRotationMatrix2D to obtain a \f$2 \times 3\f$ rotation matrix
Theory
------
### What is an Affine Transformation?
1. It is any transformation that can be expressed in the form of a *matrix multiplication* (linear
-# It is any transformation that can be expressed in the form of a *matrix multiplication* (linear
transformation) followed by a *vector addition* (translation).
2. From the above, We can use an Affine Transformation to express:
-# From the above, We can use an Affine Transformation to express:
-# Rotations (linear transformation)
-# Translations (vector addition)
@ -25,24 +25,28 @@ Theory
you can see that, in essence, an Affine Transformation represents a **relation** between two
images.
3. The usual way to represent an Affine Transform is by using a \f$2 \times 3\f$ matrix.
-# The usual way to represent an Affine Transform is by using a \f$2 \times 3\f$ matrix.
\f[A = \begin{bmatrix}
\f[
A = \begin{bmatrix}
a_{00} & a_{01} \\
a_{10} & a_{11}
\end{bmatrix}_{2 \times 2}
B = \begin{bmatrix}
b_{00} \\
b_{10}
\end{bmatrix}_{2 \times 1}\f]\f[M = \begin{bmatrix}
\end{bmatrix}_{2 \times 1}
\f]
\f[
M = \begin{bmatrix}
A & B
\end{bmatrix}
=\f]
begin{bmatrix}
a_{00} & a_{01} & b_{00} \\ a_{10} & a_{11} & b_{10}
end{bmatrix}_{2 times 3}
=
\begin{bmatrix}
a_{00} & a_{01} & b_{00} \\
a_{10} & a_{11} & b_{10}
\end{bmatrix}_{2 \times 3}
\f]
Considering that we want to transform a 2D vector \f$X = \begin{bmatrix}x \\ y\end{bmatrix}\f$ by
using \f$A\f$ and \f$B\f$, we can do it equivalently with:
@ -56,17 +60,17 @@ Theory
### How do we get an Affine Transformation?
1. Excellent question. We mentioned that an Affine Transformation is basically a **relation**
-# Excellent question. We mentioned that an Affine Transformation is basically a **relation**
between two images. The information about this relation can come, roughly, in two ways:
-# We know both \f$X\f$ and T and we also know that they are related. Then our job is to find \f$M\f$
-# We know \f$M\f$ and \f$X\f$. To obtain \f$T\f$ we only need to apply \f$T = M \cdot X\f$. Our information
for \f$M\f$ may be explicit (i.e. have the 2-by-3 matrix) or it can come as a geometric relation
between points.
2. Let's explain a little bit better (b). Since \f$M\f$ relates 02 images, we can analyze the simplest
-# Let's explain a little bit better (b). Since \f$M\f$ relates 02 images, we can analyze the simplest
case in which it relates three points in both images. Look at the figure below:
![image](images/Warp_Affine_Tutorial_Theory_0.jpg)
![](images/Warp_Affine_Tutorial_Theory_0.jpg)
the points 1, 2 and 3 (forming a triangle in image 1) are mapped into image 2, still forming a
triangle, but now they have changed notoriously. If we find the Affine Transformation with these
@ -76,7 +80,7 @@ Theory
Code
----
1. **What does this program do?**
-# **What does this program do?**
- Loads an image
- Applies an Affine Transform to the image. This Transform is obtained from the relation
between three points. We use the function @ref cv::warpAffine for that purpose.
@ -84,86 +88,14 @@ Code
the image center
- Waits until the user exits the program
2. The tutorial code's is shown lines below. You can also download it from
-# The tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgTrans/Geometric_Transforms_Demo.cpp)
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
@includelineno samples/cpp/tutorial_code/ImgTrans/Geometric_Transforms_Demo.cpp
using namespace cv;
using namespace std;
/// Global variables
char* source_window = "Source image";
char* warp_window = "Warp";
char* warp_rotate_window = "Warp + Rotate";
/* @function main */
int main( int argc, char** argv )
{
Point2f srcTri[3];
Point2f dstTri[3];
Mat rot_mat( 2, 3, CV_32FC1 );
Mat warp_mat( 2, 3, CV_32FC1 );
Mat src, warp_dst, warp_rotate_dst;
/// Load the image
src = imread( argv[1], 1 );
/// Set the dst image the same type and size as src
warp_dst = Mat::zeros( src.rows, src.cols, src.type() );
/// Set your 3 points to calculate the Affine Transform
srcTri[0] = Point2f( 0,0 );
srcTri[1] = Point2f( src.cols - 1, 0 );
srcTri[2] = Point2f( 0, src.rows - 1 );
dstTri[0] = Point2f( src.cols*0.0, src.rows*0.33 );
dstTri[1] = Point2f( src.cols*0.85, src.rows*0.25 );
dstTri[2] = Point2f( src.cols*0.15, src.rows*0.7 );
/// Get the Affine Transform
warp_mat = getAffineTransform( srcTri, dstTri );
/// Apply the Affine Transform just found to the src image
warpAffine( src, warp_dst, warp_mat, warp_dst.size() );
/* Rotating the image after Warp */
/// Compute a rotation matrix with respect to the center of the image
Point center = Point( warp_dst.cols/2, warp_dst.rows/2 );
double angle = -50.0;
double scale = 0.6;
/// Get the rotation matrix with the specifications above
rot_mat = getRotationMatrix2D( center, angle, scale );
/// Rotate the warped image
warpAffine( warp_dst, warp_rotate_dst, rot_mat, warp_dst.size() );
/// Show what you got
namedWindow( source_window, WINDOW_AUTOSIZE );
imshow( source_window, src );
namedWindow( warp_window, WINDOW_AUTOSIZE );
imshow( warp_window, warp_dst );
namedWindow( warp_rotate_window, WINDOW_AUTOSIZE );
imshow( warp_rotate_window, warp_rotate_dst );
/// Wait until user exits the program
waitKey(0);
return 0;
}
@endcode
Explanation
-----------
1. Declare some variables we will use, such as the matrices to store our results and 2 arrays of
-# Declare some variables we will use, such as the matrices to store our results and 2 arrays of
points to store the 2D points that define our Affine Transform.
@code{.cpp}
Point2f srcTri[3];
@ -173,15 +105,15 @@ Explanation
Mat warp_mat( 2, 3, CV_32FC1 );
Mat src, warp_dst, warp_rotate_dst;
@endcode
2. Load an image:
-# Load an image:
@code{.cpp}
src = imread( argv[1], 1 );
@endcode
3. Initialize the destination image as having the same size and type as the source:
-# Initialize the destination image as having the same size and type as the source:
@code{.cpp}
warp_dst = Mat::zeros( src.rows, src.cols, src.type() );
@endcode
4. **Affine Transform:** As we explained lines above, we need two sets of 3 points to derive the
-# **Affine Transform:** As we explained lines above, we need two sets of 3 points to derive the
affine transform relation. Take a look:
@code{.cpp}
srcTri[0] = Point2f( 0,0 );
@ -196,14 +128,14 @@ Explanation
approximately the same as the ones depicted in the example figure (in the Theory section). You
may note that the size and orientation of the triangle defined by the 3 points change.
5. Armed with both sets of points, we calculate the Affine Transform by using OpenCV function @ref
-# Armed with both sets of points, we calculate the Affine Transform by using OpenCV function @ref
cv::getAffineTransform :
@code{.cpp}
warp_mat = getAffineTransform( srcTri, dstTri );
@endcode
We get as an output a \f$2 \times 3\f$ matrix (in this case **warp_mat**)
6. We apply the Affine Transform just found to the src image
-# We apply the Affine Transform just found to the src image
@code{.cpp}
warpAffine( src, warp_dst, warp_mat, warp_dst.size() );
@endcode
@ -217,7 +149,7 @@ Explanation
We just got our first transformed image! We will display it in one bit. Before that, we also
want to rotate it...
7. **Rotate:** To rotate an image, we need to know two things:
-# **Rotate:** To rotate an image, we need to know two things:
-# The center with respect to which the image will rotate
-# The angle to be rotated. In OpenCV a positive angle is counter-clockwise
@ -229,16 +161,16 @@ Explanation
double angle = -50.0;
double scale = 0.6;
@endcode
8. We generate the rotation matrix with the OpenCV function @ref cv::getRotationMatrix2D , which
-# We generate the rotation matrix with the OpenCV function @ref cv::getRotationMatrix2D , which
returns a \f$2 \times 3\f$ matrix (in this case *rot_mat*)
@code{.cpp}
rot_mat = getRotationMatrix2D( center, angle, scale );
@endcode
9. We now apply the found rotation to the output of our previous Transformation.
-# We now apply the found rotation to the output of our previous Transformation.
@code{.cpp}
warpAffine( warp_dst, warp_rotate_dst, rot_mat, warp_dst.size() );
@endcode
10. Finally, we display our results in two windows plus the original image for good measure:
-# Finally, we display our results in two windows plus the original image for good measure:
@code{.cpp}
namedWindow( source_window, WINDOW_AUTOSIZE );
imshow( source_window, src );
@ -249,23 +181,24 @@ Explanation
namedWindow( warp_rotate_window, WINDOW_AUTOSIZE );
imshow( warp_rotate_window, warp_rotate_dst );
@endcode
11. We just have to wait until the user exits the program
-# We just have to wait until the user exits the program
@code{.cpp}
waitKey(0);
@endcode
Result
------
1. After compiling the code above, we can give it the path of an image as argument. For instance,
-# After compiling the code above, we can give it the path of an image as argument. For instance,
for a picture like:
![image](images/Warp_Affine_Tutorial_Original_Image.jpg)
![](images/Warp_Affine_Tutorial_Original_Image.jpg)
after applying the first Affine Transform we obtain:
![image](images/Warp_Affine_Tutorial_Result_Warp.jpg)
![](images/Warp_Affine_Tutorial_Result_Warp.jpg)
and finally, after applying a negative rotation (remember negative means clockwise) and a scale
factor, we get:
![image](images/Warp_Affine_Tutorial_Result_Warp_Rotate.jpg)
![](images/Warp_Affine_Tutorial_Result_Warp_Rotate.jpg)

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@ -16,8 +16,9 @@ In this tutorial you will learn how to:
Theory
------
@note The explanation below belongs to the book **Learning OpenCV** by Bradski and Kaehler. In the
previous tutorial we covered two basic Morphology operations:
@note The explanation below belongs to the book **Learning OpenCV** by Bradski and Kaehler.
In the previous tutorial we covered two basic Morphology operations:
- Erosion
- Dilation.
@ -37,7 +38,7 @@ discuss briefly 05 operations offered by OpenCV:
at the right is the result after applying the opening transformation. We can observe that the
small spaces in the corners of the letter tend to dissapear.
![image](images/Morphology_2_Tutorial_Theory_Opening.png)
![](images/Morphology_2_Tutorial_Theory_Opening.png)
### Closing
@ -47,7 +48,7 @@ discuss briefly 05 operations offered by OpenCV:
- Useful to remove small holes (dark regions).
![image](images/Morphology_2_Tutorial_Theory_Closing.png)
![](images/Morphology_2_Tutorial_Theory_Closing.png)
### Morphological Gradient
@ -57,7 +58,7 @@ discuss briefly 05 operations offered by OpenCV:
- It is useful for finding the outline of an object as can be seen below:
![image](images/Morphology_2_Tutorial_Theory_Gradient.png)
![](images/Morphology_2_Tutorial_Theory_Gradient.png)
### Top Hat
@ -65,7 +66,7 @@ discuss briefly 05 operations offered by OpenCV:
\f[dst = tophat( src, element ) = src - open( src, element )\f]
![image](images/Morphology_2_Tutorial_Theory_TopHat.png)
![](images/Morphology_2_Tutorial_Theory_TopHat.png)
### Black Hat
@ -73,7 +74,7 @@ discuss briefly 05 operations offered by OpenCV:
\f[dst = blackhat( src, element ) = close( src, element ) - src\f]
![image](images/Morphology_2_Tutorial_Theory_BlackHat.png)
![](images/Morphology_2_Tutorial_Theory_BlackHat.png)
Code
----
@ -150,10 +151,11 @@ void Morphology_Operations( int, void* )
imshow( window_name, dst );
}
@endcode
Explanation
-----------
1. Let's check the general structure of the program:
-# Let's check the general structure of the program:
- Load an image
- Create a window to display results of the Morphological operations
- Create 03 Trackbars for the user to enter parameters:
@ -185,17 +187,18 @@ Explanation
/*
* @function Morphology_Operations
*/
@endcode
void Morphology_Operations( int, void\* ) { // Since MORPH_X : 2,3,4,5 and 6 int
operation = morph_operator + 2;
Mat element = getStructuringElement( morph_elem, Size( 2\*morph_size + 1,
2\*morph_size+1 ), Point( morph_size, morph_size ) );
/// Apply the specified morphology operation morphologyEx( src, dst, operation, element
); imshow( window_name, dst );
void Morphology_Operations( int, void* )
{
// Since MORPH_X : 2,3,4,5 and 6
int operation = morph_operator + 2;
Mat element = getStructuringElement( morph_elem, Size( 2*morph_size + 1, 2*morph_size+1 ), Point( morph_size, morph_size ) );
/// Apply the specified morphology operation
morphologyEx( src, dst, operation, element );
imshow( window_name, dst );
}
@endcode
We can observe that the key function to perform the morphology transformations is @ref
cv::morphologyEx . In this example we use four arguments (leaving the rest as defaults):
@ -225,12 +228,10 @@ Results
- After compiling the code above we can execute it giving an image path as an argument. For this
tutorial we use as input the image: **baboon.png**:
![image](images/Morphology_2_Tutorial_Original_Image.jpg)
![](images/Morphology_2_Tutorial_Original_Image.jpg)
- And here are two snapshots of the display window. The first picture shows the output after using
the operator **Opening** with a cross kernel. The second picture (right side, shows the result
of using a **Blackhat** operator with an ellipse kernel.
![image](images/Morphology_2_Tutorial_Cover.jpg)
![](images/Morphology_2_Tutorial_Result.jpg)

2
doc/tutorials/imgproc/opening_closing_hats/opening_closing_hats.rst
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@ -276,6 +276,6 @@ Results
* And here are two snapshots of the display window. The first picture shows the output after using the operator **Opening** with a cross kernel. The second picture (right side, shows the result of using a **Blackhat** operator with an ellipse kernel.
.. image:: images/Morphology_2_Tutorial_Cover.jpg
.. image:: images/Morphology_2_Tutorial_Result.jpg
:alt: Morphology 2: Result sample
:align: center

12
doc/tutorials/imgproc/pyramids/pyramids.markdown
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@ -16,8 +16,8 @@ Theory
- Usually we need to convert an image to a size different than its original. For this, there are
two possible options:
1. *Upsize* the image (zoom in) or
2. *Downsize* it (zoom out).
-# *Upsize* the image (zoom in) or
-# *Downsize* it (zoom out).
- Although there is a *geometric transformation* function in OpenCV that -literally- resize an
image (@ref cv::resize , which we will show in a future tutorial), in this section we analyze
first the use of **Image Pyramids**, which are widely applied in a huge range of vision
@ -37,7 +37,7 @@ Theory
- Imagine the pyramid as a set of layers in which the higher the layer, the smaller the size.
![image](images/Pyramids_Tutorial_Pyramid_Theory.png)
![](images/Pyramids_Tutorial_Pyramid_Theory.png)
- Every layer is numbered from bottom to top, so layer \f$(i+1)\f$ (denoted as \f$G_{i+1}\f$ is smaller
than layer \f$i\f$ (\f$G_{i}\f$).
@ -162,14 +162,14 @@ Results
that comes in the *tutorial_code/image* folder. Notice that this image is \f$512 \times 512\f$,
hence a downsample won't generate any error (\f$512 = 2^{9}\f$). The original image is shown below:
![image](images/Pyramids_Tutorial_Original_Image.jpg)
![](images/Pyramids_Tutorial_Original_Image.jpg)
- First we apply two successive @ref cv::pyrDown operations by pressing 'd'. Our output is:
![image](images/Pyramids_Tutorial_PyrDown_Result.jpg)
![](images/Pyramids_Tutorial_PyrDown_Result.jpg)
- Note that we should have lost some resolution due to the fact that we are diminishing the size
of the image. This is evident after we apply @ref cv::pyrUp twice (by pressing 'u'). Our output
is now:
![image](images/Pyramids_Tutorial_PyrUp_Result.jpg)
![](images/Pyramids_Tutorial_PyrUp_Result.jpg)

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@ -17,96 +17,14 @@ Code
This tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo1.cpp)
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
@includelineno samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo1.cpp
using namespace cv;
using namespace std;
Mat src; Mat src_gray;
int thresh = 100;
int max_thresh = 255;
RNG rng(12345);
/// Function header
void thresh_callback(int, void* );
/* @function main */
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
src = imread( argv[1], 1 );
/// Convert image to gray and blur it
cvtColor( src, src_gray, COLOR_BGR2GRAY );
blur( src_gray, src_gray, Size(3,3) );
/// Create Window
char* source_window = "Source";
namedWindow( source_window, WINDOW_AUTOSIZE );
imshow( source_window, src );
createTrackbar( " Threshold:", "Source", &thresh, max_thresh, thresh_callback );
thresh_callback( 0, 0 );
waitKey(0);
return(0);
}
/* @function thresh_callback */
void thresh_callback(int, void* )
{
Mat threshold_output;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
/// Detect edges using Threshold
threshold( src_gray, threshold_output, thresh, 255, THRESH_BINARY );
/// Find contours
findContours( threshold_output, contours, hierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE, Point(0, 0) );
/// Approximate contours to polygons + get bounding rects and circles
vector<vector<Point> > contours_poly( contours.size() );
vector<Rect> boundRect( contours.size() );
vector<Point2f>center( contours.size() );
vector<float>radius( contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ approxPolyDP( Mat(contours[i]), contours_poly[i], 3, true );
boundRect[i] = boundingRect( Mat(contours_poly[i]) );
minEnclosingCircle( (Mat)contours_poly[i], center[i], radius[i] );
}
/// Draw polygonal contour + bonding rects + circles
Mat drawing = Mat::zeros( threshold_output.size(), CV_8UC3 );
for( int i = 0; i< contours.size(); i++ )
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
drawContours( drawing, contours_poly, i, color, 1, 8, vector<Vec4i>(), 0, Point() );
rectangle( drawing, boundRect[i].tl(), boundRect[i].br(), color, 2, 8, 0 );
circle( drawing, center[i], (int)radius[i], color, 2, 8, 0 );
}
/// Show in a window
namedWindow( "Contours", WINDOW_AUTOSIZE );
imshow( "Contours", drawing );
}
@endcode
Explanation
-----------
Result
------
1. Here it is:
---------- ----------
|BRC_0| |BRC_1|
---------- ----------
Here it is:
![](images/Bounding_Rects_Circles_Source_Image.jpg)
![](images/Bounding_Rects_Circles_Result.jpg)

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@ -17,98 +17,14 @@ Code
This tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo2.cpp)
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
@includelineno samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo2.cpp
using namespace cv;
using namespace std;
Mat src; Mat src_gray;
int thresh = 100;
int max_thresh = 255;
RNG rng(12345);
/// Function header
void thresh_callback(int, void* );
/* @function main */
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
src = imread( argv[1], 1 );
/// Convert image to gray and blur it
cvtColor( src, src_gray, COLOR_BGR2GRAY );
blur( src_gray, src_gray, Size(3,3) );
/// Create Window
char* source_window = "Source";
namedWindow( source_window, WINDOW_AUTOSIZE );
imshow( source_window, src );
createTrackbar( " Threshold:", "Source", &thresh, max_thresh, thresh_callback );
thresh_callback( 0, 0 );
waitKey(0);
return(0);
}
/* @function thresh_callback */
void thresh_callback(int, void* )
{
Mat threshold_output;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
/// Detect edges using Threshold
threshold( src_gray, threshold_output, thresh, 255, THRESH_BINARY );
/// Find contours
findContours( threshold_output, contours, hierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE, Point(0, 0) );
/// Find the rotated rectangles and ellipses for each contour
vector<RotatedRect> minRect( contours.size() );
vector<RotatedRect> minEllipse( contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ minRect[i] = minAreaRect( Mat(contours[i]) );
if( contours[i].size() > 5 )
{ minEllipse[i] = fitEllipse( Mat(contours[i]) ); }
}
/// Draw contours + rotated rects + ellipses
Mat drawing = Mat::zeros( threshold_output.size(), CV_8UC3 );
for( int i = 0; i< contours.size(); i++ )
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
// contour
drawContours( drawing, contours, i, color, 1, 8, vector<Vec4i>(), 0, Point() );
// ellipse
ellipse( drawing, minEllipse[i], color, 2, 8 );
// rotated rectangle
Point2f rect_points[4]; minRect[i].points( rect_points );
for( int j = 0; j < 4; j++ )
line( drawing, rect_points[j], rect_points[(j+1)%4], color, 1, 8 );
}
/// Show in a window
namedWindow( "Contours", WINDOW_AUTOSIZE );
imshow( "Contours", drawing );
}
@endcode
Explanation
-----------
Result
------
1. Here it is:
---------- ----------
|BRE_0| |BRE_1|
---------- ----------
Here it is:
![](images/Bounding_Rotated_Ellipses_Source_Image.jpg)
![](images/Bounding_Rotated_Ellipses_Result.jpg)

