OpenCV Reference Manual v2.1 pptx

223 1.6 Clustering and Search in Multi-Dimensional Spaces.. Image Processing and Computer Vision 243 2.1 Image Filtering.. 252 2.2 Geometric Image Transformations.. 308 2.6 Motion Analys

OpenCV Reference Manual

v2.1

March 18, 2010

1.1 Basic Structures 41

CvPoint 41

CvPoint2D32f 41

CvPoint3D32f 42

CvPoint2D64f 43

CvPoint3D64f 43

CvSize 44

CvSize2D32f 44

CvRect 44

CvScalar 45

CvTermCriteria 46

CvMat 46

CvMatND 47

CvSparseMat 48

IplImage 49

CvArr 52

1.2 Operations on Arrays 52

cvAbsDiff 52

cvAbsDiffS 52

cvAdd 53

cvAddS 53

cvAddWeighted 54

cvAnd 55

cvAndS 55

cvAvg 56

cvAvgSdv 57

cvCalcCovarMatrix 57

3

cvCartToPolar 59

cvCbrt 60

cvClearND 60

cvCloneImage 60

cvCloneMat 61

cvCloneMatND 61

cvCloneSparseMat 61

cvCmp 61

cvCmpS 62

cvConvertScale 63

cvConvertScaleAbs 64

cvCvtScaleAbs 65

cvCopy 65

cvCountNonZero 66

cvCreateData 66

cvCreateImage 67

cvCreateImageHeader 67

cvCreateMat 68

cvCreateMatHeader 68

cvCreateMatND 69

cvCreateMatNDHeader 69

cvCreateSparseMat 70

cvCrossProduct 70

CvtPixToPlane 71

cvDCT 71

cvDFT 72

cvDecRefData 75

cvDet 75

cvDiv 75

cvDotProduct 76

cvEigenVV 77

cvExp 78

cvFastArctan 78

cvFlip 78

cvGEMM 79

cvGet?D 80

cvGetCol(s) 81

cvGetDiag 82

cvGetDims, cvGetDimSize 82

cvGetElemType 83

CONTENTS 5

cvGetImage 83

cvGetImageCOI 84

cvGetImageROI 84

cvGetMat 85

cvGetNextSparseNode 85

cvGetOptimalDFTSize 86

cvGetRawData 87

cvGetReal?D 87

cvGetRow(s) 88

cvGetSize 89

cvGetSubRect 89

cvInRange 90

cvInRangeS 90

cvIncRefData 91

cvInitImageHeader 91

cvInitMatHeader 92

cvInitMatNDHeader 93

cvInitSparseMatIterator 94

cvInvSqrt 94

cvInv 94

cvInvert 95

cvIsInf 95

cvIsNaN 96

cvLUT 96

cvLog 97

cvMahalonobis 97

cvMat 98

cvMax 98

cvMaxS 99

cvMerge 99

cvMin 100

cvMinMaxLoc 101

cvMinS 101

Mirror 102

cvMixChannels 102

MulAddS 103

cvMul 103

cvMulSpectrums 104

cvMulTransposed 104

cvNorm 105

cvNot 106

cvOr 106

cvOrS 107

cvPerspectiveTransform 107

cvPolarToCart 108

cvPow 109

cvPtr?D 110

cvRNG 111

cvRandArr 111

cvRandInt 112

cvRandReal 114

cvReduce 114

cvReleaseData 115

cvReleaseImage 115

cvReleaseImageHeader 116

cvReleaseMat 116

cvReleaseMatND 117

cvReleaseSparseMat 117

cvRepeat 117

cvResetImageROI 118

cvReshape 118

cvReshapeMatND 119

cvRound, cvFloor, cvCeil 120

cvScaleAdd 121

cvSet 121

cvSet?D 122

cvSetData 122

cvSetIdentity 123

cvSetImageCOI 123

cvSetImageROI 124

cvSetReal?D 124

cvSetZero 125

cvSolve 125

cvSolveCubic 126

cvSplit 127

cvSqrt 127

cvSub 128

cvSubRS 128

cvSubS 129

cvSum 129

CONTENTS 7

cvSVBkSb 130

cvSVD 131

cvTrace 132

cvTransform 133

cvTranspose 133

cvXor 134

cvXorS 134

cvmGet 135

cvmSet 136

1.3 Dynamic Structures 136

CvMemStorage 136

CvMemBlock 137

CvMemStoragePos 137

CvSeq 138

CvSeqBlock 140

CvSlice 141

CvSet 141

CvGraph 142

CvGraphScanner 144

CV TREE NODE FIELDS 144

CvTreeNodeIterator 144

cvClearGraph 145

cvClearMemStorage 145

cvClearSeq 146

cvClearSet 146

cvCloneGraph 146

cvCloneSeq 147

cvCreateChildMemStorage 147

cvCreateGraph 149

cvCreateGraphScanner 149

cvCreateMemStorage 150

cvCreateSeq 151

