高清学习OpenCV实战指南

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《Learning OpenCV》是一本由Gary Bradski和Adrian Kaehler合著的计算机视觉与机器学习领域的经典著作，全书采用高清英文原版形式，适合英文水平较高的读者深入学习。该书于2008年首次出版，版权归属于作者和O'Reilly Media，Inc.，在美国印制发行。书中全面介绍了OpenCV（Open Source Computer Vision Library）这一强大的计算机视觉库，它在图像处理、视频分析、特征检测、物体识别等方面具有广泛应用。作者以其丰富的经验和深入浅出的讲解，带领读者从基础概念入手，逐步探索OpenCV的核心功能和实际操作技巧。无论是对计算机视觉感兴趣的工程师，还是研究者，都能从中受益匪浅。本书特别强调实践性，包含了大量的示例代码和案例分析，帮助读者通过实际项目熟悉OpenCV的API和工作流程。此外，作者还讨论了OpenCV与其他软件库（如Matplotlib、Python等）的集成，以及如何利用这些工具进行高级图像处理和机器学习任务。对于那些希望通过学习OpenCV提升自己的专业技能，或者希望在项目中应用计算机视觉技术的人来说，《Learning OpenCV》是一本不可或缺的参考书籍。随着在线资源的丰富，O'Reilly官网提供了电子版供用户选择，方便随时随地查阅和学习。在版权方面，书中涉及到的“Nutshell Handbook”、“Nutshell Handbook logo”、“O'Reilly logo”、“Learning OpenCV”、巨大的孔雀蛾图像以及相关商标均受O'Reilly Media, Inc.保护。本书的编辑、制作人员名单列出了Mike Loukides作为编辑，Rachel Monaghan担任生产编辑，而封面设计、内部设计和插图则分别由Karen Montgomery、David Futato和Robert Romano负责。《Learning OpenCV》是任何想要进入或深化计算机视觉领域学习者的宝贵资源，提供了扎实的技术指导和实战经验，是提升专业能力的有力工具。

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Preface

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Acknowledgments

A long-term open source e ort sees many people come and go, each contributing in dif-

ferent ways.  e list of contributors to this library is far too long to list here, but see the

.../opencv/docs/HTML/Contributors/doc_contributors.html  le that ships with OpenCV.

Thanks for Help on OpenCV

Intel is where the library was born and deserves great thanks for supporting this project

the whole way through. Open source needs a champion and enough development sup-

port in the beginning to achieve critical mass. Intel gave it both. There are not many other

companies where one could have started and maintained such a project through good

times and bad. Along the way, OpenCV helped give rise to—and now takes (optional)

advantage of—Intel’s Integrated Performance Primitives, which are hand-tuned assembly

language routines in vision, signal processing, speech, linear algebra, and more. Thus the

lives of a great commercial product and an open source product are intertwined.

Mark Holler, a research manager at Intel, allowed OpenCV to get started by knowingly

turning a blind eye to the inordinate amount of time being spent on an unofficial project

back in the library’s earliest days. As divine reward, he now grows wine up in Napa’s Mt.

Vieder area. Stuart Taylor in the Performance Libraries group at Intel enabled OpenCV

by letting us “borrow” part of his Russian software team. Richard Wirt was key to its

continued growth and survival. As the first author took on management responsibility

at Intel, lab director Bob Liang let OpenCV thrive; when Justin Rattner became CTO,

we were able to put OpenCV on a more firm foundation under Software Technology

Lab—supported by software guru Shinn-Horng Lee and indirectly under his manager,

Paul Wiley. Omid Moghadam helped advertise OpenCV in the early days. Mohammad

Haghighat and Bill Butera were great as technical sounding boards. Nuriel Amir, Denver

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Preface

Dash, John Mark Agosta, and Marzia Polito were of key assistance in launching the ma-

chine learning library. Rainer Lienhart, Jean-Yves Bouguet, Radek Grzeszczuk, and Ara

Nefian were able technical contributors to OpenCV and great colleagues along the way;

the first is now a professor, the second is now making use of OpenCV in some well-known

Google projects, and the others are staffing research labs and start-ups. There were many

other technical contributors too numerous to name.

On the software side, some individuals stand out for special mention, especially on the

Russian software team. Chief among these is the Russian lead programmer Vadim Pisare-

vsky, who developed large parts of the library and also managed and nurtured the library

through the lean times when boom had turned to bust; he, if anyone, is the true hero of the

library. His technical insights have also been of great help during the writing of this book.