75
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@ -17,81 +17,14 @@ Code
This tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ShapeDescriptors/findContours_demo.cpp)
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
@includelineno samples/cpp/tutorial_code/ShapeDescriptors/findContours_demo.cpp
using namespace cv;
using namespace std;
Mat src; Mat src_gray;
int thresh = 100;
int max_thresh = 255;
RNG rng(12345);
/// Function header
void thresh_callback(int, void* );
/* @function main */
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
src = imread( argv[1], 1 );
/// Convert image to gray and blur it
cvtColor( src, src_gray, COLOR_BGR2GRAY );
blur( src_gray, src_gray, Size(3,3) );
/// Create Window
char* source_window = "Source";
namedWindow( source_window, WINDOW_AUTOSIZE );
imshow( source_window, src );
createTrackbar( " Canny thresh:", "Source", &thresh, max_thresh, thresh_callback );
thresh_callback( 0, 0 );
waitKey(0);
return(0);
}
/* @function thresh_callback */
void thresh_callback(int, void* )
{
Mat canny_output;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
/// Detect edges using canny
Canny( src_gray, canny_output, thresh, thresh*2, 3 );
/// Find contours
findContours( canny_output, contours, hierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE, Point(0, 0) );
/// Draw contours
Mat drawing = Mat::zeros( canny_output.size(), CV_8UC3 );
for( int i = 0; i< contours.size(); i++ )
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() );
}
/// Show in a window
namedWindow( "Contours", WINDOW_AUTOSIZE );
imshow( "Contours", drawing );
}
@endcode
Explanation
-----------
Result
------
1. Here it is:
-------------- --------------
|contour_0| |contour_1|
-------------- --------------
Here it is:
![](images/Find_Contours_Original_Image.jpg)
![](images/Find_Contours_Result.jpg)

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@ -18,102 +18,15 @@ Code
This tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ShapeDescriptors/moments_demo.cpp)
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
@includelineno samples/cpp/tutorial_code/ShapeDescriptors/moments_demo.cpp
using namespace cv;
using namespace std;
Mat src; Mat src_gray;
int thresh = 100;
int max_thresh = 255;
RNG rng(12345);
/// Function header
void thresh_callback(int, void* );
/* @function main */
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
src = imread( argv[1], 1 );
/// Convert image to gray and blur it
cvtColor( src, src_gray, COLOR_BGR2GRAY );
blur( src_gray, src_gray, Size(3,3) );
/// Create Window
char* source_window = "Source";
namedWindow( source_window, WINDOW_AUTOSIZE );
imshow( source_window, src );
createTrackbar( " Canny thresh:", "Source", &thresh, max_thresh, thresh_callback );
thresh_callback( 0, 0 );
waitKey(0);
return(0);
}
/* @function thresh_callback */
void thresh_callback(int, void* )
{
Mat canny_output;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
/// Detect edges using canny
Canny( src_gray, canny_output, thresh, thresh*2, 3 );
/// Find contours
findContours( canny_output, contours, hierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE, Point(0, 0) );
/// Get the moments
vector<Moments> mu(contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ mu[i] = moments( contours[i], false ); }
/// Get the mass centers:
vector<Point2f> mc( contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ mc[i] = Point2f( mu[i].m10/mu[i].m00 , mu[i].m01/mu[i].m00 ); }
/// Draw contours
Mat drawing = Mat::zeros( canny_output.size(), CV_8UC3 );
for( int i = 0; i< contours.size(); i++ )
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() );
circle( drawing, mc[i], 4, color, -1, 8, 0 );
}
/// Show in a window
namedWindow( "Contours", WINDOW_AUTOSIZE );
imshow( "Contours", drawing );
/// Calculate the area with the moments 00 and compare with the result of the OpenCV function
printf("\t Info: Area and Contour Length \n");
for( int i = 0; i< contours.size(); i++ )
{
printf(" * Contour[%d] - Area (M_00) = %.2f - Area OpenCV: %.2f - Length: %.2f \n", i, mu[i].m00, contourArea(contours[i]), arcLength( contours[i], true ) );
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() );
circle( drawing, mc[i], 4, color, -1, 8, 0 );
}
}
@endcode
Explanation
-----------
Result
------
1. Here it is:
--------- --------- ---------
|MU_0| |MU_1| |MU_2|
--------- --------- ---------
Here it is:
![](images/Moments_Source_Image.jpg)
![](images/Moments_Result1.jpg)
![](images/Moments_Result2.jpg)

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@ -16,91 +16,14 @@ Code
This tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ShapeDescriptors/pointPolygonTest_demo.cpp)
@code{.cpp}
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
@includelineno samples/cpp/tutorial_code/ShapeDescriptors/pointPolygonTest_demo.cpp
using namespace cv;
using namespace std;
/* @function main */
int main( int argc, char** argv )
{
/// Create an image
const int r = 100;
Mat src = Mat::zeros( Size( 4*r, 4*r ), CV_8UC1 );
/// Create a sequence of points to make a contour:
vector<Point2f> vert(6);
vert[0] = Point( 1.5*r, 1.34*r );
vert[1] = Point( 1*r, 2*r );
vert[2] = Point( 1.5*r, 2.866*r );
vert[3] = Point( 2.5*r, 2.866*r );
vert[4] = Point( 3*r, 2*r );
vert[5] = Point( 2.5*r, 1.34*r );
/// Draw it in src
for( int j = 0; j < 6; j++ )
{ line( src, vert[j], vert[(j+1)%6], Scalar( 255 ), 3, 8 ); }
/// Get the contours
vector<vector<Point> > contours; vector<Vec4i> hierarchy;
Mat src_copy = src.clone();
findContours( src_copy, contours, hierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE);
/// Calculate the distances to the contour
Mat raw_dist( src.size(), CV_32FC1 );
for( int j = 0; j < src.rows; j++ )
{ for( int i = 0; i < src.cols; i++ )
{ raw_dist.at<float>(j,i) = pointPolygonTest( contours[0], Point2f(i,j), true ); }
}
double minVal; double maxVal;
minMaxLoc( raw_dist, &minVal, &maxVal, 0, 0, Mat() );
minVal = abs(minVal); maxVal = abs(maxVal);
/// Depicting the distances graphically
Mat drawing = Mat::zeros( src.size(), CV_8UC3 );
for( int j = 0; j < src.rows; j++ )
{ for( int i = 0; i < src.cols; i++ )
{
if( raw_dist.at<float>(j,i) < 0 )
{ drawing.at<Vec3b>(j,i)[0] = 255 - (int) abs(raw_dist.at<float>(j,i))*255/minVal; }
else if( raw_dist.at<float>(j,i) > 0 )
{ drawing.at<Vec3b>(j,i)[2] = 255 - (int) raw_dist.at<float>(j,i)*255/maxVal; }
else
{ drawing.at<Vec3b>(j,i)[0] = 255; drawing.at<Vec3b>(j,i)[1] = 255; drawing.at<Vec3b>(j,i)[2] = 255; }
}
}
/// Create Window and show your results
char* source_window = "Source";
namedWindow( source_window, WINDOW_AUTOSIZE );
imshow( source_window, src );
namedWindow( "Distance", WINDOW_AUTOSIZE );
imshow( "Distance", drawing );
waitKey(0);
return(0);
}
@endcode
Explanation
-----------
Result
------
1. Here it is:
---------- ----------
|PPT_0| |PPT_1|
---------- ----------
Here it is:
![](images/Point_Polygon_Test_Source_Image.png)
![](images/Point_Polygon_Test_Result.jpg)

114
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@ -12,7 +12,9 @@ Cool Theory
-----------
@note The explanation below belongs to the book **Learning OpenCV** by Bradski and Kaehler. What is
Thresholding? -----------------------
Thresholding?
-------------
- The simplest segmentation method
- Application example: Separate out regions of an image corresponding to objects which we want to
@ -25,7 +27,7 @@ Thresholding? -----------------------
identify them (i.e. we can assign them a value of \f$0\f$ (black), \f$255\f$ (white) or any value that
suits your needs).
![image](images/Threshold_Tutorial_Theory_Example.jpg)
![](images/Threshold_Tutorial_Theory_Example.jpg)
### Types of Thresholding
@ -36,7 +38,7 @@ Thresholding? -----------------------
with pixels with intensity values \f$src(x,y)\f$. The plot below depicts this. The horizontal blue
line represents the threshold \f$thresh\f$ (fixed).
![image](images/Threshold_Tutorial_Theory_Base_Figure.png)
![](images/Threshold_Tutorial_Theory_Base_Figure.png)
#### Threshold Binary
@ -47,7 +49,7 @@ Thresholding? -----------------------
- So, if the intensity of the pixel \f$src(x,y)\f$ is higher than \f$thresh\f$, then the new pixel
intensity is set to a \f$MaxVal\f$. Otherwise, the pixels are set to \f$0\f$.
![image](images/Threshold_Tutorial_Theory_Binary.png)
![](images/Threshold_Tutorial_Theory_Binary.png)
#### Threshold Binary, Inverted
@ -58,7 +60,7 @@ Thresholding? -----------------------
- If the intensity of the pixel \f$src(x,y)\f$ is higher than \f$thresh\f$, then the new pixel intensity
is set to a \f$0\f$. Otherwise, it is set to \f$MaxVal\f$.
![image](images/Threshold_Tutorial_Theory_Binary_Inverted.png)
![](images/Threshold_Tutorial_Theory_Binary_Inverted.png)
#### Truncate
@ -69,7 +71,7 @@ Thresholding? -----------------------
- The maximum intensity value for the pixels is \f$thresh\f$, if \f$src(x,y)\f$ is greater, then its value
is *truncated*. See figure below:
![image](images/Threshold_Tutorial_Theory_Truncate.png)
![](images/Threshold_Tutorial_Theory_Truncate.png)
#### Threshold to Zero
@ -79,7 +81,7 @@ Thresholding? -----------------------
- If \f$src(x,y)\f$ is lower than \f$thresh\f$, the new pixel value will be set to \f$0\f$.
![image](images/Threshold_Tutorial_Theory_Zero.png)
![](images/Threshold_Tutorial_Theory_Zero.png)
#### Threshold to Zero, Inverted
@ -89,97 +91,19 @@ Thresholding? -----------------------
- If \f$src(x,y)\f$ is greater than \f$thresh\f$, the new pixel value will be set to \f$0\f$.
![image](images/Threshold_Tutorial_Theory_Zero_Inverted.png)
![](images/Threshold_Tutorial_Theory_Zero_Inverted.png)
Code
----
The tutorial code's is shown lines below. You can also download it from
[here](https://github.com/Itseez/opencv/tree/master/samples/cpp/tutorial_code/ImgProc/Threshold.cpp)
@code{.cpp}
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include <stdlib.h>
#include <stdio.h>
@includelineno samples/cpp/tutorial_code/ImgProc/Threshold.cpp
using namespace cv;
/// Global variables
int threshold_value = 0;
int threshold_type = 3;;
int const max_value = 255;
int const max_type = 4;
int const max_BINARY_value = 255;
Mat src, src_gray, dst;
char* window_name = "Threshold Demo";
char* trackbar_type = "Type: \n 0: Binary \n 1: Binary Inverted \n 2: Truncate \n 3: To Zero \n 4: To Zero Inverted";
char* trackbar_value = "Value";
/// Function headers
void Threshold_Demo( int, void* );
/*
* @function main
*/
int main( int argc, char** argv )
{
/// Load an image
src = imread( argv[1], 1 );
/// Convert the image to Gray
cvtColor( src, src_gray, COLOR_RGB2GRAY );
/// Create a window to display results
namedWindow( window_name, WINDOW_AUTOSIZE );
/// Create Trackbar to choose type of Threshold
createTrackbar( trackbar_type,
window_name, &threshold_type,
max_type, Threshold_Demo );
createTrackbar( trackbar_value,
window_name, &threshold_value,
max_value, Threshold_Demo );
/// Call the function to initialize
Threshold_Demo( 0, 0 );
/// Wait until user finishes program
while(true)
{
int c;
c = waitKey( 20 );
if( (char)c == 27 )
{ break; }
}
}
/*
* @function Threshold_Demo
*/
void Threshold_Demo( int, void* )
{
/* 0: Binary
1: Binary Inverted
2: Threshold Truncated
3: Threshold to Zero
4: Threshold to Zero Inverted
*/
threshold( src_gray, dst, threshold_value, max_BINARY_value,threshold_type );
imshow( window_name, dst );
}
@endcode
Explanation
-----------
1. Let's check the general structure of the program:
-# Let's check the general structure of the program:
- Load an image. If it is RGB we convert it to Grayscale. For this, remember that we can use
the function @ref cv::cvtColor :
@code{.cpp}
@ -241,23 +165,21 @@ Explanation
Results
-------
1. After compiling this program, run it giving a path to an image as argument. For instance, for an
-# After compiling this program, run it giving a path to an image as argument. For instance, for an
input image as:
![image](images/Threshold_Tutorial_Original_Image.jpg)
![](images/Threshold_Tutorial_Original_Image.jpg)
2. First, we try to threshold our image with a *binary threhold inverted*. We expect that the
-# First, we try to threshold our image with a *binary threhold inverted*. We expect that the
pixels brighter than the \f$thresh\f$ will turn dark, which is what actually happens, as we can see
in the snapshot below (notice from the original image, that the doggie's tongue and eyes are
particularly bright in comparison with the image, this is reflected in the output image).
![image](images/Threshold_Tutorial_Result_Binary_Inverted.jpg)
![](images/Threshold_Tutorial_Result_Binary_Inverted.jpg)
3. Now we try with the *threshold to zero*. With this, we expect that the darkest pixels (below the
-# Now we try with the *threshold to zero*. With this, we expect that the darkest pixels (below the
threshold) will become completely black, whereas the pixels with value greater than the
threshold will keep its original value. This is verified by the following snapshot of the output
image:
![image](images/Threshold_Tutorial_Result_Zero.jpg)
![](images/Threshold_Tutorial_Result_Zero.jpg)

63
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View File

@ -107,19 +107,19 @@ Manual OpenCV4Android SDK setup
### Get the OpenCV4Android SDK
1. Go to the [OpenCV download page on
-# Go to the [OpenCV download page on
SourceForge](http://sourceforge.net/projects/opencvlibrary/files/opencv-android/) and download
the latest available version. Currently it's [OpenCV-2.4.9-android-sdk.zip](http://sourceforge.net/projects/opencvlibrary/files/opencv-android/2.4.9/OpenCV-2.4.9-android-sdk.zip/download).
2. Create a new folder for Android with OpenCV development. For this tutorial we have unpacked
-# Create a new folder for Android with OpenCV development. For this tutorial we have unpacked
OpenCV SDK to the `C:\Work\OpenCV4Android\` directory.
@note Better to use a path without spaces in it. Otherwise you may have problems with ndk-build.
3. Unpack the SDK archive into the chosen directory.
-# Unpack the SDK archive into the chosen directory.
You can unpack it using any popular archiver (e.g with 7-Zip_):
You can unpack it using any popular archiver (e.g with 7-Zip):
![image](images/android_package_7zip.png)
![](images/android_package_7zip.png)
On Unix you can use the following command:
@code{.bash}
@ -128,15 +128,15 @@ Manual OpenCV4Android SDK setup
### Import OpenCV library and samples to the Eclipse
1. Start Eclipse and choose your workspace location.
-# Start Eclipse and choose your workspace location.
We recommend to start working with OpenCV for Android from a new clean workspace. A new Eclipse
workspace can for example be created in the folder where you have unpacked OpenCV4Android SDK
package:
![image](images/eclipse_1_choose_workspace.png)
![](images/eclipse_1_choose_workspace.png)
2. Import OpenCV library and samples into workspace.
-# Import OpenCV library and samples into workspace.
OpenCV library is packed as a ready-for-use [Android Library
Project](http://developer.android.com/guide/developing/projects/index.html#LibraryProjects). You
@ -146,33 +146,34 @@ Manual OpenCV4Android SDK setup
already references OpenCV library. Follow the steps below to import OpenCV and samples into the
workspace:
- Right click on the Package Explorer window and choose Import... option from the context
menu:
![](images/eclipse_5_import_command.png)
- In the main panel select General --\> Existing Projects into Workspace and press Next
button:
![](images/eclipse_6_import_existing_projects.png)
- In the Select root directory field locate your OpenCV package folder. Eclipse should
automatically locate OpenCV library and samples:
![](images/eclipse_7_select_projects.png)
- Click Finish button to complete the import operation.
@note OpenCV samples are indeed **dependent** on OpenCV library project so don't forget to import it to your workspace as well.
- Right click on the Package Explorer window and choose Import... option from the context
menu:
![image](images/eclipse_5_import_command.png)
- In the main panel select General --\> Existing Projects into Workspace and press Next
button:
![image](images/eclipse_6_import_existing_projects.png)
- In the Select root directory field locate your OpenCV package folder. Eclipse should
automatically locate OpenCV library and samples:
![image](images/eclipse_7_select_projects.png)
- Click Finish button to complete the import operation.
After clicking Finish button Eclipse will load all selected projects into workspace, and you
have to wait some time while it is building OpenCV samples. Just give a minute to Eclipse to
complete initialization.
![image](images/eclipse_cdt_cfg4.png)
![](images/eclipse_cdt_cfg4.png)
Once Eclipse completes build you will have the clean workspace without any build errors:
![image](images/eclipse_10_crystal_clean.png)
![](images/eclipse_10_crystal_clean.png)
@anchor tutorial_O4A_SDK_samples
### Running OpenCV Samples
@ -205,7 +206,7 @@ Well, running samples from Eclipse is very simple:
@note Android Emulator can take several minutes to start. So, please, be patient. \* On the first
run Eclipse will ask you about the running mode for your application:
![image](images/eclipse_11_run_as.png)
![](images/eclipse_11_run_as.png)
- Select the Android Application option and click OK button. Eclipse will install and run the
sample.
@ -214,7 +215,7 @@ Well, running samples from Eclipse is very simple:
Manager](https://docs.google.com/a/itseez.com/presentation/d/1EO_1kijgBg_BsjNp2ymk-aarg-0K279_1VZRcPplSuk/present#slide=id.p)
package installed. In this case you will see the following message:
![image](images/android_emulator_opencv_manager_fail.png)
![](images/android_emulator_opencv_manager_fail.png)
To get rid of the message you will need to install OpenCV Manager and the appropriate
OpenCV binary pack. Simply tap Yes if you have *Google Play Market* installed on your
@ -226,12 +227,15 @@ Well, running samples from Eclipse is very simple:
@code{.sh}
<Android SDK path>/platform-tools/adb install <OpenCV4Android SDK path>/apk/OpenCV_2.4.9_Manager_2.18_armv7a-neon.apk
@endcode
@note armeabi, armv7a-neon, arm7a-neon-android8, mips and x86 stand for platform targets:
- armeabi is for ARM v5 and ARM v6 architectures with Android API 8+,
- armv7a-neon is for NEON-optimized ARM v7 with Android API 9+,
- arm7a-neon-android8 is for NEON-optimized ARM v7 with Android API 8,
- mips is for MIPS architecture with Android API 9+,
- x86 is for Intel x86 CPUs with Android API 9+.
@note
If using hardware device for testing/debugging, run the following command to learn its CPU
architecture:
@code{.sh}
@ -241,6 +245,7 @@ Well, running samples from Eclipse is very simple:
Click Edit in the context menu of the selected device. In the window, which then pop-ups, find
the CPU field.
@note
You may also see section `Manager Selection` for details.
When done, you will be able to run OpenCV samples on your device/emulator seamlessly.
@ -248,7 +253,7 @@ Well, running samples from Eclipse is very simple:
- Here is Sample - image-manipulations sample, running on top of stock camera-preview of the
emulator.
![image](images/emulator_canny.png)
![](images/emulator_canny.png)
What's next
-----------

