CV SS08 Lab 2

Computer Vision
SS 2008
Tutorial/Lab II
MSc in CS Moritz Vieth
Overview
Reading Programming
in CV
Basic steps OpenCV Starter kit The CV Lab

Equipment Accounts Source control (SVN)

Tutorial/Lab I 2
SS 2008
Readings
What
is the main underlying problem of CV? What is a model? What are the four representations presented in the reading? In which way can concepts of AI/Machine Learning aid CV? Does CV have to exactly reproduce the human perception system? Name some CV applications (and their means)
SS 2008 Tutorial/Lab I 3
Programming in CV
Basic
tasks:
Data acquisition
Single
images Image sequences (video file/camera)
Image processing
Manipulation Analysis
Output
Display Files etc.
SS 2008
Tutorial/Lab I
OpenCV
Open
Source Library
Originally developed by Intel Written in C/C++ (but mostly C) http://opencvlibrary.sourceforge.net/ Basic functions and structures
Advanced Head
algorithms
start into CV programming
Nomenclature:
SS 2008
Methods start with cv (lowercase) Structures start with Cv (uppercase)

Tutorial/Lab I 5
OpenCV: Basic Functions

Structures
& methods for
Image handling Image acquisition Single image file Video file Camera Image manipulation Output Display Save to file
Tutorial/Lab I 6
SS 2008
OpenCV: Advanced Algorithms

Algorithms
and functions commonly used in CV applications Edge/Corner detection Pattern matching Structural analysis Motion detection Tracking Calibration (not that good, use MATLAB instead) Face Detection ...
Tutorial/Lab I 7
SS 2008
Using OpenCV
Image
acquisition (single file)
#include"cv.h" #include"highgui.h" intmain(intargc,char**argv) { IplImage*img; if(img=cvLoadImage(image.jpg, CV_LOAD_IMAGE_COLOR))!=0) { doSomething(img);//yourprocessingmethod cvWaitKey(5);//veryimportant,containsevent //processingloopinside return0; } return1; }
SS 2008
Tutorial/Lab I
Using OpenCV
Image
acquisition (video file)
#include"cv.h" #include"highgui.h" intmain(intargc,char**argv) { IplImage*img; CvCapture*capture=cvCaptureFromFile(video.mpg); while(img=cvQueryFrame(capture)!=0)) { doSomething(img);//yourprocessingmethod cvWaitKey(5);//veryimportant,containsevent //processingloopinside return0; } cvDestroyCapture(&capture); return1; }
Using OpenCV
Image
acquisition (camera)
#include"cv.h" #include"highgui.h" intmain(intargc,char**argv) { IplImage*img; CvCapture*capture=cvCaptureFromCAM(0); while(img=cvQueryFrame(capture)!=0)) { doSomething(img);//yourprocessingmethod cvWaitKey(5);//veryimportant,containsevent //processingloopinside return0; } cvDestroyCapture(&capture); return1; }
Using OpenCV
Image
handling: Accessing a pixel
//Setpixelvalue: //IplImage*image,intchannel,intvalue (((uchar*)(image>imageData+image>widthStep*(y))))[x* image>nChannels+channel]=(uchar)value; //Getpixelvalue: //IplImage*image,intchannel,intvalue value=(((uchar*)(image>imageData+image>widthStep*(y))) [(x*image>nChannels)+channel];
Easy,
isn't it?
We'll come back to that