cvCreateSet 152

cvCvtSeqToArray 152

cvEndWriteSeq 153

cvFindGraphEdge 153

cvFindGraphEdgeByPtr 154

cvFlushSeqWriter 154

cvGetGraphVtx 155

cvGetSeqElem 155

cvGetSeqReaderPos 156

cvGetSetElem 156

cvGraphAddEdge 156

cvGraphAddEdgeByPtr 157

cvGraphAddVtx 158

cvGraphEdgeIdx 158

cvGraphRemoveEdge 159

cvGraphRemoveEdgeByPtr 159

cvGraphRemoveVtx 160

cvGraphRemoveVtxByPtr 160

cvGraphVtxDegree 161

cvGraphVtxDegreeByPtr 161

cvGraphVtxIdx 162

cvInitTreeNodeIterator 162

cvInsertNodeIntoTree 163

cvMakeSeqHeaderForArray 163

cvMemStorageAlloc 164

cvMemStorageAllocString 164

cvNextGraphItem 165

cvNextTreeNode 166

cvPrevTreeNode 166

cvReleaseGraphScanner 166

cvReleaseMemStorage 167

cvRestoreMemStoragePos 167

cvSaveMemStoragePos 167

cvSeqElemIdx 168

cvSeqInsert 168

cvSeqInsertSlice 169

cvSeqInvert 170

cvSeqPop 170

cvSeqPopFront 170

cvSeqPopMulti 171

cvSeqPush 172

cvSeqPushFront 172

cvSeqPushMulti 173

cvSeqRemove 174

cvSeqRemoveSlice 174

cvSeqSearch 174

cvSeqSlice 175

cvSeqSort 176

CONTENTS 9

cvSetAdd 177

cvSetNew 178

cvSetRemove 178

cvSetRemoveByPtr 179

cvSetSeqBlockSize 179

cvSetSeqReaderPos 180

cvStartAppendToSeq 180

cvStartReadSeq 181

cvStartWriteSeq 182

cvTreeToNodeSeq 183

1.4 Drawing Functions 183

cvCircle 184

cvClipLine 185

cvDrawContours 185

cvEllipse 187

cvEllipseBox 188

cvFillConvexPoly 189

cvFillPoly 190

cvGetTextSize 191

cvInitFont 191

cvInitLineIterator 192

cvLine 194

cvPolyLine 195

cvPutText 196

cvRectangle 196

CV RGB 197

1.5 XML/YAML Persistence 198

CvFileStorage 198

CvFileNode 199

CvAttrList 201

CvTypeInfo 201

cvClone 202

cvEndWriteStruct 203

cvFindType 203

cvFirstType 203

cvGetFileNode 204

cvGetFileNodeByName 204

cvGetFileNodeName 205

cvGetHashedKey 205

cvGetRootFileNode 207

cvLoad 208

cvOpenFileStorage 208

cvRead 209

cvReadByName 210

cvReadInt 210

cvReadIntByName 211

cvReadRawData 211

cvReadRawDataSlice 212

cvReadReal 212

cvReadRealByName 213

cvReadString 213

cvReadStringByName 214

cvRegisterType 214

cvRelease 215

cvReleaseFileStorage 215

cvSave 215

cvStartNextStream 216

cvStartReadRawData 216

cvStartWriteStruct 217

cvTypeOf 218

cvUnregisterType 218

cvWrite 218

cvWriteComment 220

cvWriteFileNode 220

cvWriteInt 221

cvWriteRawData 221

cvWriteReal 223

cvWriteString 223

1.6 Clustering and Search in Multi-Dimensional Spaces 224

cvKMeans2 224

cvSeqPartition 227

1.7 Utility and System Functions and Macros 229

Error Handling 229

Example: Use of Error Handling Macros 231

cvGetErrStatus 233

cvSetErrStatus 233

cvGetErrMode 233

cvSetErrMode 234

cvError 234

cvErrorStr 235

CONTENTS 11

cvRedirectError 235

cvNulDevReport cvStdErrReport cvGuiBoxReport 236

cvAlloc 237

cvFree 237

cvGetTickCount 238

cvGetTickFrequency 238

cvRegisterModule 238

cvGetModuleInfo 239

cvUseOptimized 240

cvSetMemoryManager 240

cvSetIPLAllocators 241

2 cv Image Processing and Computer Vision 243 2.1 Image Filtering 243

IplConvKernel 243

cvCopyMakeBorder 244

cvCreateStructuringElementEx 245

cvDilate 246

cvErode 246

cvFilter2D 247

cvLaplace 248

cvMorphologyEx 248

cvPyrDown 250

cvReleaseStructuringElement 250

cvSmooth 251