294
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View File

@ -19,16 +19,16 @@ Development for Android significantly differs from development for other platfor
starting programming for Android we recommend you make sure that you are familiar with the following
key topis:
1. [Java](http://en.wikipedia.org/wiki/Java_(programming_language)) programming language that is
-# [Java](http://en.wikipedia.org/wiki/Java_(programming_language)) programming language that is
the primary development technology for Android OS. Also, you can find [Oracle docs on
Java](http://docs.oracle.com/javase/) useful.
2. [Java Native Interface (JNI)](http://en.wikipedia.org/wiki/Java_Native_Interface) that is a
-# [Java Native Interface (JNI)](http://en.wikipedia.org/wiki/Java_Native_Interface) that is a
technology of running native code in Java virtual machine. Also, you can find [Oracle docs on
JNI](http://docs.oracle.com/javase/7/docs/technotes/guides/jni/) useful.
3. [Android
-# [Android
Activity](http://developer.android.com/training/basics/activity-lifecycle/starting.html) and its
lifecycle, that is an essential Android API class.
4. OpenCV development will certainly require some knowlege of the [Android
-# OpenCV development will certainly require some knowlege of the [Android
Camera](http://developer.android.com/guide/topics/media/camera.html) specifics.
Quick environment setup for Android development
@ -44,14 +44,15 @@ environment setup automatically and you can skip the rest of the guide.
If you are a beginner in Android development then we also recommend you to start with TADP.
@note *NVIDIA*'s Tegra Android Development Pack includes some special features for *NVIDIA*’s Tegra
platform_ but its use is not limited to *Tegra* devices only. \* You need at least *1.6 Gb* free
@note *NVIDIA*'s Tegra Android Development Pack includes some special features for *NVIDIA*’s [Tegra
platform](http://www.nvidia.com/object/tegra-3-processor.html)
but its use is not limited to *Tegra* devices only. \* You need at least *1.6 Gb* free
disk space for the install.
- TADP will download Android SDK platforms and Android NDK from Google's server, so Internet
connection is required for the installation.
- TADP may ask you to flash your development kit at the end of installation process. Just skip
this step if you have no Tegra Development Kit_.
this step if you have no [Tegra Development Kit](http://developer.nvidia.com/mobile/tegra-hardware-sales-inquiries).
- (UNIX) TADP will ask you for *root* in the middle of installation, so you need to be a member of
*sudo* group.
@ -62,7 +63,7 @@ Manual environment setup for Android development
You need the following software to be installed in order to develop for Android in Java:
1. **Sun JDK 6** (Sun JDK 7 is also possible)
-# **Sun JDK 6** (Sun JDK 7 is also possible)
Visit [Java SE Downloads page](http://www.oracle.com/technetwork/java/javase/downloads/) and
download an installer for your OS.
@ -71,30 +72,32 @@ You need the following software to be installed in order to develop for Android
guide](http://source.android.com/source/initializing.html#installing-the-jdk) for Ubuntu and Mac
OS (only JDK sections are applicable for OpenCV)
@note OpenJDK is not suitable for Android development, since Android SDK supports only Sun JDK. If you use Ubuntu, after installation of Sun JDK you should run the following command to set Sun java environment:
@code{.bash}
sudo update-java-alternatives --set java-6-sun
@endcode
1. **Android SDK**
@note OpenJDK is not suitable for Android development, since Android SDK supports only Sun JDK. If you use Ubuntu, after installation of Sun JDK you should run the following command to set Sun java environment:
@code{.bash}
sudo update-java-alternatives --set java-6-sun
@endcode
-# **Android SDK**
Get the latest Android SDK from <http://developer.android.com/sdk/index.html>
Here is Google's [install guide](http://developer.android.com/sdk/installing.html) for the SDK.
@note You can choose downloading **ADT Bundle package** that in addition to Android SDK Tools
includes Eclipse + ADT + NDK/CDT plugins, Android Platform-tools, the latest Android platform and
the latest Android system image for the emulator - this is the best choice for those who is setting
up Android development environment the first time!
@note You can choose downloading **ADT Bundle package** that in addition to Android SDK Tools
includes Eclipse + ADT + NDK/CDT plugins, Android Platform-tools, the latest Android platform and
the latest Android system image for the emulator - this is the best choice for those who is setting
up Android development environment the first time!
@note If you are running x64 version of Ubuntu Linux, then you need ia32 shared libraries for use on amd64 and ia64 systems to be installed. You can install them with the following command:
@code{.bash}
sudo apt-get install ia32-libs
@endcode
For Red Hat based systems the following command might be helpful:
@code{.bash}
sudo yum install libXtst.i386
@endcode
1. **Android SDK components**
@note If you are running x64 version of Ubuntu Linux, then you need ia32 shared libraries for use on amd64 and ia64 systems to be installed. You can install them with the following command:
@code{.bash}
sudo apt-get install ia32-libs
@endcode
For Red Hat based systems the following command might be helpful:
@code{.bash}
sudo yum install libXtst.i386
@endcode
-# **Android SDK components**
You need the following SDK components to be installed:
@ -110,13 +113,13 @@ up Android development environment the first time!
successful compilation the **target** platform should be set to Android 3.0 (API 11) or
higher. It will not prevent them from running on Android 2.2.
![image](images/android_sdk_and_avd_manager.png)
![](images/android_sdk_and_avd_manager.png)
See [Adding Platforms and
Packages](http://developer.android.com/sdk/installing/adding-packages.html) for help with
installing/updating SDK components.
2. **Eclipse IDE**
-# **Eclipse IDE**
Check the [Android SDK System Requirements](http://developer.android.com/sdk/requirements.html)
document for a list of Eclipse versions that are compatible with the Android SDK. For OpenCV
@ -126,7 +129,7 @@ up Android development environment the first time!
If you have no Eclipse installed, you can get it from the [official
site](http://www.eclipse.org/downloads/).
3. **ADT plugin for Eclipse**
-# **ADT plugin for Eclipse**
These instructions are copied from [Android Developers
site](http://developer.android.com/sdk/installing/installing-adt.html), check it out in case of
@ -135,33 +138,34 @@ up Android development environment the first time!
Assuming that you have Eclipse IDE installed, as described above, follow these steps to download
and install the ADT plugin:
1. Start Eclipse, then select Help --\> Install New Software...
2. Click Add (in the top-right corner).
3. In the Add Repository dialog that appears, enter "ADT Plugin" for the Name and the following
URL for the Location:
-# Start Eclipse, then select Help --\> Install New Software...
-# Click Add (in the top-right corner).
-# In the Add Repository dialog that appears, enter "ADT Plugin" for the Name and the following
URL for the Location: <https://dl-ssl.google.com/android/eclipse/>
<https://dl-ssl.google.com/android/eclipse/>
-# Click OK
4. Click OK
@note If you have trouble acquiring the plugin, try using "http" in the Location URL, instead of "https" (https is preferred for security reasons).
@note If you have trouble acquiring the plugin, try using "http" in the Location URL, instead of "https" (https is preferred for security reasons).
1. In the Available Software dialog, select the checkbox next to Developer Tools and click
Next.
2. In the next window, you'll see a list of the tools to be downloaded. Click Next.
-# In the Available Software dialog, select the checkbox next to Developer Tools and click Next.
@note If you also plan to develop native C++ code with Android NDK don't forget to enable NDK Plugins installations as well.
![image](images/eclipse_inst_adt.png)
-# In the next window, you'll see a list of the tools to be downloaded. Click Next.
1. Read and accept the license agreements, then click Finish.
@note If you also plan to develop native C++ code with Android NDK don't forget to enable NDK Plugins installations as well.
@note If you get a security warning saying that the authenticity or validity of the software can't be established, click OK.
1. When the installation completes, restart Eclipse.
![](images/eclipse_inst_adt.png)
-# Read and accept the license agreements, then click Finish.
@note If you get a security warning saying that the authenticity or validity of the software can't be established, click OK.
-# When the installation completes, restart Eclipse.
### Native development in C++
You need the following software to be installed in order to develop for Android in C++:
1. **Android NDK**
-# **Android NDK**
To compile C++ code for Android platform you need Android Native Development Kit (*NDK*).
@ -170,17 +174,18 @@ You need the following software to be installed in order to develop for Android
extract the archive to some folder on your computer. Here are [installation
instructions](http://developer.android.com/tools/sdk/ndk/index.html#Installing).
@note Before start you can read official Android NDK documentation which is in the Android NDK
archive, in the folder `docs/`. The main article about using Android NDK build system is in the
`ANDROID-MK.html` file. Some additional information you can find in the `APPLICATION-MK.html`,
`NDK-BUILD.html` files, and `CPU-ARM-NEON.html`, `CPLUSPLUS-SUPPORT.html`, `PREBUILTS.html`. \#.
**CDT plugin for Eclipse**
@note Before start you can read official Android NDK documentation which is in the Android NDK
archive, in the folder `docs/`. The main article about using Android NDK build system is in the
`ANDROID-MK.html` file. Some additional information you can find in the `APPLICATION-MK.html`,
`NDK-BUILD.html` files, and `CPU-ARM-NEON.html`, `CPLUSPLUS-SUPPORT.html`, `PREBUILTS.html`.
If you selected for installation the NDK plugins component of Eclipse ADT plugin (see the picture
above) your Eclipse IDE should already have CDT plugin (that means C/C++ Development Tooling).
There are several possible ways to integrate compilation of C++ code by Android NDK into Eclipse
compilation process. We recommend the approach based on Eclipse CDT(C/C++ Development Tooling)
Builder.
-# **CDT plugin for Eclipse**
If you selected for installation the NDK plugins component of Eclipse ADT plugin (see the picture
above) your Eclipse IDE should already have CDT plugin (that means C/C++ Development Tooling).
There are several possible ways to integrate compilation of C++ code by Android NDK into Eclipse
compilation process. We recommend the approach based on Eclipse CDT(C/C++ Development Tooling)
Builder.
Android application structure
-----------------------------
@ -244,6 +249,7 @@ APP_STL := gnustl_static
APP_CPPFLAGS := -frtti -fexceptions
APP_ABI := all
@endcode
@note We recommend setting APP_ABI := all for all targets. If you want to specify the target
explicitly, use armeabi for ARMv5/ARMv6, armeabi-v7a for ARMv7, x86 for Intel Atom or mips for MIPS.
@ -260,18 +266,18 @@ We strongly reccomend using cmd.exe (standard Windows console) instead of Cygwin
not really supported and we are unlikely to help you in case you encounter some problems with
it. So, use it only if you're capable of handling the consequences yourself.
1. Open console and go to the root folder of an Android application
-# Open console and go to the root folder of an Android application
@code{.bash}
cd <root folder of the project>/
@endcode
2. Run the following command
-# Run the following command
@code{.bash}
<path_where_NDK_is_placed>/ndk-build
@endcode
@note On Windows we recommend to use ndk-build.cmd in standard Windows console (cmd.exe) rather than the similar bash script in Cygwin shell.
![image](images/ndk_build.png)
@note On Windows we recommend to use ndk-build.cmd in standard Windows console (cmd.exe) rather than the similar bash script in Cygwin shell.
![](images/ndk_build.png)
1. After executing this command the C++ part of the source code is compiled.
-# After executing this command the C++ part of the source code is compiled.
After that the Java part of the application can be (re)compiled (using either *Eclipse* or *Ant*
build tool).
@ -299,8 +305,8 @@ Builder.
OpenCV for Android package since version 2.4.2 contains sample projects
pre-configured CDT Builders. For your own projects follow the steps below.
1. Define the NDKROOT environment variable containing the path to Android NDK in your system (e.g.
"X:\\\\Apps\\\\android-ndk-r8" or "/opt/android-ndk-r8").
-# Define the NDKROOT environment variable containing the path to Android NDK in your system (e.g.
"X:\\Apps\\android-ndk-r8" or "/opt/android-ndk-r8").
**On Windows** an environment variable can be set via
My Computer -\> Properties -\> Advanced -\> Environment variables. On Windows 7 it's also
@ -309,71 +315,68 @@ OpenCV for Android package since version 2.4.2 contains sample projects
**On Linux** and **MacOS** an environment variable can be set via appending a
"export VAR_NAME=VAR_VALUE" line to the `"~/.bashrc"` file and logging off and then on.
@note It's also possible to define the NDKROOT environment variable within Eclipse IDE, but it
should be done for every new workspace you create. If you prefer this option better than setting
system environment variable, open Eclipse menu
Window -\> Preferences -\> C/C++ -\> Build -\> Environment, press the Add... button and set variable
name to NDKROOT and value to local Android NDK path. \#. After that you need to **restart Eclipse**
to apply the changes.
@note It's also possible to define the NDKROOT environment variable within Eclipse IDE, but it
should be done for every new workspace you create. If you prefer this option better than setting
system environment variable, open Eclipse menu
Window -\> Preferences -\> C/C++ -\> Build -\> Environment, press the Add... button and set variable
name to NDKROOT and value to local Android NDK path. \#. After that you need to **restart Eclipse**
to apply the changes.
1. Open Eclipse and load the Android app project to configure.
2. Add C/C++ Nature to the project via Eclipse menu
-# Open Eclipse and load the Android app project to configure.
-# Add C/C++ Nature to the project via Eclipse menu
New -\> Other -\> C/C++ -\> Convert to a C/C++ Project.
![image](images/eclipse_cdt_cfg1.png)
![](images/eclipse_cdt_cfg1.png)
And:
![](images/eclipse_cdt_cfg2.png)
![image](images/eclipse_cdt_cfg2.png)
3. Select the project(s) to convert. Specify "Project type" = Makefile project, "Toolchains" =
-# Select the project(s) to convert. Specify "Project type" = Makefile project, "Toolchains" =
Other Toolchain.
![](images/eclipse_cdt_cfg3.png)
![image](images/eclipse_cdt_cfg3.png)
4. Open Project Properties -\> C/C++ Build, uncheck Use default build command, replace "Build
-# Open Project Properties -\> C/C++ Build, uncheck Use default build command, replace "Build
command" text from "make" to
"${NDKROOT}/ndk-build.cmd" on Windows,
"${NDKROOT}/ndk-build" on Linux and MacOS.
![image](images/eclipse_cdt_cfg4.png)
![](images/eclipse_cdt_cfg4.png)
5. Go to Behaviour tab and change "Workbench build type" section like shown below:
-# Go to Behaviour tab and change "Workbench build type" section like shown below:
![image](images/eclipse_cdt_cfg5.png)
![](images/eclipse_cdt_cfg5.png)
6. Press OK and make sure the ndk-build is successfully invoked when building the project.
-# Press OK and make sure the ndk-build is successfully invoked when building the project.
![image](images/eclipse_cdt_cfg6.png)
![](images/eclipse_cdt_cfg6.png)
7. If you open your C++ source file in Eclipse editor, you'll see syntax error notifications. They
-# If you open your C++ source file in Eclipse editor, you'll see syntax error notifications. They
are not real errors, but additional CDT configuring is required.
![image](images/eclipse_cdt_cfg7.png)
![](images/eclipse_cdt_cfg7.png)
8. Open Project Properties -\> C/C++ General -\> Paths and Symbols and add the following
-# Open Project Properties -\> C/C++ General -\> Paths and Symbols and add the following
**Include** paths for **C++**:
@code
# for NDK r8 and prior:
\f${NDKROOT}/platforms/android-9/arch-arm/usr/include
\f${NDKROOT}/sources/cxx-stl/gnu-libstdc++/include
\f${NDKROOT}/sources/cxx-stl/gnu-libstdc++/libs/armeabi-v7a/include
\f${ProjDirPath}/../../sdk/native/jni/include
${NDKROOT}/platforms/android-9/arch-arm/usr/include
${NDKROOT}/sources/cxx-stl/gnu-libstdc++/include
${NDKROOT}/sources/cxx-stl/gnu-libstdc++/libs/armeabi-v7a/include
${ProjDirPath}/../../sdk/native/jni/include
# for NDK r8b and later:
\f${NDKROOT}/platforms/android-9/arch-arm/usr/include
\f${NDKROOT}/sources/cxx-stl/gnu-libstdc++/4.6/include
\f${NDKROOT}/sources/cxx-stl/gnu-libstdc++/4.6/libs/armeabi-v7a/include
\f${ProjDirPath}/../../sdk/native/jni/include
${NDKROOT}/platforms/android-9/arch-arm/usr/include
${NDKROOT}/sources/cxx-stl/gnu-libstdc++/4.6/include
${NDKROOT}/sources/cxx-stl/gnu-libstdc++/4.6/libs/armeabi-v7a/include
${ProjDirPath}/../../sdk/native/jni/include
@endcode
The last path should be changed to the correct absolute or relative path to OpenCV4Android SDK
location.
This should clear the syntax error notifications in Eclipse C++ editor.
![image](images/eclipse_cdt_cfg8.png)
![](images/eclipse_cdt_cfg8.png)
Debugging and Testing
---------------------
@ -386,18 +389,18 @@ hardware device for testing and debugging an Android project.
AVD (*Android Virtual Device*) is not probably the most convenient way to test an OpenCV-dependent
application, but sure the most uncomplicated one to configure.
1. Assuming you already have *Android SDK* and *Eclipse IDE* installed, in Eclipse go
-# Assuming you already have *Android SDK* and *Eclipse IDE* installed, in Eclipse go
Window -\> AVD Manager.
2. Press the New button in AVD Manager window.
3. Create new Android Virtual Device window will let you select some properties for your new
-# Press the New button in AVD Manager window.
-# Create new Android Virtual Device window will let you select some properties for your new
device, like target API level, size of SD-card and other.
![image](images/AVD_create.png)
![](images/AVD_create.png)
4. When you click the Create AVD button, your new AVD will be availible in AVD Manager.
5. Press Start to launch the device. Be aware that any AVD (a.k.a. Emulator) is usually much slower
-# When you click the Create AVD button, your new AVD will be availible in AVD Manager.
-# Press Start to launch the device. Be aware that any AVD (a.k.a. Emulator) is usually much slower
than a hardware Android device, so it may take up to several minutes to start.
6. Go Run -\> Run/Debug in Eclipse IDE to run your application in regular or debugging mode.
-# Go Run -\> Run/Debug in Eclipse IDE to run your application in regular or debugging mode.
Device Chooser will let you choose among the running devices or to start a new one.
### Hardware Device
@ -412,86 +415,77 @@ instructions](http://developer.android.com/tools/device.html) for more informati
#### Windows host computer
1. Enable USB debugging on the Android device (via Settings menu).
2. Attach the Android device to your PC with a USB cable.
3. Go to Start Menu and **right-click** on Computer. Select Manage in the context menu. You may be
-# Enable USB debugging on the Android device (via Settings menu).
-# Attach the Android device to your PC with a USB cable.
-# Go to Start Menu and **right-click** on Computer. Select Manage in the context menu. You may be
asked for Administrative permissions.
4. Select Device Manager in the left pane and find an unknown device in the list. You may try
-# Select Device Manager in the left pane and find an unknown device in the list. You may try
unplugging it and then plugging back in order to check whether it's your exact equipment appears
in the list.
![image](images/usb_device_connect_01.png)
![](images/usb_device_connect_01.png)
5. Try your luck installing Google USB drivers without any modifications: **right-click** on the
-# Try your luck installing Google USB drivers without any modifications: **right-click** on the
unknown device, select Properties menu item --\> Details tab --\> Update Driver button.
![image](images/usb_device_connect_05.png)
![](images/usb_device_connect_05.png)
6. Select Browse computer for driver software.
-# Select Browse computer for driver software.
![image](images/usb_device_connect_06.png)
![](images/usb_device_connect_06.png)
7. Specify the path to `<Android SDK folder>/extras/google/usb_driver/` folder.
-# Specify the path to `<Android SDK folder>/extras/google/usb_driver/` folder.
![image](images/usb_device_connect_07.png)
![](images/usb_device_connect_07.png)
8. If you get the prompt to install unverified drivers and report about success - you've finished
-# If you get the prompt to install unverified drivers and report about success - you've finished
with USB driver installation.
![image](images/usb_device_connect_08.png)
![](images/usb_device_connect_08.png)
\` \`
![](images/usb_device_connect_09.png)
-# Otherwise (getting the failure like shown below) follow the next steps.
![image](images/usb_device_connect_09.png)
![](images/usb_device_connect_12.png)
9. Otherwise (getting the failure like shown below) follow the next steps.
-# Again **right-click** on the unknown device, select Properties --\> Details --\> Hardware Ids
and copy the line like `USB\VID_XXXX&PID_XXXX&MI_XX`.
![image](images/usb_device_connect_12.png)
![](images/usb_device_connect_02.png)
10. Again **right-click** on the unknown device, select Properties --\> Details --\> Hardware Ids
and copy the line like USB\\VID_XXXX&PID_XXXX&MI_XX.
![image](images/usb_device_connect_02.png)
11. Now open file `<Android SDK folder>/extras/google/usb_driver/android_winusb.inf`. Select either
-# Now open file `<Android SDK folder>/extras/google/usb_driver/android_winusb.inf`. Select either
Google.NTx86 or Google.NTamd64 section depending on your host system architecture.
![image](images/usb_device_connect_03.png)
![](images/usb_device_connect_03.png)
12. There should be a record like existing ones for your device and you need to add one manually.
-# There should be a record like existing ones for your device and you need to add one manually.
![image](images/usb_device_connect_04.png)
![](images/usb_device_connect_04.png)
13. Save the `android_winusb.inf` file and try to install the USB driver again.
-# Save the `android_winusb.inf` file and try to install the USB driver again.
![image](images/usb_device_connect_05.png)
![](images/usb_device_connect_05.png)
\` \`
![](images/usb_device_connect_06.png)
![image](images/usb_device_connect_06.png)
![](images/usb_device_connect_07.png)
\` \`
-# This time installation should go successfully.
![image](images/usb_device_connect_07.png)
![](images/usb_device_connect_08.png)
14. This time installation should go successfully.
![](images/usb_device_connect_09.png)
![image](images/usb_device_connect_08.png)
-# And an unknown device is now recognized as an Android phone.
\` \`
![](images/usb_device_connect_10.png)
![image](images/usb_device_connect_09.png)
-# Successful device USB connection can be verified in console via adb devices command.
15. And an unknown device is now recognized as an Android phone.
![](images/usb_device_connect_11.png)
![image](images/usb_device_connect_10.png)
16. Successful device USB connection can be verified in console via adb devices command.
![image](images/usb_device_connect_11.png)
17. Now, in Eclipse go Run -\> Run/Debug to run your application in regular or debugging mode.
-# Now, in Eclipse go Run -\> Run/Debug to run your application in regular or debugging mode.
Device Chooser will let you choose among the devices.
#### Linux host computer
@ -507,7 +501,7 @@ SUBSYSTEM=="usb", ATTR{idVendor}=="1004", MODE="0666", GROUP="plugdev"
Then restart your adb server (even better to restart the system), plug in your Android device and
execute adb devices command. You will see the list of attached devices:
![image](images/usb_device_connect_ubuntu.png)
![](images/usb_device_connect_ubuntu.png)
#### Mac OS host computer

