OpenCV 2.3.3官方参考手册：核心功能与图像处理详解

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OpenCV Reference Manual Release 2.3.3 是一份详细的文档，提供了OpenCV (Open Source Computer Vision Library) 2.3.3 版本的离线参考指南。这份手册涵盖了广泛的图像处理、计算机视觉和机器学习功能，旨在帮助开发人员深入了解和利用OpenCV库的各种工具和算法。 1. **API概念**：章节1介绍了OpenCV的基本编程接口（API），包括如何理解和使用其提供的数据结构、函数以及模块间协作的方法。这部分强调了面向对象编程的使用，以及如何通过调用不同的模块（如core, imgproc, highgui等）来实现图像处理任务。 2. **核心功能**（Core Functionality）：这部分从基础结构开始，如Mat矩阵类，它是OpenCV数据处理的核心，阐述了基本的数据类型、内存管理以及动态结构的创建和操作。之后讲解了数组操作，如复制、拼接、排序等，还有如何利用XML和YAML进行持久化存储。 3. **图像处理**（Image Processing）：imgproc模块是主要内容，涉及滤波、几何变换（如旋转、缩放）、其他特殊变换、直方图分析、形状描述符（如SIFT、SURF等）以及基于平面划分的分析（如Hough变换）。这部分还介绍了运动分析和对象跟踪的技术。 4. **高级GUI与媒体I/O**（High-level GUI and Media I/O）：这部分关注用户界面设计和图像视频的读写操作，包括OpenCV在Qt框架中的新功能。对于多媒体数据流的处理和显示，提供了全面的支持。 5. **视频分析**（Video Analysis）：专门探讨了在视频流中进行运动分析和对象跟踪的方法，这部分技术对于实时监控和视频处理应用至关重要。 6. **相机校准与三维重建**（Camera Calibration and 3D Reconstruction）：calib3d模块提供了关于相机参数估计、立体视觉和三维重建的关键知识，这对于机器视觉和三维应用开发者极为关键。 7. **特征检测与对象检测**（Feature Detection and Object Detection）：这部分详细介绍了如何从图像中提取关键特征，如SIFT、SURF、ORB等，以及如何结合这些特征进行目标检测。 OpenCV Reference Manual Release 2.3.3 是一个功能齐全的指南，无论是入门级开发人员还是经验丰富的专业人士，都可以从中找到所需的信息来构建复杂的计算机视觉系统。通过深入理解并熟练运用这些API，用户能够构建出高效且准确的图像处理和计算机视觉应用。

The OpenCV Reference Manual, Release 2.3.3

Being derived from Vec<

Tp, 4> , Scalar

and Scalar can be used just as typical 4-element vectors. In addition,

they can be converted to/from CvScalar . The type Scalar is widely used in OpenCV to pass pixel values.

Range

class Range

Template class specifying a continuous subsequence (slice) of a sequence.

class Range

{

public:

...

int start, end;

};

The class is used to specify a row or a column span in a matrix ( Mat ) and for many other purposes. Range(a,b) is

basically the same as a:b in Matlab or a..b in Python. As in Python, start is an inclusive left boundary of the range

and end is an exclusive right boundary of the range. Such a half-opened interval is usually denoted as [start, end) .

The static method Range::all() returns a special variable that means “the whole sequence” or “the whole range”,

just like ” : ” in Matlab or ” ... ” in Python. All the methods and functions in OpenCV that take Range support this

special Range::all() value. But, of course, in case of your own custom processing, you will probably have to check

and handle it explicitly:

void my

function(..., const Range& r, ....)

{

if(r == Range::all()) {

// process all the data

}

else {

// process [r.start, r.end)

}

Ptr

class Ptr

Template class for smart reference-counting pointers

template<typename

Tp> class Ptr

{

public:

// default constructor

Ptr();

// constructor that wraps the object pointer

Ptr(

obj);

// destructor: calls release()

~Ptr();

// copy constructor; increments ptr’s reference counter

Ptr(const Ptr& ptr);

// assignment operator; decrements own reference counter

// (with release()) and increments ptr’s reference counter

Ptr& operator = (const Ptr& ptr);

// increments reference counter

void addref();

12 Chapter 2. core. The Core Functionality

The OpenCV Reference Manual, Release 2.3.3

// decrements reference counter; when it becomes 0,

// delete

obj() is called

void release();

// user-specified custom object deletion operation.