cvSobel 252

2.2 Geometric Image Transformations 254

cvGetRotationMatrix2D 255

cvGetAffineTransform 255

cvGetPerspectiveTransform 256

cvGetQuadrangleSubPix 257

cvGetRectSubPix 257

cvLogPolar 258

cvRemap 260

cvResize 261

cvWarpAffine 262

cvWarpPerspective 263

2.3 Miscellaneous Image Transformations 264

cvAdaptiveThreshold 264

cvCvtColor 265

cvDistTransform 270

CvConnectedComp 272

cvFloodFill 272

cvInpaint 274

cvIntegral 275

cvPyrMeanShiftFiltering 276

cvPyrSegmentation 277

cvThreshold 278

2.4 Histograms 280

CvHistogram 280

cvCalcBackProject 281

cvCalcBackProjectPatch 282

cvCalcHist 283

cvCalcProbDensity 285

cvClearHist 286

cvCompareHist 286

cvCopyHist 287

cvCreateHist 288

cvGetHistValue*D 289

cvGetMinMaxHistValue 289

cvMakeHistHeaderForArray 290

cvNormalizeHist 291

cvQueryHistValue*D 291

cvReleaseHist 292

cvSetHistBinRanges 292

cvThreshHist 293

2.5 Feature Detection 293

cvCanny 293

cvCornerEigenValsAndVecs 294

cvCornerHarris 295

cvCornerMinEigenVal 295

cvExtractSURF 296

cvFindCornerSubPix 298

cvGetStarKeypoints 299

cvGoodFeaturesToTrack 302

cvHoughLines2 303

cvPreCornerDetect 307

cvSampleLine 308

2.6 Motion Analysis and Object Tracking 308

cvAcc 308

CONTENTS 13

cvCalcGlobalOrientation 309

cvCalcMotionGradient 310

cvCalcOpticalFlowBM 311

cvCalcOpticalFlowHS 312

cvCalcOpticalFlowLK 313

cvCalcOpticalFlowPyrLK 313

cvCamShift 315

CvConDensation 316

cvCreateConDensation 316

cvConDensInitSampleSet 317

CvKalman 317

cvCreateKalman 319

cvKalmanCorrect 320

cvKalmanPredict 323

KalmanUpdateByMeasurement 323

KalmanUpdateByTime 324

cvMeanShift 324

cvMultiplyAcc 324

cvReleaseConDensation 325

cvReleaseKalman 325

cvRunningAvg 326

cvSegmentMotion 326

cvSnakeImage 327

cvSquareAcc 328

cvUpdateMotionHistory 329

2.7 Structural Analysis and Shape Descriptors 330

cvApproxChains 330

cvApproxPoly 330

cvArcLength 331

cvBoundingRect 332

cvBoxPoints 333

cvCalcPGH 334

cvCalcEMD2 334

cvCheckContourConvexity 336

CvConvexityDefect 336

cvContourArea 337

cvContourFromContourTree 338

cvConvexHull2 338

cvConvexityDefects 341

cvCreateContourTree 342

cvEndFindContours 342

cvFindContours 343

cvFindNextContour 344

cvFitEllipse2 345

cvFitLine 345

cvGetCentralMoment 347

cvGetHuMoments 347

cvGetNormalizedCentralMoment 348

cvGetSpatialMoment 349

cvMatchContourTrees 349

cvMatchShapes 350

cvMinAreaRect2 351

cvMinEnclosingCircle 352

cvMoments 353

cvPointPolygonTest 353

cvPointSeqFromMat 354

cvReadChainPoint 355

cvStartFindContours 356

cvStartReadChainPoints 356

cvSubstituteContour 357

2.8 Planar Subdivisions 357

CvSubdiv2D 357

CvQuadEdge2D 358

CvSubdiv2DPoint 359

cvCalcSubdivVoronoi2D 360

cvClearSubdivVoronoi2D 360

cvCreateSubdivDelaunay2D 360

cvFindNearestPoint2D 361

cvSubdiv2DEdgeDst 361

cvSubdiv2DGetEdge 362

cvSubdiv2DNextEdge 363

cvSubdiv2DLocate 364

cvSubdiv2DRotateEdge 365

cvSubdivDelaunay2DInsert 366

2.9 Object Detection 367

cvMatchTemplate 367

Haar Feature-based Cascade Classifier for Object Detection 368

CvHaarFeature, CvHaarClassifier, CvHaarStageClassifier, CvHaarClassifierCascade370 cvLoadHaarClassifierCascade 372