62
doc/tutorials/introduction/android_binary_package/dev_with_OCV_on_Android.markdown
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@ -38,17 +38,17 @@ OpenCV. You can get more information here: `Android OpenCV Manager` and in these
Using async initialization is a **recommended** way for application development. It uses the OpenCV
Manager to access OpenCV libraries externally installed in the target system.
1. Add OpenCV library project to your workspace. Use menu
-# Add OpenCV library project to your workspace. Use menu
File -\> Import -\> Existing project in your workspace.
Press Browse button and locate OpenCV4Android SDK (`OpenCV-2.4.9-android-sdk/sdk`).
![image](images/eclipse_opencv_dependency0.png)
![](images/eclipse_opencv_dependency0.png)
2. In application project add a reference to the OpenCV Java SDK in
-# In application project add a reference to the OpenCV Java SDK in
Project -\> Properties -\> Android -\> Library -\> Add select OpenCV Library - 2.4.9.
![image](images/eclipse_opencv_dependency1.png)
![](images/eclipse_opencv_dependency1.png)
In most cases OpenCV Manager may be installed automatically from Google Play. For the case, when
Google Play is not available, i.e. emulator, developer board, etc, you can install it manually using
@ -101,18 +101,18 @@ designed mostly for development purposes. This approach is deprecated for the pr
release package is recommended to communicate with OpenCV Manager via the async initialization
described above.
1. Add the OpenCV library project to your workspace the same way as for the async initialization
-# Add the OpenCV library project to your workspace the same way as for the async initialization
above. Use menu File -\> Import -\> Existing project in your workspace, press Browse button and
select OpenCV SDK path (`OpenCV-2.4.9-android-sdk/sdk`).
![image](images/eclipse_opencv_dependency0.png)
![](images/eclipse_opencv_dependency0.png)
2. In the application project add a reference to the OpenCV4Android SDK in
-# In the application project add a reference to the OpenCV4Android SDK in
Project -\> Properties -\> Android -\> Library -\> Add select OpenCV Library - 2.4.9;
![image](images/eclipse_opencv_dependency1.png)
![](images/eclipse_opencv_dependency1.png)
3. If your application project **doesn't have a JNI part**, just copy the corresponding OpenCV
-# If your application project **doesn't have a JNI part**, just copy the corresponding OpenCV
native libs from `<OpenCV-2.4.9-android-sdk>/sdk/native/libs/<target_arch>` to your project
directory to folder `libs/<target_arch>`.
@ -126,7 +126,7 @@ described above.
@endcode
The result should look like the following:
@code{.make}
include \f$(CLEAR_VARS)
include $(CLEAR_VARS)
# OpenCV
OPENCV_CAMERA_MODULES:=on
@ -139,7 +139,7 @@ described above.
Eclipse will automatically include all the libraries from the `libs` folder to the application
package (APK).
4. The last step of enabling OpenCV in your application is Java initialization code before calling
-# The last step of enabling OpenCV in your application is Java initialization code before calling
OpenCV API. It can be done, for example, in the static section of the Activity class:
@code{.java}
static {
@ -166,23 +166,23 @@ described above.
To build your own Android application, using OpenCV as native part, the following steps should be
taken:
1. You can use an environment variable to specify the location of OpenCV package or just hardcode
-# You can use an environment variable to specify the location of OpenCV package or just hardcode
absolute or relative path in the `jni/Android.mk` of your projects.
2. The file `jni/Android.mk` should be written for the current application using the common rules
-# The file `jni/Android.mk` should be written for the current application using the common rules
for this file.
For detailed information see the Android NDK documentation from the Android NDK archive, in the
file `<path_where_NDK_is_placed>/docs/ANDROID-MK.html`.
3. The following line:
-# The following line:
@code{.make}
include C:\Work\OpenCV4Android\OpenCV-2.4.9-android-sdk\sdk\native\jni\OpenCV.mk
@endcode
Should be inserted into the `jni/Android.mk` file **after** this line:
@code{.make}
include \f$(CLEAR_VARS)
include $(CLEAR_VARS)
@endcode
4. Several variables can be used to customize OpenCV stuff, but you **don't need** to use them when
-# Several variables can be used to customize OpenCV stuff, but you **don't need** to use them when
your application uses the async initialization via the OpenCV Manager API.
@note These variables should be set **before** the "include .../OpenCV.mk" line:
@ -202,7 +202,7 @@ taken:
Perform static linking with OpenCV. By default dynamic link is used and the project JNI lib
depends on libopencv_java.so.
5. The file `Application.mk` should exist and should contain lines:
-# The file `Application.mk` should exist and should contain lines:
@code{.make}
APP_STL := gnustl_static
APP_CPPFLAGS := -frtti -fexceptions
@ -221,7 +221,7 @@ taken:
APP_PLATFORM := android-9
@endcode
6. Either use @ref tutorial_android_dev_intro_ndk "manual" ndk-build invocation or
-# Either use @ref tutorial_android_dev_intro_ndk "manual" ndk-build invocation or
@ref tutorial_android_dev_intro_eclipse "setup Eclipse CDT Builder" to build native JNI lib
before (re)building the Java part and creating
an APK.
@ -232,18 +232,18 @@ Hello OpenCV Sample
Here are basic steps to guide you trough the process of creating a simple OpenCV-centric
application. It will be capable of accessing camera output, processing it and displaying the result.
1. Open Eclipse IDE, create a new clean workspace, create a new Android project
-# Open Eclipse IDE, create a new clean workspace, create a new Android project
File --\> New --\> Android Project
2. Set name, target, package and minSDKVersion accordingly. The minimal SDK version for build with
-# Set name, target, package and minSDKVersion accordingly. The minimal SDK version for build with
OpenCV4Android SDK is 11. Minimal device API Level (for application manifest) is 8.
3. Allow Eclipse to create default activity. Lets name the activity HelloOpenCvActivity.
4. Choose Blank Activity with full screen layout. Lets name the layout HelloOpenCvLayout.
5. Import OpenCV library project to your workspace.
6. Reference OpenCV library within your project properties.
-# Allow Eclipse to create default activity. Lets name the activity HelloOpenCvActivity.
-# Choose Blank Activity with full screen layout. Lets name the layout HelloOpenCvLayout.
-# Import OpenCV library project to your workspace.
-# Reference OpenCV library within your project properties.
![image](images/dev_OCV_reference.png)
![](images/dev_OCV_reference.png)
7. Edit your layout file as xml file and pass the following layout there:
-# Edit your layout file as xml file and pass the following layout there:
@code{.xml}
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
@ -261,7 +261,7 @@ application. It will be capable of accessing camera output, processing it and di
</LinearLayout>
@endcode
8. Add the following permissions to the `AndroidManifest.xml` file:
-# Add the following permissions to the `AndroidManifest.xml` file:
@code{.xml}
</application>
@ -272,14 +272,14 @@ application. It will be capable of accessing camera output, processing it and di
<uses-feature android:name="android.hardware.camera.front" android:required="false"/>
<uses-feature android:name="android.hardware.camera.front.autofocus" android:required="false"/>
@endcode
9. Set application theme in AndroidManifest.xml to hide title and system buttons.
-# Set application theme in AndroidManifest.xml to hide title and system buttons.
@code{.xml}
<application
android:icon="@drawable/icon"
android:label="@string/app_name"
android:theme="@android:style/Theme.NoTitleBar.Fullscreen" >
@endcode
10. Add OpenCV library initialization to your activity. Fix errors by adding requited imports.
-# Add OpenCV library initialization to your activity. Fix errors by adding requited imports.
@code{.java}
private BaseLoaderCallback mLoaderCallback = new BaseLoaderCallback(this) {
@Override
@ -305,7 +305,7 @@ application. It will be capable of accessing camera output, processing it and di
OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_6, this, mLoaderCallback);
}
@endcode
11. Defines that your activity implements CvCameraViewListener2 interface and fix activity related
-# Defines that your activity implements CvCameraViewListener2 interface and fix activity related
errors by defining missed methods. For this activity define onCreate, onDestroy and onPause and
implement them according code snippet bellow. Fix errors by adding requited imports.
@code{.java}
@ -346,7 +346,7 @@ application. It will be capable of accessing camera output, processing it and di
return inputFrame.rgba();
}
@endcode
12. Run your application on device or emulator.
-# Run your application on device or emulator.
Lets discuss some most important steps. Every Android application with UI must implement Activity
and View. By the first steps we create blank activity and default view layout. The simplest

35
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@ -32,9 +32,11 @@ tutorial](http://docs.opencv.org/2.4.4-beta/doc/tutorials/introduction/desktop_j
If you are in hurry, here is a minimum quick start guide to install OpenCV on Mac OS X:
NOTE 1: I'm assuming you already installed [xcode](https://developer.apple.com/xcode/),
@note
I'm assuming you already installed [xcode](https://developer.apple.com/xcode/),
[jdk](http://www.oracle.com/technetwork/java/javase/downloads/index.html) and
[Cmake](http://www.cmake.org/cmake/resources/software.html).
@code{.bash}
cd ~/
mkdir opt
@ -60,9 +62,9 @@ cycle of your CLJ projects.
The available [installation guide](https://github.com/technomancy/leiningen#installation) is very
easy to be followed:
1. [Download the script](https://raw.github.com/technomancy/leiningen/stable/bin/lein)
2. Place it on your $PATH (cf. \~/bin is a good choice if it is on your path.)
3. Set the script to be executable. (i.e. chmod 755 \~/bin/lein).
-# [Download the script](https://raw.github.com/technomancy/leiningen/stable/bin/lein)
-# Place it on your $PATH (cf. \~/bin is a good choice if it is on your path.)
-# Set the script to be executable. (i.e. chmod 755 \~/bin/lein).
If you work on Windows, follow [this instruction](https://github.com/technomancy/leiningen#windows)
@ -171,9 +173,9 @@ Your directories layout should look like the following:
tree
.
|__ native
|   |__ macosx
|   |__ x86_64
|   |__ libopencv_java247.dylib
| |__ macosx
| |__ x86_64
| |__ libopencv_java247.dylib
|
|__ opencv-247.jar
|__ opencv-native-247.jar
@ -215,13 +217,13 @@ simple-sample/
|__ LICENSE
|__ README.md
|__ doc
|   |__ intro.md
| |__ intro.md
|
|__ project.clj
|__ resources
|__ src
|   |__ simple_sample
|   |__ core.clj
| |__ simple_sample
| |__ core.clj
|__ test
|__ simple_sample
|__ core_test.clj
@ -299,7 +301,9 @@ nil
Then you can start interacting with OpenCV by just referencing the fully qualified names of its
classes.
NOTE 2: [Here](http://docs.opencv.org/java/) you can find the full OpenCV Java API.
@note
[Here](http://docs.opencv.org/java/) you can find the full OpenCV Java API.
@code{.clojure}
user=> (org.opencv.core.Point. 0 0)
#<Point {0.0, 0.0}>
@ -409,6 +413,7 @@ class SimpleSample {
}
@endcode
### Add injections to the project
Before start coding, we'd like to eliminate the boring need of interactively loading the native
@ -454,6 +459,7 @@ We're going to mimic almost verbatim the original OpenCV java tutorial to:
- change the value of every element of the second row to 1
- change the value of every element of the 6th column to 5
- print the content of the obtained matrix
@code{.clojure}
user=> (def m (Mat. 5 10 CvType/CV_8UC1 (Scalar. 0 0)))
#'user/m
@ -473,6 +479,7 @@ user=> (println (.dump m))
0, 0, 0, 0, 0, 5, 0, 0, 0, 0]
nil
@endcode
If you are accustomed to a functional language all those abused and mutating nouns are going to
irritate your preference for verbs. Even if the CLJ interop syntax is very handy and complete, there
is still an impedance mismatch between any OOP language and any FP language (bein Scala a mixed
@ -483,6 +490,7 @@ To exit the REPL type (exit), ctr-D or (quit) at the REPL prompt.
user=> (exit)
Bye for now!
@endcode
### Interactively load and blur an image
In the next sample you will learn how to interactively load and blur and image from the REPL by
@ -500,7 +508,7 @@ main argument to both the GaussianBlur and the imwrite methods.
First we want to add an image file to a newly create directory for storing static resources of the
project.
![image](images/lena.png)
![](images/lena.png)
@code{.bash}
mkdir -p resources/images
cp ~/opt/opencv/doc/tutorials/introduction/desktop_java/images/lena.png resource/images/
@ -554,7 +562,7 @@ Bye for now!
@endcode
Following is the new blurred image of Lena.
![image](images/blurred.png)
![](images/blurred.png)
Next Steps
----------
@ -577,4 +585,3 @@ the gap.
Copyright © 2013 Giacomo (Mimmo) Cosenza aka Magomimmo
Distributed under the BSD 3-clause License, the same of OpenCV.

14
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@ -49,10 +49,11 @@ In Linux it can be achieved with the following command in Terminal:
cd ~/<my_working _directory>
git clone https://github.com/Itseez/opencv.git
@endcode
Building OpenCV
---------------
1. Create a build directory, make it current and run the following command:
-# Create a build directory, make it current and run the following command:
@code{.bash}
cmake [<some optional parameters>] -DCMAKE_TOOLCHAIN_FILE=<path to the OpenCV source directory>/platforms/linux/arm-gnueabi.toolchain.cmake <path to the OpenCV source directory>
@endcode
@ -69,13 +70,15 @@ Building OpenCV
cmake -DCMAKE_TOOLCHAIN_FILE=../arm-gnueabi.toolchain.cmake ../../..
@endcode
2. Run make in build (\<cmake_binary_dir\>) directory:
-# Run make in build (\<cmake_binary_dir\>) directory:
@code{.bash}
make
@endcode
@note
Optionally you can strip symbols info from the created library via install/strip make target.
This option produces smaller binary (\~ twice smaller) but makes further debugging harder.
Optionally you can strip symbols info from the created library via install/strip make target.
This option produces smaller binary (\~ twice smaller) but makes further debugging harder.
### Enable hardware optimizations
@ -86,5 +89,4 @@ extensions.
TBB is supported on multi core ARM SoCs also. Add -DWITH_TBB=ON and -DBUILD_TBB=ON to enable it.
Cmake scripts download TBB sources from official project site
[](http://threadingbuildingblocks.org/) and build it.
<http://threadingbuildingblocks.org/> and build it.

18
doc/tutorials/introduction/desktop_java/java_dev_intro.markdown
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@ -33,7 +33,9 @@ from the [OpenCV SourceForge repository](http://sourceforge.net/projects/opencvl
@note Windows users can find the prebuilt files needed for Java development in the
`opencv/build/java/` folder inside the package. For other OSes it's required to build OpenCV from
sources. Another option to get OpenCV sources is to clone [OpenCV git
sources.
Another option to get OpenCV sources is to clone [OpenCV git
repository](https://github.com/Itseez/opencv/). In order to build OpenCV with Java bindings you need
JDK (Java Development Kit) (we recommend [Oracle/Sun JDK 6 or
7](http://www.oracle.com/technetwork/java/javase/downloads/)), [Apache Ant](http://ant.apache.org/)
@ -67,7 +69,7 @@ Examine the output of CMake and ensure java is one of the
modules "To be built". If not, it's likely you're missing a dependency. You should troubleshoot by
looking through the CMake output for any Java-related tools that aren't found and installing them.
![image](images/cmake_output.png)
![](images/cmake_output.png)
@note If CMake can't find Java in your system set the JAVA_HOME environment variable with the path to installed JDK before running it. E.g.:
@code{.bash}
@ -141,7 +143,7 @@ folder.
The command should initiate [re]building and running the sample. You should see on the
screen something like this:
![image](images/ant_output.png)
![](images/ant_output.png)
SBT project for Java and Scala
------------------------------
@ -203,7 +205,7 @@ eclipse # Running "eclipse" from within the sbt console
@endcode
You should see something like this:
![image](images/sbt_eclipse.png)
![](images/sbt_eclipse.png)
You can now import the SBT project to Eclipse using Import ... -\> Existing projects into workspace.
Whether you actually do this is optional for the guide; we'll be using SBT to build the project, so
@ -225,7 +227,7 @@ sbt run
@endcode
You should see something like this:
![image](images/sbt_run.png)
![](images/sbt_run.png)
### Running SBT samples
@ -241,7 +243,7 @@ sbt eclipse
@endcode
Next, create the directory `src/main/resources` and download this Lena image into it:
![image](images/lena.png)
![](images/lena.png)
Make sure it's called `"lena.png"`. Items in the resources directory are available to the Java
application at runtime.
@ -315,11 +317,11 @@ sbt run
@endcode
You should see something like this:
![image](images/sbt_run_face.png)
![](images/sbt_run_face.png)
It should also write the following image to `faceDetection.png`:
![image](images/faceDetection.png)
![](images/faceDetection.png)
You're done! Now you have a sample Java application working with OpenCV, so you can start the work
on your own. We wish you good luck and many years of joyful life!

