English
资源说明：About the Author ...............................................................................................................xiii
About the Technical Reviewer ............................................................................................ xv
Acknowledgments ............................................................................................................ xvii
■■Part 1: Getting Comfortable .......................................................................... 1
■■Chapter 1: Introduction to Computer Vision and OpenCV ..................................................3
Why Was This Book Written? .........................................................................................................3
OpenCV ..........................................................................................................................................4
History of OpenCV ..................................................................................................................................................4
Built-in Modules ....................................................................................................................................................4
Summary .......................................................................................................................................5
■■Chapter 2: Setting up OpenCV on Your Computer ..............................................................7
Operating Systems ........................................................................................................................7
Ubuntu ...................................................................................................................................................................7
Windows ..............................................................................................................................................................12
Mac OSX ..............................................................................................................................................................12
Summary .....................................................................................................................................12
■■Chapter 3: CV Bling—OpenCV Inbuilt Demos ..................................................................13
Camshift ......................................................................................................................................13
Stereo Matching ..........................................................................................................................16
Homography Estimation in Video ................................................................................................16
Circle and Line Detection ............................................................................................................18
Image Segmentation ...................................................................................................................19
Bounding Box and Circle .............................................................................................................21
Image Inpainting .........................................................................................................................21
Summary .....................................................................................................................................22
■■Chapter 4: Basic Operations on Images and GUI Windows ..............................................23
Displaying Images from Disk in a Window ..................................................................................23
The cv::Mat Structure ..................................................................................................................24
Creating a cv::Mat ...............................................................................................................................................25
Accessing elements of a cv::Mat ......................................................................................................................... 25
Expressions with cv::Mat ..................................................................................................................................... 25
Converting Between Color-spaces ..............................................................................................26
GUI Track-Bars and Callback Functions ......................................................................................27
Callback Functions .............................................................................................................................................27
ROIs: Cropping a Rectangular Portion out of an Image ...............................................................30
Region of Interest in an Image ............................................................................................................................ 30
Accessing Individual Pixels of an Image .....................................................................................33
Exercise ...............................................................................................................................................................33
Videos ..........................................................................................................................................34
Displaying the Feed from Your Webcam or USB Camera/File .............................................................................. 34
Writing Videos to Disk ..........................................................................................................................................36
Summary .....................................................................................................................................37
■■ Part 2: Advanced Computer Vision Problems and Coding
Them in OpenCV ......................................................................................... 39
■■Chapter 5: Image Filtering ...............................................................................................41
Image Filters ...............................................................................................................................41
Blurring Images ...................................................................................................................................................45
Resizing Images—Up and Down ......................................................................................................................... 48
Eroding and Dilating Images ................................................................................................................................ 49
Detecting Edges and Corners Efficiently in Images ............................................................................................. 51
Edges ...................................................................................................................................................................51
Canny Edges ........................................................................................................................................................56
Corners ................................................................................................................................................................57
Object Detector App ....................................................................................................................60
Morphological Opening and Closing of Images to Remove Noise ...............................................63
Summary .....................................................................................................................................65
■■Chapter 6: Shapes in Images ...........................................................................................67
Contours ......................................................................................................................................67
Point Polygon Test ...............................................................................................................................................70
Hough Transform .........................................................................................................................74
Detecting Lines with Hough Transform ................................................................................................................ 74
Detecting Circles with Hough Transform ............................................................................................................. 77
Generalized Hough Transform .....................................................................................................80
RANdom Sample Consensus (RANSAC) .......................................................................................80
Bounding Boxes and Circles ........................................................................................................91
Convex Hulls ................................................................................................................................92
Summary .....................................................................................................................................93
■■Chapter 7: Image Segmentation and Histograms ............................................................95
Image Segmentation ...................................................................................................................95
Simple Segmentation by Thresholding ................................................................................................................ 96
Floodfill ..............................................................................................................................................................100
Watershed Segmentation .................................................................................................................................. 103
GrabCut Segmentation ......................................................................................................................................110
Histograms ................................................................................................................................111
Equalizing Histograms .......................................................................................................................................111
Histogram Backprojections ............................................................................................................................... 113
Meanshift and Camshift ....................................................................................................................................116
Summary ...................................................................................................................................117
■■Chapter 8: B asic Machine Learning and Object D etection Based on Keypoints ............119
Keypoints and Keypoint Descriptors: Introduction and Terminology .........................................119
General Terms ....................................................................................................................................................120
How Does the Keypoint-Based Method Work? .................................................................................................. 120
SIFT Keypoints and Descriptors ................................................................................................121
Keypoint Detection and Orientation Estimation ................................................................................................. 121
SIFT Keypoint Descriptors ................................................................................................................................. 125
Matching SIFT Descriptors ................................................................................................................................ 125
SURF Keypoints and Descriptors ...............................................................................................131
SURF Keypoint Detection ...................................................................................................................................131
SURF Descriptor ................................................................................................................................................134
ORB (Oriented FAST and Rotated BRIEF) ...................................................................................136
Oriented FAST Keypoints ...................................................................................................................................137
BRIEF Descriptors ..............................................................................................................................................137
Basic Machine Learning ............................................................................................................140
SVMs ..................................................................................................................................................................141
Object Categorization ................................................................................................................142
Strategy .............................................................................................................................................................142
Organization ......................................................................................................................................................143
Summary ...................................................................................................................................153
■■ Chapter 9: Affine and Perspective Transformations and Their Applications
to Image Panoramas .....................................................................................................155
Affine Transforms ......................................................................................................................155
Applying Affine Transforms ................................................................................................................................ 156
Estimating Affine Transforms ............................................................................................................................. 158
Perspective Transforms .............................................................................................................161
Panoramas ................................................................................................................................166
Summary ...................................................................................................................................172
■■Chapter 10: 3D Geometry and Stereo Vision .................................................................173
Single Camera Calibration .........................................................................................................173
OpenCV Implementation of Single Camera Calibration ...................................................................................... 176
Stereo Vision .............................................................................................................................179
Triangulation ......................................................................................................................................................179
Calibration .........................................................................................................................................................180
Rectification and Disparity by Matching ............................................................................................................ 186
Summary ...................................................................................................................................200
■■ Chapter 11: Embedded Computer Vision: Running OpenCV Programs
on the Raspberry Pi ................................................................................................................. 201
Raspberry Pi ..............................................................................................................................202
Setting Up Your New Raspberry Pi ............................................................................................202
Installing Raspbian on the Pi ............................................................................................................................. 203
Initial Settings ....................................................................................................................................................204
Installing OpenCV ...............................................................................................................................................205
Camera board ............................................................................................................................206
Camera Board vs. USB Camera ......................................................................................................................... 207
Frame-Rate Comparisons .................................................................................................................................. 214
Usage Examples ........................................................................................................................215
Color-based Object Detector .............................................................................................................................. 216
ORB Keypoint-based Object Detector ................................................................................................................ 217
Summary ...................................................................................................................................218
Index .................................................................................................................................219
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