cvHaarDetectObjects 373

CONTENTS 15

cvSetImagesForHaarClassifierCascade 375

cvReleaseHaarClassifierCascade 376

cvRunHaarClassifierCascade 377

2.10 Camera Calibration and 3D Reconstruction 377

cvCalcImageHomography 379

cvCalibrateCamera2 380

cvComputeCorrespondEpilines 382

cvConvertPointsHomogeneous 383

cvCreatePOSITObject 384

cvCreateStereoBMState 384

cvCreateStereoGCState 385

CvStereoBMState 385

CvStereoGCState 387

cvDecomposeProjectionMatrix 388

cvDrawChessboardCorners 389

cvFindChessboardCorners 390

cvFindExtrinsicCameraParams2 391

cvFindFundamentalMat 392

cvFindHomography 394

cvFindStereoCorrespondenceBM 395

cvFindStereoCorrespondenceGC 396

cvGetOptimalNewCameraMatrix 398

cvInitIntrinsicParams2D 399

cvInitUndistortMap 400

cvInitUndistortRectifyMap 401

cvPOSIT 402

cvProjectPoints2 403

cvReprojectImageTo3D 404

cvRQDecomp3x3 405

cvReleasePOSITObject 406

cvReleaseStereoBMState 406

cvReleaseStereoGCState 407

cvRodrigues2 407

cvStereoCalibrate 408

cvStereoRectify 411

cvStereoRectifyUncalibrated 414

cvUndistort2 415

cvUndistortPoints 416

3 cvaux Extra Computer Vision Functionality 419

3.1 Object detection and descriptors 419

4 highgui High-level GUI and Media I/O 421 4.1 User Interface 421

cvConvertImage 421

cvCreateTrackbar 422

cvDestroyAllWindows 423

cvDestroyWindow 423

cvGetTrackbarPos 423

cvGetWindowHandle 424

cvGetWindowName 424

cvInitSystem 424

cvMoveWindow 425

cvNamedWindow 425

cvResizeWindow 425

cvSetMouseCallback 426

cvSetTrackbarPos 427

cvShowImage 428

cvWaitKey 428

4.2 Reading and Writing Images and Video 429

cvLoadImage 429

cvLoadImageM 429

cvSaveImage 430

CvCapture 431

cvCaptureFromCAM 431

cvCaptureFromFile 432

cvGetCaptureProperty 432

cvGrabFrame 433

cvQueryFrame 433

cvReleaseCapture 434

cvRetrieveFrame 434

cvSetCaptureProperty 434

cvCreateVideoWriter 435

cvReleaseVideoWriter 436

cvWriteFrame 436

CONTENTS 17

6.1 C++ Cheatsheet 446

6.2 Namespace cv and Function Naming 447

6.3 Memory Management 448

6.4 Memory Management Part II Automatic Data Allocation 449

6.5 Algebraic Operations 451

6.6 Fast Element Access 451

6.7 Saturation Arithmetics 452

6.8 Error handling 452

6.9 Threading and Reenterability 452

7 cxcore The Core Functionality 453 7.1 Basic Structures 453

DataType 453

Point 455

Point3 456

Size 457

Rect 458

RotatedRect 460

TermCriteria 460

Vec 461

Scalar 463

Range 463

Ptr 464

Mat 466

Matrix Expressions 475

cv::Mat::Mat 476

cv::Mat::Mat 478

cv::Mat::operator = 478

cv::Mat::operator MatExpr 479

cv::Mat::row 479

cv::Mat::col 480

cv::Mat::rowRange 480

cv::Mat::colRange 481

cv::Mat::diag 481

cv::Mat::clone 482

cv::Mat::copyTo 482

cv::Mat::copyTo 483

cv::Mat::assignTo 483

cv::Mat::setTo 484

cv::reshape 484

cv::Mat::t() 485

cv::Mat::inv 485

cv::Mat::mul 486

cv::Mat::cross 486

cv::Mat::dot 487

cv::Mat::zeros 487

cv::Mat::ones 488

cv::Mat::eye 488

cv::Mat::create 489

cv::Mat::addref 490

cv::Mat::release 490

cv::Mat::locateROI 490

cv::Mat::adjustROI 491

cv::Mat::operator() 492

cv::Mat::operator CvMat 492

cv::Mat::operator IplImage 493

cv::Mat::isContinuous 493

cv::Mat::elemSize 495

cv::Mat::elemSize1 495

cv::Mat::type 496

cv::Mat::depth 496

cv::Mat::channels 497