49
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@ -21,6 +21,8 @@ Download the source code from
Explanation
-----------
@dontinclude cpp/tutorial_code/introduction/display_image/display_image.cpp
In OpenCV 2 we have multiple modules. Each one takes care of a different area or approach towards
image processing. You could already observe this in the structure of the user guide of these
tutorials itself. Before you use any of them you first need to include the header files where the
@ -31,36 +33,25 @@ You'll almost always end up using the:
- *core* section, as here are defined the basic building blocks of the library
- *highgui* module, as this contains the functions for input and output operations
@includelineno cpp/tutorial_code/introduction/display_image/display_image.cpp
lines
1-6
@until <string>
We also include the *iostream* to facilitate console line output and input. To avoid data structure
and function name conflicts with other libraries, OpenCV has its own namespace: *cv*. To avoid the
need appending prior each of these the *cv::* keyword you can import the namespace in the whole file
by using the lines:
@includelineno cpp/tutorial_code/introduction/display_image/display_image.cpp
lines
8-9
@line using namespace cv
This is true for the STL library too (used for console I/O). Now, let's analyze the *main* function.
We start up assuring that we acquire a valid image name argument from the command line. Otherwise
take a picture by default: "HappyFish.jpg".
@includelineno cpp/tutorial_code/introduction/display_image/display_image.cpp
lines
13-17
@skip string
@until }
Then create a *Mat* object that will store the data of the loaded image.
@includelineno cpp/tutorial_code/introduction/display_image/display_image.cpp
lines
19
@skipline Mat
Now we call the @ref cv::imread function which loads the image name specified by the first argument
(*argv[1]*). The second argument specifies the format in what we want the image. This may be:
@ -69,10 +60,7 @@ Now we call the @ref cv::imread function which loads the image name specified by
- IMREAD_GRAYSCALE ( 0) loads the image as an intensity one
- IMREAD_COLOR (\>0) loads the image in the RGB format
@includelineno cpp/tutorial_code/introduction/display_image/display_image.cpp
lines
20
@skipline image = imread
@note
OpenCV offers support for the image formats Windows bitmap (bmp), portable image formats (pbm,
@ -94,30 +82,18 @@ the image it contains from a size point of view. It may be:
would like the image to keep its aspect ratio (*WINDOW_KEEPRATIO*) or not
(*WINDOW_FREERATIO*).
@includelineno cpp/tutorial_code/introduction/display_image/display_image.cpp
lines
28
@skipline namedWindow
Finally, to update the content of the OpenCV window with a new image use the @ref cv::imshow
function. Specify the OpenCV window name to update and the image to use during this operation:
@includelineno cpp/tutorial_code/introduction/display_image/display_image.cpp
lines
29
@skipline imshow
Because we want our window to be displayed until the user presses a key (otherwise the program would
end far too quickly), we use the @ref cv::waitKey function whose only parameter is just how long
should it wait for a user input (measured in milliseconds). Zero means to wait forever.
@includelineno cpp/tutorial_code/introduction/display_image/display_image.cpp
lines
31
@skipline waitKey
Result
------
@ -130,11 +106,10 @@ Result
@endcode
- You should get a nice window as the one shown below:
![image](images/Display_Image_Tutorial_Result.jpg)
![](images/Display_Image_Tutorial_Result.jpg)
\htmlonly
<div align="center">
<iframe title="Introduction - Display an Image" width="560" height="349" src="http://www.youtube.com/embed/1OJEqpuaGc4?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
</div>
\endhtmlonly

4
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@ -21,13 +21,13 @@ git clone https://github.com/Itseez/opencv.git
Building OpenCV from Source, using CMake and Command Line
---------------------------------------------------------
1. Make symbolic link for Xcode to let OpenCV build scripts find the compiler, header files etc.
-# Make symbolic link for Xcode to let OpenCV build scripts find the compiler, header files etc.
@code{.bash}
cd /
sudo ln -s /Applications/Xcode.app/Contents/Developer Developer
@endcode
2. Build OpenCV framework:
-# Build OpenCV framework:
@code{.bash}
cd ~/<my_working_directory>
python opencv/platforms/ios/build_framework.py ios

24
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@ -17,51 +17,51 @@ are more or less the same for other versions.
Now, we will define OpenCV as a user library in Eclipse, so we can reuse the configuration for any
project. Launch Eclipse and select Window --\> Preferences from the menu.
![image](images/1-window-preferences.png)
![](images/1-window-preferences.png)
Navigate under Java --\> Build Path --\> User Libraries and click New....
![image](images/2-user-library-new.png)
![](images/2-user-library-new.png)
Enter a name, e.g. OpenCV-2.4.6, for your new library.
![image](images/3-library-name.png)
![](images/3-library-name.png)
Now select your new user library and click Add External JARs....
![image](images/4-add-external-jars.png)
![](images/4-add-external-jars.png)
Browse through `C:\OpenCV-2.4.6\build\java\` and select opencv-246.jar. After adding the jar,
extend the opencv-246.jar and select Native library location and press Edit....
![image](images/5-native-library.png)
![](images/5-native-library.png)
Select External Folder... and browse to select the folder `C:\OpenCV-2.4.6\build\java\x64`. If you
have a 32-bit system you need to select the x86 folder instead of x64.
![image](images/6-external-folder.png)
![](images/6-external-folder.png)
Your user library configuration should look like this:
![image](images/7-user-library-final.png)
![](images/7-user-library-final.png)
Testing the configuration on a new Java project
-----------------------------------------------
Now start creating a new Java project.
![image](images/7_5-new-java-project.png)
![](images/7_5-new-java-project.png)
On the Java Settings step, under Libraries tab, select Add Library... and select OpenCV-2.4.6, then
click Finish.
![image](images/8-add-library.png)
![](images/8-add-library.png)
![image](images/9-select-user-lib.png)
![](images/9-select-user-lib.png)
Libraries should look like this:
![image](images/10-new-project-created.png)
![](images/10-new-project-created.png)
Now you have created and configured a new Java project it is time to test it. Create a new java
file. Here is a starter code for your convenience:
@ -82,7 +82,7 @@ public class Hello
@endcode
When you run the code you should see 3x3 identity matrix as output.
![image](images/11-the-code.png)
![](images/11-the-code.png)
That is it, whenever you start a new project just add the OpenCV user library that you have defined
to your project and you are good to go. Enjoy your powerful, less painful development environment :)

70
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@ -4,45 +4,45 @@ Using OpenCV with Eclipse (plugin CDT) {#tutorial_linux_eclipse}
Prerequisites
-------------
Two ways, one by forming a project directly, and another by CMake Prerequisites
1. Having installed [Eclipse](http://www.eclipse.org/) in your workstation (only the CDT plugin for
-# Having installed [Eclipse](http://www.eclipse.org/) in your workstation (only the CDT plugin for
C/C++ is needed). You can follow the following steps:
- Go to the Eclipse site
- Download [Eclipse IDE for C/C++
Developers](http://www.eclipse.org/downloads/packages/eclipse-ide-cc-developers/heliossr2) .
Choose the link according to your workstation.
2. Having installed OpenCV. If not yet, go @ref tutorial_linux_install "here".
-# Having installed OpenCV. If not yet, go @ref tutorial_linux_install "here".
Making a project
----------------
1. Start Eclipse. Just run the executable that comes in the folder.
2. Go to **File -\> New -\> C/C++ Project**
-# Start Eclipse. Just run the executable that comes in the folder.
-# Go to **File -\> New -\> C/C++ Project**
![image](images/a0.png)
![](images/a0.png)
3. Choose a name for your project (i.e. DisplayImage). An **Empty Project** should be okay for this
-# Choose a name for your project (i.e. DisplayImage). An **Empty Project** should be okay for this
example.
![image](images/a1.png)
![](images/a1.png)
4. Leave everything else by default. Press **Finish**.
5. Your project (in this case DisplayImage) should appear in the **Project Navigator** (usually at
-# Leave everything else by default. Press **Finish**.
-# Your project (in this case DisplayImage) should appear in the **Project Navigator** (usually at
the left side of your window).
![image](images/a3.png)
![](images/a3.png)
6. Now, let's add a source file using OpenCV:
-# Now, let's add a source file using OpenCV:
- Right click on **DisplayImage** (in the Navigator). **New -\> Folder** .
![image](images/a4.png)
![](images/a4.png)
- Name your folder **src** and then hit **Finish**
- Right click on your newly created **src** folder. Choose **New source file**:
- Call it **DisplayImage.cpp**. Hit **Finish**
![image](images/a7.png)
![](images/a7.png)
7. So, now you have a project with a empty .cpp file. Let's fill it with some sample code (in other
-# So, now you have a project with a empty .cpp file. Let's fill it with some sample code (in other
words, copy and paste the snippet below):
@code{.cpp}
#include <opencv2/opencv.hpp>
@ -68,7 +68,7 @@ Making a project
return 0;
}
@endcode
8. We are only missing one final step: To tell OpenCV where the OpenCV headers and libraries are.
-# We are only missing one final step: To tell OpenCV where the OpenCV headers and libraries are.
For this, do the following:
- Go to **Project--\>Properties**
@ -78,7 +78,7 @@ Making a project
include the path of the folder where opencv was installed. In our example, this is
/usr/local/include/opencv.
![image](images/a9.png)
![](images/a9.png)
@note If you do not know where your opencv files are, open the **Terminal** and type:
@code{.bash}
@ -103,7 +103,7 @@ Making a project
opencv_core opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_features2d
opencv_calib3d opencv_objdetect opencv_contrib opencv_legacy opencv_flann
![image](images/a10.png)
![](images/a10.png)
If you don't know where your libraries are (or you are just psychotic and want to make sure
the path is fine), type in **Terminal**:
@ -120,7 +120,7 @@ Making a project
In the Console you should get something like
![image](images/a12.png)
![](images/a12.png)
If you check in your folder, there should be an executable there.
@ -138,21 +138,21 @@ Assuming that the image to use as the argument would be located in
\<DisplayImage_directory\>/images/HappyLittleFish.png. We can still do this, but let's do it from
Eclipse:
1. Go to **Run-\>Run Configurations**
2. Under C/C++ Application you will see the name of your executable + Debug (if not, click over
-# Go to **Run-\>Run Configurations**
-# Under C/C++ Application you will see the name of your executable + Debug (if not, click over
C/C++ Application a couple of times). Select the name (in this case **DisplayImage Debug**).
3. Now, in the right side of the window, choose the **Arguments** Tab. Write the path of the image
-# Now, in the right side of the window, choose the **Arguments** Tab. Write the path of the image
file we want to open (path relative to the workspace/DisplayImage folder). Let's use
**HappyLittleFish.png**:
![image](images/a14.png)
![](images/a14.png)
4. Click on the **Apply** button and then in Run. An OpenCV window should pop up with the fish
-# Click on the **Apply** button and then in Run. An OpenCV window should pop up with the fish
image (or whatever you used).
![image](images/a15.jpg)
![](images/a15.jpg)
5. Congratulations! You are ready to have fun with OpenCV using Eclipse.
-# Congratulations! You are ready to have fun with OpenCV using Eclipse.
### V2: Using CMake+OpenCV with Eclipse (plugin CDT)
@ -170,25 +170,25 @@ int main ( int argc, char **argv )
return 0;
}
@endcode
1. Create a build directory, say, under *foo*: mkdir /build. Then cd build.
2. Put a `CmakeLists.txt` file in build:
-# Create a build directory, say, under *foo*: mkdir /build. Then cd build.
-# Put a `CmakeLists.txt` file in build:
@code{.bash}
PROJECT( helloworld_proj )
FIND_PACKAGE( OpenCV REQUIRED )
ADD_EXECUTABLE( helloworld helloworld.cxx )
TARGET_LINK_LIBRARIES( helloworld \f${OpenCV_LIBS} )
@endcode
1. Run: cmake-gui .. and make sure you fill in where opencv was built.
2. Then click configure and then generate. If it's OK, **quit cmake-gui**
3. Run `make -j4` (the -j4 is optional, it just tells the compiler to build in 4 threads). Make
-# Run: cmake-gui .. and make sure you fill in where opencv was built.
-# Then click configure and then generate. If it's OK, **quit cmake-gui**
-# Run `make -j4` (the -j4 is optional, it just tells the compiler to build in 4 threads). Make
sure it builds.
4. Start eclipse. Put the workspace in some directory but **not** in foo or `foo\build`
5. Right click in the Project Explorer section. Select Import And then open the C/C++ filter.
-# Start eclipse. Put the workspace in some directory but **not** in foo or `foo\build`
-# Right click in the Project Explorer section. Select Import And then open the C/C++ filter.
Choose *Existing Code* as a Makefile Project.
6. Name your project, say *helloworld*. Browse to the Existing Code location `foo\build` (where
-# Name your project, say *helloworld*. Browse to the Existing Code location `foo\build` (where
you ran your cmake-gui from). Select *Linux GCC* in the *"Toolchain for Indexer Settings"* and
press *Finish*.
7. Right click in the Project Explorer section. Select Properties. Under C/C++ Build, set the
-# Right click in the Project Explorer section. Select Properties. Under C/C++ Build, set the
*build directory:* from something like `${workspace_loc:/helloworld}` to
`${workspace_loc:/helloworld}/build` since that's where you are building to.
@ -196,4 +196,4 @@ TARGET_LINK_LIBRARIES( helloworld \f${OpenCV_LIBS} )
`make VERBOSE=1 -j4` which tells the compiler to produce detailed symbol files for debugging and
also to compile in 4 parallel threads.
8. Done!
-# Done!

10
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@ -1,13 +1,12 @@
Using OpenCV with gcc and CMake {#tutorial_linux_gcc_cmake}
===============================
@note We assume that you have successfully installed OpenCV in your workstation. .. container::
enumeratevisibleitemswithsquare
@note We assume that you have successfully installed OpenCV in your workstation.
- The easiest way of using OpenCV in your code is to use [CMake](http://www.cmake.org/). A few
advantages (taken from the Wiki):
1. No need to change anything when porting between Linux and Windows
2. Can easily be combined with other tools by CMake( i.e. Qt, ITK and VTK )
-# No need to change anything when porting between Linux and Windows
-# Can easily be combined with other tools by CMake( i.e. Qt, ITK and VTK )
- If you are not familiar with CMake, checkout the
[tutorial](http://www.cmake.org/cmake/help/cmake_tutorial.html) on its website.
@ -75,5 +74,4 @@ giving an image location as an argument, i.e.:
@endcode
You should get a nice window as the one shown below:
![image](images/GCC_CMake_Example_Tutorial.jpg)
![](images/GCC_CMake_Example_Tutorial.jpg)

20
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@ -49,7 +49,7 @@ git clone https://github.com/Itseez/opencv_contrib.git
Building OpenCV from Source Using CMake
---------------------------------------
1. Create a temporary directory, which we denote as \<cmake_build_dir\>, where you want to put
-# Create a temporary directory, which we denote as \<cmake_build_dir\>, where you want to put
the generated Makefiles, project files as well the object files and output binaries and enter
there.
@ -59,7 +59,7 @@ Building OpenCV from Source Using CMake
mkdir build
cd build
@endcode
2. Configuring. Run cmake [\<some optional parameters\>] \<path to the OpenCV source directory\>
-# Configuring. Run cmake [\<some optional parameters\>] \<path to the OpenCV source directory\>
For example
@code{.bash}
@ -73,14 +73,14 @@ Building OpenCV from Source Using CMake
- run: “Configure”
- run: “Generate”
3. Description of some parameters
- build type: CMAKE_BUILD_TYPE=Release\\Debug
-# Description of some parameters
- build type: `CMAKE_BUILD_TYPE=Release\Debug`
- to build with modules from opencv_contrib set OPENCV_EXTRA_MODULES_PATH to \<path to
opencv_contrib/modules/\>
- set BUILD_DOCS for building documents
- set BUILD_EXAMPLES to build all examples
4. [optional] Building python. Set the following python parameters:
-# [optional] Building python. Set the following python parameters:
- PYTHON2(3)_EXECUTABLE = \<path to python\>
- PYTHON_INCLUDE_DIR = /usr/include/python\<version\>
- PYTHON_INCLUDE_DIR2 = /usr/include/x86_64-linux-gnu/python\<version\>
@ -88,18 +88,18 @@ Building OpenCV from Source Using CMake
- PYTHON2(3)_NUMPY_INCLUDE_DIRS =
/usr/lib/python\<version\>/dist-packages/numpy/core/include/
5. [optional] Building java.
-# [optional] Building java.
- Unset parameter: BUILD_SHARED_LIBS
- It is useful also to unset BUILD_EXAMPLES, BUILD_TESTS, BUILD_PERF_TESTS - as they all
will be statically linked with OpenCV and can take a lot of memory.
6. Build. From build directory execute make, recomend to do it in several threads
-# Build. From build directory execute make, recomend to do it in several threads
For example
@code{.bash}
make -j7 # runs 7 jobs in parallel
@endcode
7. [optional] Building documents. Enter \<cmake_build_dir/doc/\> and run make with target
-# [optional] Building documents. Enter \<cmake_build_dir/doc/\> and run make with target
"html_docs"
For example
@ -107,11 +107,11 @@ Building OpenCV from Source Using CMake
cd ~/opencv/build/doc/
make -j7 html_docs
@endcode
8. To install libraries, from build directory execute
-# To install libraries, from build directory execute
@code{.bash}
sudo make install
@endcode
9. [optional] Running tests
-# [optional] Running tests
- Get the required test data from [OpenCV extra
repository](https://github.com/Itseez/opencv_extra).

14
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@ -55,9 +55,9 @@ int main( int argc, char** argv )
Explanation
-----------
1. We begin by loading an image using @ref cv::imread , located in the path given by *imageName*.
-# We begin by loading an image using @ref cv::imread , located in the path given by *imageName*.
For this example, assume you are loading a RGB image.
2. Now we are going to convert our image from BGR to Grayscale format. OpenCV has a really nice
-# Now we are going to convert our image from BGR to Grayscale format. OpenCV has a really nice
function to do this kind of transformations:
@code{.cpp}
cvtColor( image, gray_image, COLOR_BGR2GRAY );
@ -70,7 +70,7 @@ Explanation
this case we use **COLOR_BGR2GRAY** (because of @ref cv::imread has BGR default channel
order in case of color images).
3. So now we have our new *gray_image* and want to save it on disk (otherwise it will get lost
-# So now we have our new *gray_image* and want to save it on disk (otherwise it will get lost
after the program ends). To save it, we will use a function analagous to @ref cv::imread : @ref
cv::imwrite
@code{.cpp}
@ -79,7 +79,7 @@ Explanation
Which will save our *gray_image* as *Gray_Image.jpg* in the folder *images* located two levels
up of my current location.
4. Finally, let's check out the images. We create two windows and use them to show the original
-# Finally, let's check out the images. We create two windows and use them to show the original
image as well as the new one:
@code{.cpp}
namedWindow( imageName, WINDOW_AUTOSIZE );
@ -88,18 +88,18 @@ Explanation
imshow( imageName, image );
imshow( "Gray image", gray_image );
@endcode
5. Add the *waitKey(0)* function call for the program to wait forever for an user key press.
-# Add the *waitKey(0)* function call for the program to wait forever for an user key press.
Result
------
When you run your program you should get something like this:
![image](images/Load_Save_Image_Result_1.jpg)
![](images/Load_Save_Image_Result_1.jpg)
And if you check in your folder (in my case *images*), you should have a newly .jpg file named
*Gray_Image.jpg*:
![image](images/Load_Save_Image_Result_2.jpg)
![](images/Load_Save_Image_Result_2.jpg)
Congratulations, you are done with this tutorial!