// by default, "delete obj;" is called

void delete

obj();

// returns true if obj == 0;

bool empty() const;

// provide access to the object fields and methods

operator -> ();

const

operator -> () const;

// return the underlying object pointer;

// thanks to the methods, the Ptr<

Tp> can be

// used instead of

operator

();

operator const

() const;

protected:

// the encapsulated object pointer

obj;

// the associated reference counter

int

refcount;

};

The Ptr<

Tp> class is a template class that wraps pointers of the corresponding type. It is similar to shared

ptr that

is part of the Boost library ( http://www.boost.org/doc/libs/1_40_0/libs/smart_ptr/shared_ptr.htm ) and also part of the

C++0x standard.

This class provides the following options:

• Default constructor, copy constructor, and assignment operator for an arbitrary C++ class or a C structure. For

some objects, like ﬁles, windows, mutexes, sockets, and others, a copy constructor or an assignment operator

are difﬁcult to deﬁne. For some other objects, like complex classiﬁers in OpenCV, copy constructors are absent

and not easy to implement. Finally, some of complex OpenCV and your own data structures may be written in

C. However, copy constructors and default constructors can simplify programming a lot. Besides, they are often

required (for example, by STL containers). By wrapping a pointer to such a complex object TObj to Ptr<TObj>

, you automatically get all of the necessary constructors and the assignment operator.

• O(1) complexity of the above-mentioned operations. While some structures, like std::vector, provide a copy

constructor and an assignment operator, the operations may take a considerable amount of time if the data

structures are large. But if the structures are put into Ptr<> , the overhead is small and independent of the data

size.

• Automatic destruction, even for C structures. See the example below with FILE

• Heterogeneous collections of objects. The standard STL and most other C++ and OpenCV containers can store

only objects of the same type and the same size. The classical solution to store objects of different types in the

same container is to store pointers to the base class base

class

instead but then you loose the automatic

memory management. Again, by using Ptr<base

class

t>() instead of the raw pointers, you can solve the

problem.

The Ptr class treats the wrapped object as a black box. The reference counter is allocated and managed separately.

The only thing the pointer class needs to know about the object is how to deallocate it. This knowledge is incapsulated

in the Ptr::delete

obj() method that is called when the reference counter becomes 0. If the object is a C++ class

instance, no additional coding is needed, because the default implementation of this method calls delete obj; .

However, if the object is deallocated in a different way, the specialized method should be created. For example, if you

want to wrap FILE , the delete

obj may be implemented as follows:

2.1. Basic Structures 13

The OpenCV Reference Manual, Release 2.3.3

data layout of the array M is deﬁned by the array M.step[] , so that the address of element (i

, ..., i

M.dims−1

) ,

where 0 ≤ i

< M.size[k] , is computed as:

addr(M

,...,i

M.dims−1

) = M.data + M.step[0] ∗ i

+ M.step[1] ∗ i

+ ... + M.step[M.dims − 1] ∗ i

M.dims−1

In case of a 2-dimensional array, the above formula is reduced to:

addr(M

i,j

) = M.data + M.step[0] ∗ i + M.step[1] ∗ j

Note that M.step[i] >= M.step[i+1] (in fact, M.step[i] >= M.step[i+1]

M.size[i+1] ). This means

that 2-dimensional matrices are stored row-by-row, 3-dimensional matrices are stored plane-by-plane, and so on.

M.step[M.dims-1] is minimal and always equal to the element size M.elemSize() .

So, the data layout in Mat is fully compatible with CvMat, IplImage, and CvMatND types from OpenCV 1.x. It is also

compatible with the majority of dense array types from the standard toolkits and SDKs, such as Numpy (ndarray),

Win32 (independent device bitmaps), and others, that is, with any array that uses steps (or strides) to compute the

position of a pixel. Due to this compatibility, it is possible to make a Mat header for user-allocated data and process it

in-place using OpenCV functions.

There are many different ways to create a Mat object. The most popular options are listed below:

• Use the create(nrows, ncols, type) method or the similar Mat(nrows, ncols, type[, fillValue])

constructor. A new array of the speciﬁed size and type is allocated. type has the same meaning as in the

cvCreateMat method. For example, CV

8UC1 means a 8-bit single-channel array, CV

32FC2 means a 2-channel

(complex) ﬂoating-point array, and so on.