cv::Mat::step1 497

cv::Mat::size 497

cv::Mat::empty 497

cv::Mat::ptr 498

cv::Mat::at 498

cv::Mat::begin 499

cv::Mat::end 500

Mat 500

MatND 503

MatND 508

SparseMat 509

SparseMat 515

7.2 Operations on Arrays 517

cv::abs 517

cv::absdiff 517

CONTENTS 19

cv::add 518

cv::addWeighted 519

bitwise and 520

bitwise not 521

bitwise or 522

bitwise xor 523

cv::calcCovarMatrix 524

cv::cartToPolar 525

cv::checkRange 526

cv::compare 527

cv::completeSymm 528

cv::convertScaleAbs 528

cv::countNonZero 529

cv::cubeRoot 530

cv::cvarrToMat 530

cv::dct 532

cv::dft 533

cv::divide 537

cv::determinant 538

cv::eigen 539

cv::exp 539

cv::extractImageCOI 540

cv::fastAtan2 541

cv::flip 541

cv::gemm 542

cv::getConvertElem 543

cv::getOptimalDFTSize 544

cv::idct 544

cv::idft 545

cv::inRange 545

cv::invert 546

cv::log 547

cv::LUT 547

cv::magnitude 548

cv::Mahalanobis 549

cv::max 549

cv::mean 550

cv::meanStdDev 551

cv::merge 552

cv::min 552

cv::minMaxLoc 553

cv::mixChannels 554

cv::mulSpectrums 556

cv::multiply 557

cv::mulTransposed 557

cv::norm 558

cv::normalize 559

cv::PCA 561

cv::PCA::PCA 562

cv::PCA::operator () 563

cv::PCA::project 564

cv::PCA::backProject 564

cv::perspectiveTransform 565

cv::phase 566

cv::polarToCart 567

cv::pow 567

RNG 568

cv::RNG::RNG 569

cv::RNG::next 570

cv::RNG::operator T 570

cv::RNG::operator () 570

cv::RNG::uniform 571

cv::RNG::gaussian 572

cv::RNG::fill 572

cv::randu 573

cv::randn 573

cv::randShuffle 574

cv::reduce 575

cv::repeat 575

saturate cast 576

cv::scaleAdd 577

cv::setIdentity 578

cv::solve 578

cv::solveCubic 579

cv::solvePoly 580

cv::sort 580

cv::sortIdx 581

cv::split 582

cv::sqrt 582

cv::subtract 583

CONTENTS 21

cv::SVD 584

cv::SVD::SVD 585

cv::SVD::operator () 586

cv::SVD::solveZ 586

cv::SVD::backSubst 587

cv::sum 587

cv::theRNG 588

cv::trace 588

cv::transform 589

cv::transpose 590

7.3 Dynamic Structures 590

7.4 Drawing Functions 590

cv::circle 591

cv::clipLine 591

cv::ellipse 592

cv::ellipse2Poly 593

cv::fillConvexPoly 594

cv::fillPoly 595

cv::getTextSize 595

cv::line 596

cv::LineIterator 597

cv::rectangle 598

cv::polylines 599

cv::putText 600

7.5 XML/YAML Persistence 600

cv::FileStorage 600

cv::FileNode 602

cv::FileNodeIterator 603

7.6 Clustering and Search in Multi-Dimensional Spaces 603

cv::kmeans 603

cv::partition 605

Fast Approximate Nearest Neighbor Search 605

cv::flann::Index 605

cv::flann::Index::Index 606

cv::flann::Index::knnSearch 609

cv::flann::Index::knnSearch 610

cv::flann::Index::radiusSearch 610

cv::flann::Index::radiusSearch 611

cv::flann::Index::save 612

cv::flann::hierarchicalClustering 612

7.7 Utility and System Functions and Macros 612

9 cvaux Extra Computer Vision Functionality 765

9.1 Object detection and descriptors 765

Predicting with Decision Trees 804

Training Decision Trees 804

CONTENTS 29

Compute the Laplacian 844

Using GoodFeaturesToTrack 844

Using GetSubRect 844

Using CreateMat, and accessing an element 845

ROS image message to OpenCV 845

PIL Image to OpenCV 845

OpenCV to PIL Image 845

NumPy and OpenCV 846

15 cvaux Extra Computer Vision Functionality 1069

15.1 Object detection and descriptors 1069

Part I

C API Reference

39