64
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@ -14,15 +14,15 @@ technologies we integrate into our library. .. _Windows_Install_Prebuild:
Installation by Using the Pre-built Libraries {#tutorial_windows_install_prebuilt}
=============================================
1. Launch a web browser of choice and go to our [page on
-# Launch a web browser of choice and go to our [page on
Sourceforge](http://sourceforge.net/projects/opencvlibrary/files/opencv-win/).
2. Choose a build you want to use and download it.
3. Make sure you have admin rights. Unpack the self-extracting archive.
4. You can check the installation at the chosen path as you can see below.
-# Choose a build you want to use and download it.
-# Make sure you have admin rights. Unpack the self-extracting archive.
-# You can check the installation at the chosen path as you can see below.
![image](images/OpenCV_Install_Directory.png)
![](images/OpenCV_Install_Directory.png)
5. To finalize the installation go to the @ref tutorial_windows_install_path section.
-# To finalize the installation go to the @ref tutorial_windows_install_path section.
Installation by Making Your Own Libraries from the Source Files {#tutorial_windows_install_build}
===============================================================
@ -97,18 +97,18 @@ libraries). If you do not need the support for some of these you can just freely
### Building the library
1. Make sure you have a working IDE with a valid compiler. In case of the Microsoft Visual Studio
-# Make sure you have a working IDE with a valid compiler. In case of the Microsoft Visual Studio
just install it and make sure it starts up.
2. Install [CMake](http://www.cmake.org/cmake/resources/software.html). Simply follow the wizard, no need to add it to the path. The default install
-# Install [CMake](http://www.cmake.org/cmake/resources/software.html). Simply follow the wizard, no need to add it to the path. The default install
options are OK.
3. Download and install an up-to-date version of msysgit from its [official
-# Download and install an up-to-date version of msysgit from its [official
site](http://code.google.com/p/msysgit/downloads/list). There is also the portable version,
which you need only to unpack to get access to the console version of Git. Supposing that for
some of us it could be quite enough.
4. Install [TortoiseGit](http://code.google.com/p/tortoisegit/wiki/Download). Choose the 32 or 64 bit version according to the type of OS you work in.
-# Install [TortoiseGit](http://code.google.com/p/tortoisegit/wiki/Download). Choose the 32 or 64 bit version according to the type of OS you work in.
While installing, locate your msysgit (if it doesn't do that automatically). Follow the
wizard -- the default options are OK for the most part.
5. Choose a directory in your file system, where you will download the OpenCV libraries to. I
-# Choose a directory in your file system, where you will download the OpenCV libraries to. I
recommend creating a new one that has short path and no special charachters in it, for example
`D:/OpenCV`. For this tutorial I'll suggest you do so. If you use your own path and know, what
you're doing -- it's OK.
@ -118,7 +118,7 @@ libraries). If you do not need the support for some of these you can just freely
-# Push the OK button and be patient as the repository is quite a heavy download. It will take
some time depending on your Internet connection.
6. In this section I will cover installing the 3rd party libraries.
-# In this section I will cover installing the 3rd party libraries.
-# Download the [Python libraries](http://www.python.org/downloads/) and install it with the default options. You will need a
couple other python extensions. Luckily installing all these may be automated by a nice tool
called [Setuptools](http://pypi.python.org/pypi/setuptools#downloads). Download and install
@ -131,9 +131,9 @@ libraries). If you do not need the support for some of these you can just freely
Script sub-folder. Here just pass to the *easy_install.exe* as argument the name of the
program you want to install. Add the *sphinx* argument.
![image](images/cmsdstartwindows.jpg)
![](images/cmsdstartwindows.jpg)
![image](images/Sphinx_Install.png)
![](images/Sphinx_Install.png)
@note
The *CD* navigation command works only inside a drive. For example if you are somewhere in the
@ -152,7 +152,7 @@ libraries). If you do not need the support for some of these you can just freely
sure you select for the *"Install missing packages on-the-fly"* the *Yes* option, as you can
see on the image below. Again this will take quite some time so be patient.
![image](images/MiktexInstall.png)
![](images/MiktexInstall.png)
-# For the [Intel Threading Building Blocks (*TBB*)](http://threadingbuildingblocks.org/file.php?fid=77)
download the source files and extract
@ -161,7 +161,7 @@ libraries). If you do not need the support for some of these you can just freely
the story is the same. For
exctracting the archives I recommend using the [7-Zip](http://www.7-zip.org/) application.
![image](images/IntelTBB.png)
![](images/IntelTBB.png)
-# For the [Intel IPP Asynchronous C/C++](http://software.intel.com/en-us/intel-ipp-preview) download the source files and set environment
variable **IPP_ASYNC_ROOT**. It should point to
@ -182,14 +182,14 @@ libraries). If you do not need the support for some of these you can just freely
Downloads](http://qt.nokia.com/downloads) page. Download the source files (not the
installers!!!):
![image](images/qtDownloadThisPackage.png)
![](images/qtDownloadThisPackage.png)
Extract it into a nice and short named directory like `D:/OpenCV/dep/qt/` . Then you need to
build it. Start up a *Visual* *Studio* *Command* *Prompt* (*2010*) by using the start menu
search (or navigate through the start menu
All Programs --\> Microsoft Visual Studio 2010 --\> Visual Studio Tools --\> Visual Studio Command Prompt (2010)).
![image](images/visualstudiocommandprompt.jpg)
![](images/visualstudiocommandprompt.jpg)
Now navigate to the extracted folder and enter inside it by using this console window. You
should have a folder containing files like *Install*, *Make* and so on. Use the *dir* command
@ -216,25 +216,25 @@ libraries). If you do not need the support for some of these you can just freely
Visual Studio Add-in*. After this you can make and build Qt applications without using the *Qt
Creator*. Everything is nicely integrated into Visual Studio.
7. Now start the *CMake (cmake-gui)*. You may again enter it in the start menu search or get it
-# Now start the *CMake (cmake-gui)*. You may again enter it in the start menu search or get it
from the All Programs --\> CMake 2.8 --\> CMake (cmake-gui). First, select the directory for the
source files of the OpenCV library (1). Then, specify a directory where you will build the
binary files for OpenCV (2).
![image](images/CMakeSelectBin.jpg)
![](images/CMakeSelectBin.jpg)
Press the Configure button to specify the compiler (and *IDE*) you want to use. Note that in
case you can choose between different compilers for making either 64 bit or 32 bit libraries.
Select the one you use in your application development.
![image](images/CMake_Configure_Windows.jpg)
![](images/CMake_Configure_Windows.jpg)
CMake will start out and based on your system variables will try to automatically locate as many
packages as possible. You can modify the packages to use for the build in the WITH --\> WITH_X
menu points (where *X* is the package abbreviation). Here are a list of current packages you can
turn on or off:
![image](images/CMakeBuildWithWindowsGUI.jpg)
![](images/CMakeBuildWithWindowsGUI.jpg)
Select all the packages you want to use and press again the *Configure* button. For an easier
overview of the build options make sure the *Grouped* option under the binary directory
@ -242,9 +242,9 @@ libraries). If you do not need the support for some of these you can just freely
directories. In case of these CMake will throw an error in its output window (located at the
bottom of the GUI) and set its field values, to not found constants. For example:
![image](images/CMakePackageNotFoundWindows.jpg)
![](images/CMakePackageNotFoundWindows.jpg)
![image](images/CMakeOutputPackageNotFound.jpg)
![](images/CMakeOutputPackageNotFound.jpg)
For these you need to manually set the queried directories or files path. After this press again
the *Configure* button to see if the value entered by you was accepted or not. Do this until all
@ -254,7 +254,7 @@ libraries). If you do not need the support for some of these you can just freely
option will make sure that they are categorized inside directories in the *Solution Explorer*.
It is a must have feature, if you ask me.
![image](images/CMakeBuildOptionsOpenCV.jpg)
![](images/CMakeBuildOptionsOpenCV.jpg)
Furthermore, you need to select what part of OpenCV you want to build.
@ -286,24 +286,24 @@ libraries). If you do not need the support for some of these you can just freely
IDE at the startup. Now you need to build both the *Release* and the *Debug* binaries. Use the
drop-down menu on your IDE to change to another of these after building for one of them.
![image](images/ChangeBuildVisualStudio.jpg)
![](images/ChangeBuildVisualStudio.jpg)
In the end you can observe the built binary files inside the bin directory:
![image](images/OpenCVBuildResultWindows.jpg)
![](images/OpenCVBuildResultWindows.jpg)
For the documentation you need to explicitly issue the build commands on the *doc* project for
the PDF files and on the *doc_html* for the HTML ones. Each of these will call *Sphinx* to do
all the hard work. You can find the generated documentation inside the `Build/Doc/_html` for the
HTML pages and within the `Build/Doc` the PDF manuals.
![image](images/WindowsBuildDoc.png)
![](images/WindowsBuildDoc.png)
To collect the header and the binary files, that you will use during your own projects, into a
separate directory (simillary to how the pre-built binaries ship) you need to explicitely build
the *Install* project.
![image](images/WindowsBuildInstall.png)
![](images/WindowsBuildInstall.png)
This will create an *Install* directory inside the *Build* one collecting all the built binaries
into a single place. Use this only after you built both the *Release* and *Debug* versions.
@ -314,7 +314,7 @@ libraries). If you do not need the support for some of these you can just freely
If everything is okay the *contours.exe* output should resemble the following image (if
built with Qt support):
![image](images/WindowsQtContoursOutput.png)
![](images/WindowsQtContoursOutput.png)
@note
If you use the GPU module (CUDA libraries) make sure you also upgrade to the latest drivers of
@ -353,9 +353,9 @@ following new entry (right click in the application to bring up the menu):
%OPENCV_DIR%\bin
@endcode
![image](images/PathEditorOpenCVInsertNew.png)
![](images/PathEditorOpenCVInsertNew.png)
![image](images/PathEditorOpenCVSetPath.png)
![](images/PathEditorOpenCVSetPath.png)
Save it to the registry and you are done. If you ever change the location of your build directories
or want to try out your applicaton with a different build all you will need to do is to update the

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@ -1,13 +1,13 @@
How to build applications with OpenCV inside the "Microsoft Visual Studio" {#tutorial_windows_visual_studio_Opencv}
==========================================================================
Everything I describe here will apply to the C\\C++ interface of OpenCV. I start out from the
Everything I describe here will apply to the `C\C++` interface of OpenCV. I start out from the
assumption that you have read and completed with success the @ref tutorial_windows_install tutorial.
Therefore, before you go any further make sure you have an OpenCV directory that contains the OpenCV
header files plus binaries and you have set the environment variables as described here
@ref tutorial_windows_install_path.
![image](images/OpenCV_Install_Directory.jpg)
![](images/OpenCV_Install_Directory.jpg)
The OpenCV libraries, distributed by us, on the Microsoft Windows operating system are in a
Dynamic Linked Libraries (*DLL*). These have the advantage that all the content of the
@ -58,7 +58,7 @@ create a new solution inside Visual studio by going through the File --\> New --
selection. Choose *Win32 Console Application* as type. Enter its name and select the path where to
create it. Then in the upcoming dialog make sure you create an empty project.
![image](images/NewProjectVisualStudio.jpg)
![](images/NewProjectVisualStudio.jpg)
The *local* method
------------------
@ -75,7 +75,7 @@ you can view and modify them by using the *Property Manger*. You can bring up th
View --\> Property Pages. Expand it and you can see the existing rule packages (called *Proporty
Sheets*).
![image](images/PropertyPageExample.jpg)
![](images/PropertyPageExample.jpg)
The really useful stuff of these is that you may create a rule package *once* and you can later just
add it to your new projects. Create it once and reuse it later. We want to create a new *Property
@ -83,7 +83,7 @@ Sheet* that will contain all the rules that the compiler and linker needs to kno
need a separate one for the Debug and the Release Builds. Start up with the Debug one as shown in
the image below:
![image](images/AddNewPropertySheet.jpg)
![](images/AddNewPropertySheet.jpg)
Use for example the *OpenCV_Debug* name. Then by selecting the sheet Right Click --\> Properties.
In the following I will show to set the OpenCV rules locally, as I find unnecessary to pollute
@ -93,7 +93,7 @@ group, you should add any .c/.cpp file to the project.
@code{.bash}
\f$(OPENCV_DIR)\..\..\include
@endcode
![image](images/PropertySheetOpenCVInclude.jpg)
![](images/PropertySheetOpenCVInclude.jpg)
When adding third party libraries settings it is generally a good idea to use the power behind the
environment variables. The full location of the OpenCV library may change on each system. Moreover,
@ -111,15 +111,15 @@ directory:
$(OPENCV_DIR)\lib
@endcode
![image](images/PropertySheetOpenCVLib.jpg)
![](images/PropertySheetOpenCVLib.jpg)
Then you need to specify the libraries in which the linker should look into. To do this go to the
Linker --\> Input and under the *"Additional Dependencies"* entry add the name of all modules which
you want to use:
![image](images/PropertySheetOpenCVLibrariesDebugSmple.jpg)
![](images/PropertySheetOpenCVLibrariesDebugSmple.jpg)
![image](images/PropertySheetOpenCVLibrariesDebug.jpg)
![](images/PropertySheetOpenCVLibrariesDebug.jpg)
The names of the libraries are as follow:
@code{.bash}
@ -150,19 +150,19 @@ click ok to save and do the same with a new property inside the Release rule sec
omit the *d* letters from the library names and to save the property sheets with the save icon above
them.
![image](images/PropertySheetOpenCVLibrariesRelease.jpg)
![](images/PropertySheetOpenCVLibrariesRelease.jpg)
You can find your property sheets inside your projects directory. At this point it is a wise
decision to back them up into some special directory, to always have them at hand in the future,
whenever you create an OpenCV project. Note that for Visual Studio 2010 the file extension is
*props*, while for 2008 this is *vsprops*.
![image](images/PropertySheetInsideFolder.jpg)
![](images/PropertySheetInsideFolder.jpg)
Next time when you make a new OpenCV project just use the "Add Existing Property Sheet..." menu
entry inside the Property Manager to easily add the OpenCV build rules.
![image](images/PropertyPageAddExisting.jpg)
![](images/PropertyPageAddExisting.jpg)
The *global* method
-------------------
@ -175,12 +175,12 @@ by using for instance: a Property page.
In Visual Studio 2008 you can find this under the:
Tools --\> Options --\> Projects and Solutions --\> VC++ Directories.
![image](images/VCDirectories2008.jpg)
![](images/VCDirectories2008.jpg)
In Visual Studio 2010 this has been moved to a global property sheet which is automatically added to
every project you create:
![image](images/VCDirectories2010.jpg)
![](images/VCDirectories2010.jpg)
The process is the same as described in case of the local approach. Just add the include directories
by using the environment variable *OPENCV_DIR*.
@ -210,7 +210,7 @@ OpenCV logo](samples/data/opencv-logo.png). Before starting up the application m
the image file in your current working directory. Modify the image file name inside the code to try
it out on other images too. Run it and voil á:
![image](images/SuccessVisualStudioWindows.jpg)
![](images/SuccessVisualStudioWindows.jpg)
Command line arguments with Visual Studio
-----------------------------------------
@ -230,7 +230,7 @@ with the console window on the Microsoft Windows many people come to use it almo
adding the same argument again and again while you are testing your application is, somewhat, a
cumbersome task. Luckily, in the Visual Studio there is a menu to automate all this:
![image](images/VisualStudioCommandLineArguments.jpg)
![](images/VisualStudioCommandLineArguments.jpg)
Specify here the name of the inputs and while you start your application from the Visual Studio
enviroment you have automatic argument passing. In the next introductionary tutorial you'll see an

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doc/tutorials/introduction/windows_visual_studio_image_watch/windows_visual_studio_image_watch.markdown
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@ -10,10 +10,10 @@ Prerequisites
This tutorial assumes that you have the following available:
1. Visual Studio 2012 Professional (or better) with Update 1 installed. Update 1 can be downloaded
-# Visual Studio 2012 Professional (or better) with Update 1 installed. Update 1 can be downloaded
[here](http://www.microsoft.com/en-us/download/details.aspx?id=35774).
2. An OpenCV installation on your Windows machine (Tutorial: @ref tutorial_windows_install).
3. Ability to create and build OpenCV projects in Visual Studio (Tutorial: @ref tutorial_windows_visual_studio_Opencv).
-# An OpenCV installation on your Windows machine (Tutorial: @ref tutorial_windows_install).
-# Ability to create and build OpenCV projects in Visual Studio (Tutorial: @ref tutorial_windows_visual_studio_Opencv).
Installation
------------
@ -98,13 +98,13 @@ Launch the program in the debugger (Debug --\> Start Debugging, or hit *F5*). Wh
hit, the program is paused and Visual Studio displays a yellow instruction pointer at the
breakpoint:
![image](images/breakpoint.png)
![](images/breakpoint.png)
Now you can inspect the state of you program. For example, you can bring up the *Locals* window
(Debug --\> Windows --\> Locals), which will show the names and values of the variables in the
current scope:
![image](images/vs_locals.png)
![](images/vs_locals.png)
Note that the built-in *Locals* window will display text only. This is where the Image Watch plug-in
comes in. Image Watch is like another *Locals* window, but with an image viewer built into it. To
@ -114,7 +114,7 @@ had Image Watch open, and where it was located between debugging sessions. This
to do this once--the next time you start debugging, Image Watch will be back where you left it.
Here's what the docked Image Watch window looks like at our breakpoint:
![image](images/toolwindow.jpg)
![](images/toolwindow.jpg)
The radio button at the top left (*Locals/Watch*) selects what is shown in the *Image List* below:
*Locals* lists all OpenCV image objects in the current scope (this list is automatically populated).
@ -128,7 +128,7 @@ If an image has a thumbnail, left-clicking on that image will select it for deta
*Image Viewer* on the right. The viewer lets you pan (drag mouse) and zoom (mouse wheel). It also
displays the pixel coordinate and value at the current mouse position.
![image](images/viewer.jpg)
![](images/viewer.jpg)
Note that the second image in the list, *edges*, is shown as "invalid". This indicates that some
data members of this image object have corrupt or invalid values (for example, a negative image
@ -146,18 +146,18 @@ Now assume you want to do a visual sanity check of the *cv::Canny()* implementat
*edges* image into the viewer by selecting it in the *Image List* and zoom into a region with a
clearly defined edge:
![image](images/edges_zoom.png)
![](images/edges_zoom.png)
Right-click on the *Image Viewer* to bring up the view context menu and enable Link Views (a check
box next to the menu item indicates whether the option is enabled).
![image](images/viewer_context_menu.png)
![](images/viewer_context_menu.png)
The Link Views feature keeps the view region fixed when flipping between images of the same size. To
see how this works, select the input image from the image list--you should now see the corresponding
zoomed-in region in the input image:
![image](images/input_zoom.png)
![](images/input_zoom.png)
You may also switch back and forth between viewing input and edges with your up/down cursor keys.
That way you can easily verify that the detected edges line up nicely with the data in the input
@ -168,12 +168,12 @@ More ...
Image watch has a number of more advanced features, such as
1. pinning images to a *Watch* list for inspection across scopes or between debugging sessions
2. clamping, thresholding, or diff'ing images directly inside the Watch window
3. comparing an in-memory image against a reference image from a file
-# pinning images to a *Watch* list for inspection across scopes or between debugging sessions
-# clamping, thresholding, or diff'ing images directly inside the Watch window
-# comparing an in-memory image against a reference image from a file
Please refer to the online [Image Watch
Documentation](http://go.microsoft.com/fwlink/?LinkId=285461) for details--you also can get to the
documentation page by clicking on the *Help* link in the Image Watch window:
![image](images/help_button.jpg)
![](images/help_button.jpg)

49
doc/tutorials/ios/hello/hello.markdown
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@ -9,46 +9,45 @@ In this tutorial we will learn how to:
- Link OpenCV framework with Xcode
- How to write simple Hello World application using OpenCV and Xcode.
*Linking OpenCV iOS*
--------------------
Linking OpenCV iOS
------------------
Follow this step by step guide to link OpenCV to iOS.
1. Create a new XCode project.
2. Now we need to link *opencv2.framework* with Xcode. Select the project Navigator in the left
-# Create a new XCode project.
-# Now we need to link *opencv2.framework* with Xcode. Select the project Navigator in the left
hand panel and click on project name.
3. Under the TARGETS click on Build Phases. Expand Link Binary With Libraries option.
4. Click on Add others and go to directory where *opencv2.framework* is located and click open
5. Now you can start writing your application.
-# Under the TARGETS click on Build Phases. Expand Link Binary With Libraries option.
-# Click on Add others and go to directory where *opencv2.framework* is located and click open
-# Now you can start writing your application.
![image](images/linking_opencv_ios.png)
![](images/linking_opencv_ios.png)
*Hello OpenCV iOS Application*
------------------------------
Hello OpenCV iOS Application
----------------------------
Now we will learn how to write a simple Hello World Application in Xcode using OpenCV.
- Link your project with OpenCV as shown in previous section.
- Open the file named *NameOfProject-Prefix.pch* ( replace NameOfProject with name of your
project) and add the following lines of code.
@code{.cpp}
#ifdef __cplusplus
#import <opencv2/opencv.hpp>
#endif
@endcode
![image](images/header_directive.png)
@code{.m}
#ifdef __cplusplus
#import <opencv2/opencv.hpp>
#endif
@endcode
![](images/header_directive.png)
- Add the following lines of code to viewDidLoad method in ViewController.m.
@code{.cpp}
UIAlertView * alert = [[UIAlertView alloc] initWithTitle:@"Hello!" message:@"Welcome to OpenCV" delegate:self cancelButtonTitle:@"Continue" otherButtonTitles:nil];
[alert show];
@endcode
![image](images/view_did_load.png)
@code{.m}
UIAlertView * alert = [[UIAlertView alloc] initWithTitle:@"Hello!" message:@"Welcome to OpenCV" delegate:self cancelButtonTitle:@"Continue" otherButtonTitles:nil];
[alert show];
@endcode
![](images/view_did_load.png)
- You are good to run the project.
*Output*
--------
![image](images/output.png)
Output
------
![](images/output.png)

18
doc/tutorials/ios/image_manipulation/image_manipulation.markdown
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@ -6,14 +6,14 @@ Goal
In this tutorial we will learn how to do basic image processing using OpenCV in iOS.
*Introduction*
--------------
Introduction
------------
In *OpenCV* all the image processing operations are usually carried out on the *Mat* structure. In
iOS however, to render an image on screen it have to be an instance of the *UIImage* class. To
convert an *OpenCV Mat* to an *UIImage* we use the *Core Graphics* framework available in iOS. Below
is the code needed to covert back and forth between Mat's and UIImage's.
@code{.cpp}
@code{.m}
- (cv::Mat)cvMatFromUIImage:(UIImage *)image
{
CGColorSpaceRef colorSpace = CGImageGetColorSpace(image.CGImage);
@ -37,7 +37,7 @@ is the code needed to covert back and forth between Mat's and UIImage's.
return cvMat;
}
@endcode
@code{.cpp}
@code{.m}
- (cv::Mat)cvMatGrayFromUIImage:(UIImage *)image
{
CGColorSpaceRef colorSpace = CGImageGetColorSpace(image.CGImage);
@ -63,12 +63,12 @@ is the code needed to covert back and forth between Mat's and UIImage's.
@endcode
After the processing we need to convert it back to UIImage. The code below can handle both
gray-scale and color image conversions (determined by the number of channels in the *if* statement).
@code{.cpp}
@code{.m}
cv::Mat greyMat;
cv::cvtColor(inputMat, greyMat, COLOR_BGR2GRAY);
@endcode
After the processing we need to convert it back to UIImage.
@code{.cpp}
@code{.m}
-(UIImage *)UIImageFromCVMat:(cv::Mat)cvMat
{
NSData *data = [NSData dataWithBytes:cvMat.data length:cvMat.elemSize()*cvMat.total()];
@ -106,10 +106,11 @@ After the processing we need to convert it back to UIImage.
return finalImage;
}
@endcode
*Output*
Output
--------
![image](images/output.jpg)
![](images/output.jpg)
Check out an instance of running code with more Image Effects on
[YouTube](http://www.youtube.com/watch?v=Ko3K_xdhJ1I) .
@ -119,4 +120,3 @@ Check out an instance of running code with more Image Effects on
<iframe width="560" height="350" src="http://www.youtube.com/embed/Ko3K_xdhJ1I" frameborder="0" allowfullscreen></iframe>
</div>
\endhtmlonly