Tutorial/Lab I 11
SS 2008
Using OpenCV
Image
manipulation: Drawing
IplImage*img; if(img=cvLoadImage(image.jpg,CV_LOAD_IMAGE_COLOR))!=0) { //drawaredrectanglefrom(20,20)to(100,100) cvRectangle(img,cvPoint(20,20),cvPoint(100,100), CV_RGB(255,0,0)); cvWaitKey(5);//veryimportant,containsevent //processingloopinside }
Same
goes for cvCircle, cvLine, cvEllipse, ...
SS 2008
Tutorial/Lab I
12
Using OpenCV
Image
manipulation: Color conversion
IplImage*img; IplImage*hsv_img; if(img=cvLoadImage(image.jpg,CV_LOAD_IMAGE_COLOR))!=0) { hsv_img=cvCreateImg(cvGetSize(img),8,3); cvCvtColor(img,hsv_img,CV_BGR2HSV); cvWaitKey(5);//veryimportant,containsevent //processingloopinside }
SS 2008
Tutorial/Lab I
13
Using OpenCV
Image
output: Windows
CvCapture*capture=cvCaptureFromCAM(0); IplImage*frame=cvQueryFrame(capture) cvNamedWindow("myWindow",CV_WINDOW_AUTOSIZE); while(frame!=0){ cvShowImage(myWindow,frame); cvWaitKey(5); frame=cvQueryFrame(capture); } cvReleaseCapture(&capture); cvDestroyWindow(myWindow);
Windows
are created and referenced by name You can use as many NamedWindows as you like
Using OpenCV
Image
output: Saving
IplImage*img; if(img=cvLoadImage(image.jpg,CV_LOAD_IMAGE_COLOR))!=0) { //drawaredrectanglefrom(20,20)to(100,100) cvRectangle(img,cvPoint(20,20),cvPoint(100,100), CV_RGB(255,0,0)); cvWaitKey(5);//veryimportant,containsevent //processingloopinside cvSaveImage(image.bmp,img); return0; }
SS 2008
Tutorial/Lab I
15
Using OpenCV
Interactivity
CvCapture*capture=cvCaptureFromCAM(0); IplImage*frame=cvQueryFrame(capture); cvNamedWindow("myWindow",CV_WINDOW_AUTOSIZE); intkey=0; while(frame!=0&&key!='c'){ cvShowImage(mywindow,frame); frame=cvQueryFrame(capture); key=cvWaitKey(250); } cvReleaseCapture(&capture); cvDestroyWindow(myWindow);
[spot the error]

OpenCV: Compiling
If
you are compiling OpenCV from scratch, don't forget to add ffmpeg support! To compile programs using OpenCV:

Specify the include path: Specify the library path:

-L/usr/local/lib/
-I/usr/local/include/opencv
(or wherever you installed it) Tell the linker to use the shared libraries:
-lcv -lcvaux -lhighgui
SS 2008
Tutorial/Lab I
17
OpenCV: Compiling
Common
->
errors:
Undefined reference to... when compiling/linking

Make sure you have linked to the libs (-l...), and set the library path correctly (-L...)
Undefined reference to... when starting the program

Tell
the shell how to find the shared libraries (Linux:) export LD_LIBRARY_PATH=/usr/local/lib
(or wherever the missing libs are)
SS 2008
Tutorial/Lab I
18
OpenCV: Examples
Find
Circles in an Image:
cvHoughCircles(...)
[Images by Thomas Hofhammer]

OpenCV: Examples
Detect

Faces:
cascade = (CvHaarClassifierCascade*) cvLoad( cascade_name, 0, 0, 0 ); CvSeq* faces = cvHaarDetectObjects( small_img, cascade, storage,1.1, 2, 0, cvSize(30, 30) );
www.lenna.org
SS 2008
Tutorial/Lab I
20
See it live
A

short demo
Read and display a video stream Paint circles React to user input
SS 2008
Tutorial/Lab I
21
CvUtils
OpenCV

is not complete
pixel access?
Sometimes a little complicated

Remember
Some (utility) functions are just missing
CvUtils

SS 2008
library (by me)
ImageUtils -> Mostly access and drawing MathUtils -> Frequently used shortcuts Pixel -> used to store coordinates along with color Blob -> a collection of pixels ParFile (by Stefan Hahne) -> Easy config file access
Tutorial/Lab I 22
Starter Kit
Should
accelerate the getting started part A bit more sophisticated than the demo Main file
reads config file and command line
Controller Basic
input (video file or camera) Basic output (one main window) Error codes Uses CvUtils
Output Library
Shared
library for output Used to format output Controls output level (no more searching for those DEBUG messages) Automated logging Automatic display of function names (if desired) Thread-safe Backtrace support (for Linux/Unix) Silly name (niftout)
Equipment
Equipment
Color
available for projects:
Various IEEE1394 industrial cams

or b/w, mostly 640x480 Various lenses (wide angle and tele)
Sony IEEE1394 zoom cams Several USB webcams 2 (3) PTZ cams Tripods
Some
SS 2008
other stuff (e.g. Stereo Cam) in the RoboCup lab

Just ask them!
Tutorial/Lab I 25
CV-Lab
You

can work on your projects in the CV lab
Get accounts on the lab server Work on fast machines (some dual or quad core) Multiple FireWire support
Use

source control
There is a SVN repository on the lab server Access via lab account ->Ask!
SS 2008
Tutorial/Lab I
26
Project Proposals
Contents
Name(s) of Student(s) Student ID(s) (Matr. Nr.) Title of the CV project (after approval of the instructor) Description of the CV project (plan of attack) (max. 2 pages, incl. graphics) (kind of working contract between you and me) References (min. 2 peer reviewed) of a project proposal
Project Proposals
Description
What
of the CV project should contain:
Introduction
is the project about? What is the context of the project? What is the Motivation?
Materials
What
is the Equipment needed? What setup do you have in mind?
Methods
How
are you going to achieve your goals? (CV methods, not a storyline)
SS 2008
Tutorial/Lab I
28
Project Proposals
Description
(cont'd):
of the CV project should contain
Assumptions
What
are the prerequisites for your project (e.g. lighting conditions, background, etc.)? What are the restrictions on you project? What may be changed in the environment?