// make a 7x7 complex matrix filled with 1+3j.

Mat M(7,7,CV

32FC2,Scalar(1,3));

// and now turn M to a 100x60 15-channel 8-bit matrix.

// The old content will be deallocated

M.create(100,60,CV

8UC(15));

As noted in the introduction to this chapter, create() allocates only a new array when the shape or type of the

current array are different from the speciﬁed ones.

• Create a multi-dimensional array:

// create a 100x100x100 8-bit array

int sz[] = {100, 100, 100};

Mat bigCube(3, sz, CV

8U, Scalar::all(0));

It passes the number of dimensions =1 to the Mat constructor but the created array will be 2-dimensional with

the number of columns set to 1. So, Mat::dims is always >= 2 (can also be 0 when the array is empty).

• Use a copy constructor or assignment operator where there can be an array or expression on the right side (see

below). As noted in the introduction, the array assignment is an O(1) operation because it only copies the header

and increases the reference counter. The Mat::clone() method can be used to get a full (deep) copy of the

array when you need it.

• Construct a header for a part of another array. It can be a single row, single column, several rows, several

columns, rectangular region in the array (called a minor in algebra) or a diagonal. Such operations are also O(1)

because the new header references the same data. You can actually modify a part of the array using this feature,

for example:

// add the 5-th row, multiplied by 3 to the 3rd row

M.row(3) = M.row(3) + M.row(5)

// now copy the 7-th column to the 1-st column

// M.col(1) = M.col(7); // this will not work

Mat M1 = M.col(1);

2.1. Basic Structures 15

The OpenCV Reference Manual, Release 2.3.3

M.col(7).copyTo(M1);

// create a new 320x240 image

Mat img(Size(320,240),CV

8UC3);

// select a ROI

Mat roi(img, Rect(10,10,100,100));

// fill the ROI with (0,255,0) (which is green in RGB space);

// the original 320x240 image will be modified

roi = Scalar(0,255,0);

Due to the additional datastart and dataend members, it is possible to compute a relative sub-array position

in the main container array using locateROI():

Mat A = Mat::eye(10, 10, CV

32S);

// extracts A columns, 1 (inclusive) to 3 (exclusive).

Mat B = A(Range::all(), Range(1, 3));

// extracts B rows, 5 (inclusive) to 9 (exclusive).

// that is, C ~ A(Range(5, 9), Range(1, 3))

Mat C = B(Range(5, 9), Range::all());

Size size; Point ofs;

C.locateROI(size, ofs);

// size will be (width=10,height=10) and the ofs will be (x=1, y=5)

As in case of whole matrices, if you need a deep copy, use the clone() method of the extracted sub-matrices.

• Make a header for user-allocated data. It can be useful to do the following:

1. Process “foreign” data using OpenCV (for example, when you implement a DirectShow* ﬁlter or a pro-

cessing module for gstreamer, and so on). For example:

void process

video

frame(const unsigned char

pixels,

int width, int height, int step)

{

Mat img(height, width, CV

8UC3, pixels, step);

GaussianBlur(img, img, Size(7,7), 1.5, 1.5);

}

2. Quickly initialize small matrices and/or get a super-fast element access.

double m[3][3] = {{a, b, c}, {d, e, f}, {g, h, i}};

Mat M = Mat(3, 3, CV

64F, m).inv();

Partial yet very common cases of this user-allocated data case are conversions from CvMat and IplImage to

Mat. For this purpose, there are special constructors taking pointers to CvMat or IplImage and the optional ﬂag

indicating whether to copy the data or not.

Backward conversion from Mat to CvMat or IplImage is provided via cast operators Mat::operator

CvMat() const and Mat::operator IplImage(). The operators do NOT copy the data.

IplImage

img = cvLoadImage("greatwave.jpg", 1);

Mat mtx(img); // convert IplImage

-> Mat

CvMat oldmat = mtx; // convert Mat -> CvMat

Assert(oldmat.cols == img->width && oldmat.rows == img->height &&

oldmat.data.ptr == (uchar

)img->imageData && oldmat.step == img->widthStep);

• Use MATLAB-style array initializers, zeros(), ones(), eye(), for example:

// create a double-precision identity martix and add it to M.

M += Mat::eye(M.rows, M.cols, CV

64F);

16 Chapter 2. core. The Core Functionality

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OpenCV 2.3.3官方参考手册：核心功能与图像处理详解

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