8
doc/tutorials/ios/video_processing/video_processing.markdown
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@ -14,11 +14,11 @@ Including OpenCV library in your iOS project
The OpenCV library comes as a so-called framework, which you can directly drag-and-drop into your
XCode project. Download the latest binary from
\<<http://sourceforge.net/projects/opencvlibrary/files/opencv-ios/>\>. Alternatively follow this
<http://sourceforge.net/projects/opencvlibrary/files/opencv-ios/>. Alternatively follow this
guide @ref tutorial_ios_install to compile the framework manually. Once you have the framework, just
drag-and-drop into XCode:
![image](images/xcode_hello_ios_framework_drag_and_drop.png)
![](images/xcode_hello_ios_framework_drag_and_drop.png)
Also you have to locate the prefix header that is used for all header files in the project. The file
is typically located at "ProjectName/Supporting Files/ProjectName-Prefix.pch". There, you have add
@ -54,7 +54,7 @@ First, we create a simple iOS project, for example Single View Application. Then
an UIImageView and UIButton to start the camera and display the video frames. The storyboard could
look like that:
![image](images/xcode_hello_ios_viewcontroller_layout.png)
![](images/xcode_hello_ios_viewcontroller_layout.png)
Make sure to add and connect the IBOutlets and IBActions to the corresponding ViewController:
@code{.objc}
@ -127,7 +127,7 @@ should have at least the following frameworks in your project:
- UIKit
- Foundation
![image](images/xcode_hello_ios_frameworks_add_dependencies.png)
![](images/xcode_hello_ios_frameworks_add_dependencies.png)
#### Processing frames

30
doc/tutorials/ml/introduction_to_svm/introduction_to_svm.markdown
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@ -23,26 +23,28 @@ In which sense is the hyperplane obtained optimal? Let's consider the following
For a linearly separable set of 2D-points which belong to one of two classes, find a separating
straight line.
![image](images/separating-lines.png)
![](images/separating-lines.png)
@note In this example we deal with lines and points in the Cartesian plane instead of hyperplanes
and vectors in a high dimensional space. This is a simplification of the problem.It is important to
understand that this is done only because our intuition is better built from examples that are easy
to imagine. However, the same concepts apply to tasks where the examples to classify lie in a space
whose dimension is higher than two. In the above picture you can see that there exists multiple
whose dimension is higher than two.
In the above picture you can see that there exists multiple
lines that offer a solution to the problem. Is any of them better than the others? We can
intuitively define a criterion to estimate the worth of the lines:
A line is bad if it passes too close to the points because it will be noise sensitive and it will
not generalize correctly. Therefore, our goal should be to find the line passing as far as
possible from all points.
- A line is bad if it passes too close to the points because it will be noise sensitive and it will
not generalize correctly. Therefore, our goal should be to find the line passing as far as
possible from all points.
Then, the operation of the SVM algorithm is based on finding the hyperplane that gives the largest
minimum distance to the training examples. Twice, this distance receives the important name of
**margin** within SVM's theory. Therefore, the optimal separating hyperplane *maximizes* the margin
of the training data.
![image](images/optimal-hyperplane.png)
![](images/optimal-hyperplane.png)
How is the optimal hyperplane computed?
---------------------------------------
@ -55,7 +57,9 @@ where \f$\beta\f$ is known as the *weight vector* and \f$\beta_{0}\f$ as the *bi
@sa A more in depth description of this and hyperplanes you can find in the section 4.5 (*Seperating
Hyperplanes*) of the book: *Elements of Statistical Learning* by T. Hastie, R. Tibshirani and J. H.
Friedman. The optimal hyperplane can be represented in an infinite number of different ways by
Friedman.
The optimal hyperplane can be represented in an infinite number of different ways by
scaling of \f$\beta\f$ and \f$\beta_{0}\f$. As a matter of convention, among all the possible
representations of the hyperplane, the one chosen is
@ -99,7 +103,7 @@ Source Code
Explanation
-----------
1. **Set up the training data**
-# **Set up the training data**
The training data of this exercise is formed by a set of labeled 2D-points that belong to one of
two different classes; one of the classes consists of one point and the other of three points.
@ -115,7 +119,7 @@ Explanation
Mat labelsMat (4, 1, CV_32FC1, labels);
@endcode
2. **Set up SVM's parameters**
-# **Set up SVM's parameters**
In this tutorial we have introduced the theory of SVMs in the most simple case, when the
training examples are spread into two classes that are linearly separable. However, SVMs can be
@ -149,7 +153,7 @@ Explanation
less number of steps even if the optimal hyperplane has not been computed yet. This
parameter is defined in a structure @ref cv::cvTermCriteria .
3. **Train the SVM**
-# **Train the SVM**
We call the method
[CvSVM::train](http://docs.opencv.org/modules/ml/doc/support_vector_machines.html#cvsvm-train)
@ -159,7 +163,7 @@ Explanation
SVM.train(trainingDataMat, labelsMat, Mat(), Mat(), params);
@endcode
4. **Regions classified by the SVM**
-# **Regions classified by the SVM**
The method @ref cv::ml::SVM::predict is used to classify an input sample using a trained SVM. In
this example we have used this method in order to color the space depending on the prediction done
@ -183,7 +187,7 @@ Explanation
}
@endcode
5. **Support vectors**
-# **Support vectors**
We use here a couple of methods to obtain information about the support vectors.
The method @ref cv::ml::SVM::getSupportVectors obtain all of the support
@ -209,4 +213,4 @@ Results
optimal separating hyperplane.
- Finally the support vectors are shown using gray rings around the training examples.
![image](images/svm_intro_result.png)
![](images/svm_intro_result.png)

32
doc/tutorials/ml/non_linear_svms/non_linear_svms.markdown
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@ -61,11 +61,13 @@ region. The following picture shows non-linearly separable training data from tw
separating hyperplane and the distances to their correct regions of the samples that are
misclassified.
![image](images/sample-errors-dist.png)
![](images/sample-errors-dist.png)
@note Only the distances of the samples that are misclassified are shown in the picture. The
distances of the rest of the samples are zero since they lay already in their correct decision
region. The red and blue lines that appear on the picture are the margins to each one of the
region.
The red and blue lines that appear on the picture are the margins to each one of the
decision regions. It is very **important** to realize that each of the \f$\xi_{i}\f$ goes from a
misclassified training sample to the margin of its appropriate region.
@ -93,13 +95,10 @@ or [download it from here ](samples/cpp/tutorial_code/ml/non_linear_svms/non_lin
@includelineno cpp/tutorial_code/ml/non_linear_svms/non_linear_svms.cpp
lines
1-12, 23-24, 27-
Explanation
-----------
1. **Set up the training data**
-# **Set up the training data**
The training data of this exercise is formed by a set of labeled 2D-points that belong to one of
two different classes. To make the exercise more appealing, the training data is generated
@ -140,7 +139,7 @@ Explanation
rng.fill(c, RNG::UNIFORM, Scalar(1), Scalar(HEIGHT));
@endcode
2. **Set up SVM's parameters**
-# **Set up SVM's parameters**
@sa
In the previous tutorial @ref tutorial_introduction_to_svm there is an explanation of the atributes of the
@ -161,12 +160,13 @@ Explanation
of obtaining a solution close to the one intuitively expected. However, we recommend to get a
better insight of the problem by making adjustments to this parameter.
@note Here there are just very few points in the overlapping region between classes, giving a smaller value to **FRAC_LINEAR_SEP** the density of points can be incremented and the impact of the parameter **CvSVM::C_SVC** explored deeply.
- *Termination Criteria of the algorithm*. The maximum number of iterations has to be
increased considerably in order to solve correctly a problem with non-linearly separable
training data. In particular, we have increased in five orders of magnitude this value.
@note Here there are just very few points in the overlapping region between classes, giving a smaller value to **FRAC_LINEAR_SEP** the density of points can be incremented and the impact of the parameter **CvSVM::C_SVC** explored deeply.
3. **Train the SVM**
- *Termination Criteria of the algorithm*. The maximum number of iterations has to be
increased considerably in order to solve correctly a problem with non-linearly separable
training data. In particular, we have increased in five orders of magnitude this value.
-# **Train the SVM**
We call the method @ref cv::ml::SVM::train to build the SVM model. Watch out that the training
process may take a quite long time. Have patiance when your run the program.
@ -175,7 +175,7 @@ Explanation
svm.train(trainData, labels, Mat(), Mat(), params);
@endcode
4. **Show the Decision Regions**
-# **Show the Decision Regions**
The method @ref cv::ml::SVM::predict is used to classify an input sample using a trained SVM. In
this example we have used this method in order to color the space depending on the prediction done
@ -195,7 +195,7 @@ Explanation
}
@endcode
5. **Show the training data**
-# **Show the training data**
The method @ref cv::circle is used to show the samples that compose the training data. The samples
of the class labeled with 1 are shown in light green and in light blue the samples of the class
@ -220,7 +220,7 @@ Explanation
}
@endcode
6. **Support vectors**
-# **Support vectors**
We use here a couple of methods to obtain information about the support vectors. The method
@ref cv::ml::SVM::getSupportVectors obtain all support vectors.
@ -250,7 +250,7 @@ Results
and some blue points lay on the green one.
- Finally the support vectors are shown using gray rings around the training examples.
![image](images/svm_non_linear_result.png)
![](images/svm_non_linear_result.png)
You may observe a runtime instance of this on the [YouTube here](https://www.youtube.com/watch?v=vFv2yPcSo-Q).

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@ -113,16 +113,16 @@ Explanation
Result
------
1. Here is the result of running the code above and using as input the video stream of a build-in
-# Here is the result of running the code above and using as input the video stream of a build-in
webcam:
![image](images/Cascade_Classifier_Tutorial_Result_Haar.jpg)
![](images/Cascade_Classifier_Tutorial_Result_Haar.jpg)
Remember to copy the files *haarcascade_frontalface_alt.xml* and
*haarcascade_eye_tree_eyeglasses.xml* in your current directory. They are located in
*opencv/data/haarcascades*
2. This is the result of using the file *lbpcascade_frontalface.xml* (LBP trained) for the face
-# This is the result of using the file *lbpcascade_frontalface.xml* (LBP trained) for the face
detection. For the eyes we keep using the file used in the tutorial.
![image](images/Cascade_Classifier_Tutorial_Result_LBP.jpg)
![](images/Cascade_Classifier_Tutorial_Result_LBP.jpg)

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doc/tutorials/photo/hdr_imaging/hdr_imaging.markdown
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@ -26,40 +26,43 @@ be implemented using different algorithms so take a look at the reference manual
Exposure sequence
-----------------
![image](images/memorial.png)
![](images/memorial.png)
### Source Code
Source Code
-----------
@includelineno cpp/tutorial_code/photo/hdr_imaging/hdr_imaging.cpp
### Explanation
Explanation
-----------
1. **Load images and exposure times**
@code{.cpp}
vector<Mat> images;
vector<float> times;
loadExposureSeq(argv[1], images, times);
@endcode
Firstly we load input images and exposure times from user-defined folder. The folder should
contain images and *list.txt* - file that contains file names and inverse exposure times.
-# **Load images and exposure times**
@code{.cpp}
vector<Mat> images;
vector<float> times;
loadExposureSeq(argv[1], images, times);
@endcode
Firstly we load input images and exposure times from user-defined folder. The folder should
contain images and *list.txt* - file that contains file names and inverse exposure times.
For our image sequence the list is following:
@code{.none}
memorial00.png 0.03125
memorial01.png 0.0625
...
memorial15.png 1024
@endcode
2. **Estimate camera response**
@code{.cpp}
Mat response;
Ptr<CalibrateDebevec> calibrate = createCalibrateDebevec();
calibrate->process(images, response, times);
@endcode
It is necessary to know camera response function (CRF) for a lot of HDR construction algorithms.
We use one of the calibration algorithms to estimate inverse CRF for all 256 pixel values.
For our image sequence the list is following:
@code{.none}
memorial00.png 0.03125
memorial01.png 0.0625
...
memorial15.png 1024
@endcode
3. **Make HDR image**
-# **Estimate camera response**
@code{.cpp}
Mat response;
Ptr<CalibrateDebevec> calibrate = createCalibrateDebevec();
calibrate->process(images, response, times);
@endcode
It is necessary to know camera response function (CRF) for a lot of HDR construction algorithms.
We use one of the calibration algorithms to estimate inverse CRF for all 256 pixel values.
-# **Make HDR image**
@code{.cpp}
Mat hdr;
Ptr<MergeDebevec> merge_debevec = createMergeDebevec();
@ -68,45 +71,43 @@ merge_debevec->process(images, hdr, times, response);
We use Debevec's weighting scheme to construct HDR image using response calculated in the previous
item.
4. **Tonemap HDR image**
@code{.cpp}
Mat ldr;
Ptr<TonemapDurand> tonemap = createTonemapDurand(2.2f);
tonemap->process(hdr, ldr);
@endcode
Since we want to see our results on common LDR display we have to map our HDR image to 8-bit range
preserving most details. It is the main goal of tonemapping methods. We use tonemapper with
bilateral filtering and set 2.2 as the value for gamma correction.
-# **Tonemap HDR image**
@code{.cpp}
Mat ldr;
Ptr<TonemapDurand> tonemap = createTonemapDurand(2.2f);
tonemap->process(hdr, ldr);
@endcode
Since we want to see our results on common LDR display we have to map our HDR image to 8-bit range
preserving most details. It is the main goal of tonemapping methods. We use tonemapper with
bilateral filtering and set 2.2 as the value for gamma correction.
5. **Perform exposure fusion**
@code{.cpp}
Mat fusion;
Ptr<MergeMertens> merge_mertens = createMergeMertens();
merge_mertens->process(images, fusion);
@endcode
There is an alternative way to merge our exposures in case when we don't need HDR image. This
process is called exposure fusion and produces LDR image that doesn't require gamma correction. It
also doesn't use exposure values of the photographs.
-# **Perform exposure fusion**
@code{.cpp}
Mat fusion;
Ptr<MergeMertens> merge_mertens = createMergeMertens();
merge_mertens->process(images, fusion);
@endcode
There is an alternative way to merge our exposures in case when we don't need HDR image. This
process is called exposure fusion and produces LDR image that doesn't require gamma correction. It
also doesn't use exposure values of the photographs.
6. **Write results**
@code{.cpp}
imwrite("fusion.png", fusion * 255);
imwrite("ldr.png", ldr * 255);
imwrite("hdr.hdr", hdr);
@endcode
Now it's time to look at the results. Note that HDR image can't be stored in one of common image
formats, so we save it to Radiance image (.hdr). Also all HDR imaging functions return results in
[0, 1] range so we should multiply result by 255.
-# **Write results**
@code{.cpp}
imwrite("fusion.png", fusion * 255);
imwrite("ldr.png", ldr * 255);
imwrite("hdr.hdr", hdr);
@endcode
Now it's time to look at the results. Note that HDR image can't be stored in one of common image
formats, so we save it to Radiance image (.hdr). Also all HDR imaging functions return results in
[0, 1] range so we should multiply result by 255.
### Results
Results
-------
Tonemapped image
----------------
### Tonemapped image
![image](images/ldr.png)
![](images/ldr.png)
Exposure fusion
---------------
![image](images/fusion.png)
### Exposure fusion
![](images/fusion.png)

5
doc/tutorials/tutorials.markdown
View File

@ -75,8 +75,3 @@ As always, we would be happy to hear your comments and receive your contribution
These tutorials show how to use Viz module effectively.
- @subpage tutorial_table_of_content_general
These tutorials
are the bottom of the iceberg as they link together multiple of the modules presented above in
order to solve complex problems.

224
doc/tutorials/video/background_subtraction/background_subtraction.markdown
View File