Giving him managerial support and protection in the lean years was Valery Kuriakin, a

man of great talent and intellect. Victor Eruhimov was there in the beginning and stayed

through most of it. We thank Boris Chudinovich for all of the contour components.

Finally, very special thanks go to Willow Garage [WG], not only for its steady  nancial

backing to OpenCV’s future development but also for supporting one author (and pro-

viding the other with snacks and beverages) during the  nal period of writing this book.

Thanks for Help on the Book

While preparing this book, we had several key people contributing advice, reviews, and

suggestions. Thanks to John Markoff, Technology Reporter at the New York Times for

encouragement, key contacts, and general writing advice born of years in the trenches.

To our reviewers, a special thanks go to Evgeniy Bart, physics postdoc at CalTech, who

made many helpful comments on every chapter; Kjerstin Williams at Applied Minds,

who did detailed proofs and verification until the end; John Hsu at Willow Garage, who

went through all the example code; and Vadim Pisarevsky, who read each chapter in de-

tail, proofed the function calls and the code, and also provided several coding examples.

There were many other partial reviewers. Jean-Yves Bouguet at Google was of great help

in discussions on the calibration and stereo chapters. Professor Andrew Ng at Stanford

University provided useful early critiques of the machine learning chapter. There were

numerous other reviewers for various chapters—our thanks to all of them. Of course,

any errors result from our own ignorance or misunderstanding, not from the advice we

received.

Finally, many thanks go to our editor, Michael Loukides, for his early support, numer-

ous edits, and continued enthusiasm over the long haul.

Gary Adds . . .

With three young kids at home, my wife Sonya put in more work to enable this book than

I did. Deep thanks and love—even OpenCV gives her recognition, as you can see in the

face detection section example image. Further back, my technical beginnings started with

the physics department at the University of Oregon followed by undergraduate years at

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Preface

UC Berkeley. For graduate school, I’d like to thank my advisor Steve Grossberg and Gail

Carpenter at the Center for Adaptive Systems, Boston University, where I first cut my

academic teeth. Though they focus on mathematical modeling of the brain and I have

ended up firmly on the engineering side of AI, I think the perspectives I developed there

have made all the difference. Some of my former colleagues in graduate school are still

close friends and gave advice, support, and even some editing of the book: thanks to

Frank Guenther, Andrew Worth, Steve Lehar, Dan Cruthirds, Allen Gove, and Krishna

Govindarajan.

I specially thank Stanford University, where I’m currently a consulting professor in the

AI and Robotics lab. Having close contact with the best minds in the world definitely

rubs off, and working with Sebastian Thrun and Mike Montemerlo to apply OpenCV

on Stanley (the robot that won the $2M DARPA Grand Challenge) and with Andrew Ng

on STAIR (one of the most advanced personal robots) was more technological fun than

a person has a right to have. It’s a department that is currently hitting on all cylinders

and simply a great environment to be in. In addition to Sebastian Thrun and Andrew Ng

there, I thank Daphne Koller for setting high scientific standards, and also for letting me

hire away some key interns and students, as well as Kunle Olukotun and Christos Kozy-

rakis for many discussions and joint work. I also thank Oussama Khatib, whose work on

control and manipulation has inspired my current interests in visually guided robotic

manipulation. Horst Haussecker at Intel Research was a great colleague to have, and his

own experience in writing a book helped inspire my effort.

Finally, thanks once again to Willow Garage for allowing me to pursue my lifelong ro-

botic dreams in a great environment featuring world-class talent while also supporting

my time on this book and supporting OpenCV itself.

Adrian Adds . . .

Coming from a background in theoretical physics, the arc that brought me through su-

percomputer design and numerical computing on to machine learning and computer vi-

sion has been a long one. Along the way, many individuals stand out as key contributors. I

have had many wonderful teachers, some formal instructors and others informal guides.

I should single out Professor David Dorfan of UC Santa Cruz and Hartmut Sadrozinski of

SLAC for their encouragement in the beginning, and Norman Christ for teaching me the

fine art of computing with the simple edict that “if you can not make the computer do it,

you don’t know what you are talking about”. Special thanks go to James Guzzo, who let me

spend time on this sort of thing at Intel—even though it was miles from what I was sup-

posed to be doing—and who encouraged my participation in the Grand Challenge during

those years. Finally, I want to thank Danny Hillis for creating the kind of place where all of

this technology can make the leap to wizardry and for encouraging my work on the book

while at Applied Minds.

I also would like to thank Stanford University for the extraordinary amount of support I

have received from them over the years. From my work on the Grand Challenge team with

Sebastian Thrun to the STAIR Robot with Andrew Ng, the Stanford AI Lab was always

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