Expected results Distinction: who does what?
SS 2008
Tutorial/Lab I
29

CV SS08 Lab 2

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CV SS08 Lab 2

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Computer Vision

Basic steps OpenCV Starter kit The CV Lab

Equipment Accounts Source control (SVN)

images Image sequences (video file/camera)

start into CV programming

Methods start with cv (lowercase) Structures start with Cv (uppercase)

OpenCV: Basic Functions

& methods for

OpenCV: Advanced Algorithms

acquisition (single file)

acquisition (video file)

handling: Accessing a pixel

//Setpixelvalue: //IplImage*image,intchannel,intvalue (((uchar*)(image>imageData+image>widthStep*(y))))[x* image>nChannels+channel]=(uchar)value; //Getpixelvalue: //IplImage*image,intchannel,intvalue value=(((uchar*)(image>imageData+image>widthStep*(y))) [(x*image>nChannels)+channel];

We'll come back to that

IplImage*img; if(img=cvLoadImage(image.jpg,CV_LOAD_IMAGE_COLOR))!=0) { //drawaredrectanglefrom(20,20)to(100,100) cvRectangle(img,cvPoint(20,20),cvPoint(100,100), CV_RGB(255,0,0)); cvWaitKey(5);//veryimportant,containsevent //processingloopinside }

goes for cvCircle, cvLine, cvEllipse, ...

manipulation: Color conversion

IplImage*img; IplImage*hsv_img; if(img=cvLoadImage(image.jpg,CV_LOAD_IMAGE_COLOR))!=0) { hsv_img=cvCreateImg(cvGetSize(img),8,3); cvCvtColor(img,hsv_img,CV_BGR2HSV); cvWaitKey(5);//veryimportant,containsevent //processingloopinside }

CvCapture*capture=cvCaptureFromCAM(0); IplImage*frame=cvQueryFrame(capture) cvNamedWindow("myWindow",CV_WINDOW_AUTOSIZE); while(frame!=0){ cvShowImage(myWindow,frame); cvWaitKey(5); frame=cvQueryFrame(capture); } cvReleaseCapture(&capture); cvDestroyWindow(myWindow);

IplImage*img; if(img=cvLoadImage(image.jpg,CV_LOAD_IMAGE_COLOR))!=0) { //drawaredrectanglefrom(20,20)to(100,100) cvRectangle(img,cvPoint(20,20),cvPoint(100,100), CV_RGB(255,0,0)); cvWaitKey(5);//veryimportant,containsevent //processingloopinside cvSaveImage(image.bmp,img); return0; }

[spot the error]

Specify the include path: Specify the library path:

Undefined reference to... when compiling/linking

Undefined reference to... when starting the program

[Images by Thomas Hofhammer]

Sometimes a little complicated

Some (utility) functions are just missing

library (by me)

reads config file and command line

available for projects:

Various IEEE1394 industrial cams

other stuff (e.g. Stereo Cam) in the RoboCup lab

can work on your projects in the CV lab

of the CV project should contain:

is the Equipment needed? What setup do you have in mind?

of the CV project should contain

Expected results Distinction: who does what?

Anda mungkin juga menyukai

//Setpixelvalue: //IplImageimage,intchannel,intvalue (((uchar)(image>imageData+image>widthStep(y))))[x image>nChannels+channel]=(uchar)value; //Getpixelvalue: //IplImageimage,intchannel,intvalue value=(((uchar)(image>imageData+image>widthStep(y))) [(ximage>nChannels)+channel];

IplImageimg; IplImagehsv_img; if(img=cvLoadImage(image.jpg,CV_LOAD_IMAGE_COLOR))!=0) { hsv_img=cvCreateImg(cvGetSize(img),8,3); cvCvtColor(img,hsv_img,CV_BGR2HSV); cvWaitKey(5);//veryimportant,containsevent //processingloopinside }

CvCapturecapture=cvCaptureFromCAM(0); IplImageframe=cvQueryFrame(capture) cvNamedWindow("myWindow",CV_WINDOW_AUTOSIZE); while(frame!=0){ cvShowImage(myWindow,frame); cvWaitKey(5); frame=cvQueryFrame(capture); } cvReleaseCapture(&capture); cvDestroyWindow(myWindow);