@ -9,12 +9,12 @@ How to Use Background Subtraction Methods {#tutorial_background_subtraction}
general, everything that can be considered as background given the characteristics of the
observed scene.
![image](images/Background_Subtraction_Tutorial_Scheme.png)
![](images/Background_Subtraction_Tutorial_Scheme.png)
- Background modeling consists of two main steps:
1. Background Initialization;
2. Background Update.
-# Background Initialization;
-# Background Update.
In the first step, an initial model of the background is computed, while in the second step that
model is updated in order to adapt to possible changes in the scene.
@ -28,11 +28,11 @@ Goals
In this tutorial you will learn how to:
1. Read data from videos by using @ref cv::VideoCapture or image sequences by using @ref
-# Read data from videos by using @ref cv::VideoCapture or image sequences by using @ref
cv::imread ;
2. Create and update the background model by using @ref cv::BackgroundSubtractor class;
3. Get and show the foreground mask by using @ref cv::imshow ;
4. Save the output by using @ref cv::imwrite to quantitatively evaluate the results.
-# Create and update the background model by using @ref cv::BackgroundSubtractor class;
-# Get and show the foreground mask by using @ref cv::imshow ;
-# Save the output by using @ref cv::imwrite to quantitatively evaluate the results.
Code
----
@ -40,201 +40,28 @@ Code
In the following you can find the source code. We will let the user chose to process either a video
file or a sequence of images.
-
Two different methods are used to generate two foreground masks:
1. @ref cv::bgsegm::BackgroundSubtractorMOG
2. @ref cv::bgsegm::BackgroundSubtractorMOG2
Two different methods are used to generate two foreground masks:
-# @ref cv::bgsegm::BackgroundSubtractorMOG
-# @ref cv::BackgroundSubtractorMOG2
The results as well as the input data are shown on the screen.
@code{.cpp}
//opencv
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/background_segm.hpp>
//C
#include <stdio.h>
//C++
#include <iostream>
#include <sstream>
The source file can be downloaded [here ](samples/cpp/tutorial_code/video/bg_sub.cpp).
using namespace cv;
using namespace std;
//global variables
Mat frame; //current frame
Mat fgMaskMOG; //fg mask generated by MOG method
Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
Ptr<BackgroundSubtractor> pMOG; //MOG Background subtractor
Ptr<BackgroundSubtractor> pMOG2; //MOG2 Background subtractor
int keyboard;
//function declarations
void help();
void processVideo(char* videoFilename);
void processImages(char* firstFrameFilename);
void help()
{
cout
<< "--------------------------------------------------------------------------" << endl
<< "This program shows how to use background subtraction methods provided by " << endl
<< " OpenCV. You can process both videos (-vid) and images (-img)." << endl
<< endl
<< "Usage:" << endl
<< "./bs {-vid <video filename>|-img <image filename>}" << endl
<< "for example: ./bs -vid video.avi" << endl
<< "or: ./bs -img /data/images/1.png" << endl
<< "--------------------------------------------------------------------------" << endl
<< endl;
}
int main(int argc, char* argv[])
{
//print help information
help();
//check for the input parameter correctness
if(argc != 3) {
cerr <<"Incorret input list" << endl;
cerr <<"exiting..." << endl;
return EXIT_FAILURE;
}
//create GUI windows
namedWindow("Frame");
namedWindow("FG Mask MOG");
namedWindow("FG Mask MOG 2");
//create Background Subtractor objects
pMOG = createBackgroundSubtractorMOG(); //MOG approach
pMOG2 = createBackgroundSubtractorMOG2(); //MOG2 approach
if(strcmp(argv[1], "-vid") == 0) {
//input data coming from a video
processVideo(argv[2]);
}
else if(strcmp(argv[1], "-img") == 0) {
//input data coming from a sequence of images
processImages(argv[2]);
}
else {
//error in reading input parameters
cerr <<"Please, check the input parameters." << endl;
cerr <<"Exiting..." << endl;
return EXIT_FAILURE;
}
//destroy GUI windows
destroyAllWindows();
return EXIT_SUCCESS;
}
void processVideo(char* videoFilename) {
//create the capture object
VideoCapture capture(videoFilename);
if(!capture.isOpened()){
//error in opening the video input
cerr << "Unable to open video file: " << videoFilename << endl;
exit(EXIT_FAILURE);
}
//read input data. ESC or 'q' for quitting
while( (char)keyboard != 'q' && (char)keyboard != 27 ){
//read the current frame
if(!capture.read(frame)) {
cerr << "Unable to read next frame." << endl;
cerr << "Exiting..." << endl;
exit(EXIT_FAILURE);
}
//update the background model
pMOG->apply(frame, fgMaskMOG);
pMOG2->apply(frame, fgMaskMOG2);
//get the frame number and write it on the current frame
stringstream ss;
rectangle(frame, cv::Point(10, 2), cv::Point(100,20),
cv::Scalar(255,255,255), -1);
ss << capture.get(CAP_PROP_POS_FRAMES);
string frameNumberString = ss.str();
putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5 , cv::Scalar(0,0,0));
//show the current frame and the fg masks
imshow("Frame", frame);
imshow("FG Mask MOG", fgMaskMOG);
imshow("FG Mask MOG 2", fgMaskMOG2);
//get the input from the keyboard
keyboard = waitKey( 30 );
}
//delete capture object
capture.release();
}
void processImages(char* fistFrameFilename) {
//read the first file of the sequence
frame = imread(fistFrameFilename);
if(!frame.data){
//error in opening the first image
cerr << "Unable to open first image frame: " << fistFrameFilename << endl;
exit(EXIT_FAILURE);
}
//current image filename
string fn(fistFrameFilename);
//read input data. ESC or 'q' for quitting
while( (char)keyboard != 'q' && (char)keyboard != 27 ){
//update the background model
pMOG->apply(frame, fgMaskMOG);
pMOG2->apply(frame, fgMaskMOG2);
//get the frame number and write it on the current frame
size_t index = fn.find_last_of("/");
if(index == string::npos) {
index = fn.find_last_of("\\");
}
size_t index2 = fn.find_last_of(".");
string prefix = fn.substr(0,index+1);
string suffix = fn.substr(index2);
string frameNumberString = fn.substr(index+1, index2-index-1);
istringstream iss(frameNumberString);
int frameNumber = 0;
iss >> frameNumber;
rectangle(frame, cv::Point(10, 2), cv::Point(100,20),
cv::Scalar(255,255,255), -1);
putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5 , cv::Scalar(0,0,0));
//show the current frame and the fg masks
imshow("Frame", frame);
imshow("FG Mask MOG", fgMaskMOG);
imshow("FG Mask MOG 2", fgMaskMOG2);
//get the input from the keyboard
keyboard = waitKey( 30 );
//search for the next image in the sequence
ostringstream oss;
oss << (frameNumber + 1);
string nextFrameNumberString = oss.str();
string nextFrameFilename = prefix + nextFrameNumberString + suffix;
//read the next frame
frame = imread(nextFrameFilename);
if(!frame.data){
//error in opening the next image in the sequence
cerr << "Unable to open image frame: " << nextFrameFilename << endl;
exit(EXIT_FAILURE);
}
//update the path of the current frame
fn.assign(nextFrameFilename);
}
}
@endcode
- The source file can be downloaded [here ](samples/cpp/tutorial_code/video/bg_sub.cpp).
@includelineno samples/cpp/tutorial_code/video/bg_sub.cpp
Explanation
-----------
We discuss the main parts of the above code:
1. First, three Mat objects are allocated to store the current frame and two foreground masks,
-# First, three Mat objects are allocated to store the current frame and two foreground masks,
obtained by using two different BS algorithms.
@code{.cpp}
Mat frame; //current frame
Mat fgMaskMOG; //fg mask generated by MOG method
Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
@endcode
2. Two @ref cv::BackgroundSubtractor objects will be used to generate the foreground masks. In this
-# Two @ref cv::BackgroundSubtractor objects will be used to generate the foreground masks. In this
example, default parameters are used, but it is also possible to declare specific parameters in
the create function.
@code{.cpp}
@ -245,8 +72,7 @@ We discuss the main parts of the above code:
pMOG = createBackgroundSubtractorMOG(); //MOG approach
pMOG2 = createBackgroundSubtractorMOG2(); //MOG2 approach
@endcode
3. The command line arguments are analysed. The user can chose between two options:
-# The command line arguments are analysed. The user can chose between two options:
- video files (by choosing the option -vid);
- image sequences (by choosing the option -img).
@code{.cpp}
@ -259,7 +85,7 @@ We discuss the main parts of the above code:
processImages(argv[2]);
}
@endcode
4. Suppose you want to process a video file. The video is read until the end is reached or the user
-# Suppose you want to process a video file. The video is read until the end is reached or the user
presses the button 'q' or the button 'ESC'.
@code{.cpp}
while( (char)keyboard != 'q' && (char)keyboard != 27 ){
@ -270,7 +96,7 @@ We discuss the main parts of the above code:
exit(EXIT_FAILURE);
}
@endcode
5. Every frame is used both for calculating the foreground mask and for updating the background. If
-# Every frame is used both for calculating the foreground mask and for updating the background. If
you want to change the learning rate used for updating the background model, it is possible to
set a specific learning rate by passing a third parameter to the 'apply' method.
@code{.cpp}
@ -278,7 +104,7 @@ We discuss the main parts of the above code:
pMOG->apply(frame, fgMaskMOG);
pMOG2->apply(frame, fgMaskMOG2);
@endcode
6. The current frame number can be extracted from the @ref cv::VideoCapture object and stamped in
-# The current frame number can be extracted from the @ref cv::VideoCapture object and stamped in
the top left corner of the current frame. A white rectangle is used to highlight the black
colored frame number.
@code{.cpp}
@ -291,14 +117,14 @@ We discuss the main parts of the above code:
putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5 , cv::Scalar(0,0,0));
@endcode
7. We are ready to show the current input frame and the results.
-# We are ready to show the current input frame and the results.
@code{.cpp}
//show the current frame and the fg masks
imshow("Frame", frame);
imshow("FG Mask MOG", fgMaskMOG);
imshow("FG Mask MOG 2", fgMaskMOG2);
@endcode
8. The same operations listed above can be performed using a sequence of images as input. The
-# The same operations listed above can be performed using a sequence of images as input. The
processImage function is called and, instead of using a @ref cv::VideoCapture object, the images
are read by using @ref cv::imread , after individuating the correct path for the next frame to
read.
@ -338,7 +164,7 @@ Results
@endcode
The output of the program will look as the following:
![image](images/Background_Subtraction_Tutorial_Result_1.png)
![](images/Background_Subtraction_Tutorial_Result_1.png)
- The video file Video_001.avi is part of the [Background Models Challenge
(BMC)](http://bmc.univ-bpclermont.fr/) data set and it can be downloaded from the following link
@ -350,7 +176,7 @@ Results
@endcode
The output of the program will look as the following:
![image](images/Background_Subtraction_Tutorial_Result_2.png)
![](images/Background_Subtraction_Tutorial_Result_2.png)
- The sequence of images used in this example is part of the [Background Models Challenge
(BMC)](http://bmc.univ-bpclermont.fr/) dataset and it can be downloaded from the following link
@ -385,7 +211,5 @@ the accuracy of the results.
References
----------
- Background Models Challenge (BMC) website, [](http://bmc.univ-bpclermont.fr/)
- Antoine Vacavant, Thierry Chateau, Alexis Wilhelm and Laurent Lequievre. A Benchmark Dataset for
Foreground/Background Extraction. In ACCV 2012, Workshop: Background Models Challenge, LNCS
7728, 291-300. November 2012, Daejeon, Korea.
- [Background Models Challenge (BMC) website](http://bmc.univ-bpclermont.fr/)
- A Benchmark Dataset for Foreground/Background Extraction @cite vacavant2013benchmark

137
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@ -13,132 +13,43 @@ Code
----
You can download the code from [here ](samples/cpp/tutorial_code/viz/creating_widgets.cpp).
@code{.cpp}
#include <opencv2/viz.hpp>
#include <opencv2/viz/widget_accessor.hpp>
#include <iostream>
@includelineno samples/cpp/tutorial_code/viz/creating_widgets.cpp
#include <vtkPoints.h>
#include <vtkTriangle.h>
#include <vtkCellArray.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkIdList.h>
#include <vtkActor.h>
#include <vtkProp.h>
using namespace cv;
using namespace std;
/*
* @class WTriangle
* @brief Defining our own 3D Triangle widget
*/
class WTriangle : public viz::Widget3D
{
public:
WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
};
/*
* @function WTriangle::WTriangle
*/
WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
{
// Create a triangle
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
triangle->GetPointIds()->SetId(0,0);
triangle->GetPointIds()->SetId(1,1);
triangle->GetPointIds()->SetId(2,2);
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
cells->InsertNextCell(triangle);
// Create a polydata object
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
// Add the geometry and topology to the polydata
polyData->SetPoints(points);
polyData->SetPolys(cells);
// Create mapper and actor
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
#if VTK_MAJOR_VERSION <= 5
mapper->SetInput(polyData);
#else
mapper->SetInputData(polyData);
#endif
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
// Store this actor in the widget in order that visualizer can access it
viz::WidgetAccessor::setProp(*this, actor);
// Set the color of the widget. This has to be called after WidgetAccessor.
setColor(color);
}
/*
* @function main
*/
int main()
{
/// Create a window
viz::Viz3d myWindow("Creating Widgets");
/// Create a triangle widget
WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
/// Show widget in the visualizer window
myWindow.showWidget("TRIANGLE", tw);
/// Start event loop
myWindow.spin();
return 0;
}
@endcode
Explanation
-----------
Here is the general structure of the program:
- Extend Widget3D class to create a new 3D widget.
@code{.cpp}
class WTriangle : public viz::Widget3D
{
public:
WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
};
@endcode
@code{.cpp}
class WTriangle : public viz::Widget3D
{
public:
WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
};
@endcode
- Assign a VTK actor to the widget.
@code{.cpp}
// Store this actor in the widget in order that visualizer can access it
viz::WidgetAccessor::setProp(*this, actor);
@endcode
@code{.cpp}
// Store this actor in the widget in order that visualizer can access it
viz::WidgetAccessor::setProp(*this, actor);
@endcode
- Set color of the widget.
@code{.cpp}
// Set the color of the widget. This has to be called after WidgetAccessor.
setColor(color);
@endcode
@code{.cpp}
// Set the color of the widget. This has to be called after WidgetAccessor.
setColor(color);
@endcode
- Construct a triangle widget and display it in the window.
@code{.cpp}
/// Create a triangle widget
WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
@code{.cpp}
/// Create a triangle widget
WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
/// Show widget in the visualizer window
myWindow.showWidget("TRIANGLE", tw);
@endcode
/// Show widget in the visualizer window
myWindow.showWidget("TRIANGLE", tw);
@endcode
Results
-------
Here is the result of the program.
![image](images/red_triangle.png)
![](images/red_triangle.png)

92
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@ -15,36 +15,35 @@ Code
----
You can download the code from [here ](samples/cpp/tutorial_code/viz/launching_viz.cpp).
@code{.cpp}
#include <opencv2/viz.hpp>
#include <iostream>
@includelineno samples/cpp/tutorial_code/viz/launching_viz.cpp
using namespace cv;
using namespace std;
Explanation
-----------
/*
* @function main
*/
int main()
{
Here is the general structure of the program:
- Create a window.
@code{.cpp}
/// Create a window
viz::Viz3d myWindow("Viz Demo");
@endcode
- Start event loop. This event loop will run until user terminates it by pressing **e**, **E**,
**q**, **Q**.
@code{.cpp}
/// Start event loop
myWindow.spin();
/// Event loop is over when pressed q, Q, e, E
cout << "First event loop is over" << endl;
@endcode
- Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly
the same with **myWindow**. If the name does not exist, a new window is created.
@code{.cpp}
/// Access window via its name
viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
/// Start event loop
sameWindow.spin();
/// Event loop is over when pressed q, Q, e, E
cout << "Second event loop is over" << endl;
viz::Viz3d sameWindow = viz::get("Viz Demo");
@endcode
- Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while
loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping.
Inside the while loop, user can execute other statements including those which interact with the
window.
@code{.cpp}
/// Event loop is over when pressed q, Q, e, E
/// Start event loop once for 1 millisecond
sameWindow.spinOnce(1, true);
@ -55,54 +54,11 @@ int main()
/// Event loop for 1 millisecond
sameWindow.spinOnce(1, true);
}
@endcode
/// Once more event loop is stopped
cout << "Last event loop is over" << endl;
return 0;
}
@endcode
Explanation
-----------
Here is the general structure of the program:
- Create a window.
@code{.cpp}
/// Create a window
viz::Viz3d myWindow("Viz Demo");
@endcode
- Start event loop. This event loop will run until user terminates it by pressing **e**, **E**,
**q**, **Q**.
@code{.cpp}
/// Start event loop
myWindow.spin();
@endcode
- Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly
the same with **myWindow**. If the name does not exist, a new window is created.
@code{.cpp}
/// Access window via its name
viz::Viz3d sameWindow = viz::get("Viz Demo");
@endcode
- Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while
loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping.
Inside the while loop, user can execute other statements including those which interact with the
window.
@code{.cpp}
/// Event loop is over when pressed q, Q, e, E
/// Start event loop once for 1 millisecond
sameWindow.spinOnce(1, true);
while(!sameWindow.wasStopped())
{
/// Interact with window
/// Event loop for 1 millisecond
sameWindow.spinOnce(1, true);
}
@endcode
Results
-------
Here is the result of the program.
![image](images/window_demo.png)
![](images/window_demo.png)

155
doc/tutorials/viz/transformations/transformations.markdown
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@ -14,74 +14,47 @@ Code
----
You can download the code from [here ](samples/cpp/tutorial_code/viz/transformations.cpp).
@code{.cpp}
#include <opencv2/viz.hpp>
#include <iostream>
#include <fstream>
@includelineno samples/cpp/tutorial_code/viz/transformations.cpp
using namespace cv;
using namespace std;
Explanation
-----------
/*
* @function cvcloud_load
* @brief load bunny.ply
*/
Mat cvcloud_load()
{
Mat cloud(1, 1889, CV_32FC3);
ifstream ifs("bunny.ply");
string str;
for(size_t i = 0; i < 12; ++i)
getline(ifs, str);
Point3f* data = cloud.ptr<cv::Point3f>();
float dummy1, dummy2;
for(size_t i = 0; i < 1889; ++i)
ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
cloud *= 5.0f;
return cloud;
}
/*
* @function main
*/
int main(int argn, char **argv)
{
if (argn < 2)
{
cout << "Usage: " << endl << "./transformations [ G | C ]" << endl;
return 1;
}
bool camera_pov = (argv[1][0] == 'C');
Here is the general structure of the program:
- Create a visualization window.
@code{.cpp}
/// Create a window
viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
viz::Viz3d myWindow("Transformations");
@endcode
- Get camera pose from camera position, camera focal point and y direction.
@code{.cpp}
/// Let's assume camera has the following properties
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
/// We can get the pose of the cam using makeCameraPose
Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
@endcode
- Obtain transform matrix knowing the axes of camera coordinate system.
@code{.cpp}
/// We can get the transformation matrix from camera coordinate system to global using
/// - makeTransformToGlobal. We need the axes of the camera
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
@endcode
- Create a cloud widget from bunny.ply file
@code{.cpp}
/// Create a cloud widget.
Mat bunny_cloud = cvcloud_load();
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
@endcode
- Given the pose in camera coordinate system, estimate the global pose.
@code{.cpp}
/// Pose of the widget in camera frame
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
/// Pose of the widget in global frame
Affine3f cloud_pose_global = transform * cloud_pose;
@endcode
- If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
@code{.cpp}
/// Visualize camera frame
if (!camera_pov)
{
@ -90,88 +63,26 @@ int main(int argn, char **argv)
myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
}
@endcode
- Visualize the cloud widget with the estimated global pose
@code{.cpp}
/// Visualize widget
myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
@endcode
- If the view point is set to be camera's, set viewer pose to **cam_pose**.
@code{.cpp}
/// Set the viewer pose to that of camera
if (camera_pov)
myWindow.setViewerPose(cam_pose);
@endcode
/// Start event loop.
myWindow.spin();
return 0;
}
@endcode
Explanation
-----------
Here is the general structure of the program:
- Create a visualization window.
@code{.cpp}
/// Create a window
viz::Viz3d myWindow("Transformations");
@endcode
- Get camera pose from camera position, camera focal point and y direction.
@code{.cpp}
/// Let's assume camera has the following properties
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
/// We can get the pose of the cam using makeCameraPose
Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
@endcode
- Obtain transform matrix knowing the axes of camera coordinate system.
@code{.cpp}
/// We can get the transformation matrix from camera coordinate system to global using
/// - makeTransformToGlobal. We need the axes of the camera
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
@endcode
- Create a cloud widget from bunny.ply file
@code{.cpp}
/// Create a cloud widget.
Mat bunny_cloud = cvcloud_load();
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
@endcode
- Given the pose in camera coordinate system, estimate the global pose.
@code{.cpp}
/// Pose of the widget in camera frame
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
/// Pose of the widget in global frame
Affine3f cloud_pose_global = transform * cloud_pose;
@endcode
- If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
@code{.cpp}
/// Visualize camera frame
if (!camera_pov)
{
viz::WCameraPosition cpw(0.5); // Coordinate axes
viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
}
@endcode
- Visualize the cloud widget with the estimated global pose
@code{.cpp}
/// Visualize widget
myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
@endcode
- If the view point is set to be camera's, set viewer pose to **cam_pose**.
@code{.cpp}
/// Set the viewer pose to that of camera
if (camera_pov)
myWindow.setViewerPose(cam_pose);
@endcode
Results
-------
1. Here is the result from the camera point of view.
-# Here is the result from the camera point of view.
![image](images/camera_view_point.png)
2. Here is the result from global point of view.
![image](images/global_view_point.png)
![](images/camera_view_point.png)
-# Here is the result from global point of view.
![](images/global_view_point.png)

148
doc/tutorials/viz/widget_pose/widget_pose.markdown
View File

@ -14,122 +14,65 @@ Code
----
You can download the code from [here ](samples/cpp/tutorial_code/viz/widget_pose.cpp).
@code{.cpp}
#include <opencv2/viz.hpp>
#include <opencv2/calib3d.hpp>
#include <iostream>
@includelineno samples/cpp/tutorial_code/viz/widget_pose.cpp
using namespace cv;
using namespace std;
/*
* @function main
*/
int main()
{
/// Create a window
viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Add line to represent (1,1,1) axis
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis);
/// Construct a cube widget
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
/// Display widget (update if already displayed)
myWindow.showWidget("Cube Widget", cube_widget);
/// Rodrigues vector
Mat rot_vec = Mat::zeros(1,3,CV_32F);
float translation_phase = 0.0, translation = 0.0;
while(!myWindow.wasStopped())
{
/* Rotation using rodrigues */
/// Rotate around (1,1,1)
rot_vec.at<float>(0,0) += CV_PI * 0.01f;
rot_vec.at<float>(0,1) += CV_PI * 0.01f;
rot_vec.at<float>(0,2) += CV_PI * 0.01f;
/// Shift on (1,1,1)
translation_phase += CV_PI * 0.01f;
translation = sin(translation_phase);
Mat rot_mat;
Rodrigues(rot_vec, rot_mat);
/// Construct pose
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose);
myWindow.spinOnce(1, true);
}
return 0;
}
@endcode
Explanation
-----------
Here is the general structure of the program:
- Create a visualization window.
@code{.cpp}
/// Create a window
viz::Viz3d myWindow("Coordinate Frame");
@endcode
@code{.cpp}
/// Create a window
viz::Viz3d myWindow("Coordinate Frame");
@endcode
- Show coordinate axes in the window using CoordinateSystemWidget.
@code{.cpp}
/// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
@endcode
@code{.cpp}
/// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
@endcode
- Display a line representing the axis (1,1,1).
@code{.cpp}
/// Add line to represent (1,1,1) axis
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis);
@endcode
@code{.cpp}
/// Add line to represent (1,1,1) axis
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis);
@endcode
- Construct a cube.
@code{.cpp}
/// Construct a cube widget
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Cube Widget", cube_widget);
@endcode
@code{.cpp}
/// Construct a cube widget
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Cube Widget", cube_widget);
@endcode
- Create rotation matrix from rodrigues vector
@code{.cpp}
/// Rotate around (1,1,1)
rot_vec.at<float>(0,0) += CV_PI * 0.01f;
rot_vec.at<float>(0,1) += CV_PI * 0.01f;
rot_vec.at<float>(0,2) += CV_PI * 0.01f;
@code{.cpp}
/// Rotate around (1,1,1)
rot_vec.at<float>(0,0) += CV_PI * 0.01f;
rot_vec.at<float>(0,1) += CV_PI * 0.01f;
rot_vec.at<float>(0,2) += CV_PI * 0.01f;
...
Mat rot_mat;
Rodrigues(rot_vec, rot_mat);
@endcode
- Use Affine3f to set pose of the cube.
@code{.cpp}
/// Construct pose
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose);
@endcode
- Animate the rotation using wasStopped and spinOnce
@code{.cpp}
while(!myWindow.wasStopped())
{
...
myWindow.spinOnce(1, true);
}
@endcode
Mat rot_mat;
Rodrigues(rot_vec, rot_mat);
@endcode
- Use Affine3f to set pose of the cube.
@code{.cpp}
/// Construct pose
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose);
@endcode
- Animate the rotation using wasStopped and spinOnce
@code{.cpp}
while(!myWindow.wasStopped())
{
...
myWindow.spinOnce(1, true);
}
@endcode
Results
-------
@ -140,4 +83,3 @@ Here is the result of the program.
<iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
</div>
\endhtmlonly