Initial commit

LearningOpenCV_Code/License.txt

+/* *************** License:**************************
+   Oct. 3, 2008
+   Right to use this code in any way you want without warrenty, support or any guarentee of it working.
+
+   BOOK: It would be nice if you cited it:
+   Learning OpenCV: Computer Vision with the OpenCV Library
+     by Gary Bradski and Adrian Kaehler
+     Published by O'Reilly Media, October 3, 2008
+ 
+   AVAILABLE AT: 
+     http://www.amazon.com/Learning-OpenCV-Computer-Vision-Library/dp/0596516134
+     Or: http://oreilly.com/catalog/9780596516130/
+     ISBN-10: 0596516134 or: ISBN-13: 978-0596516130    
+
+   OTHER OPENCV SITES:
+   * The source code is on sourceforge at:
+     http://sourceforge.net/projects/opencvlibrary/
+   * The OpenCV wiki page (As of Oct 1, 2008 this is down for changing over servers, but should come back):
+     http://opencvlibrary.sourceforge.net/
+   * An active user group is at:
+     http://tech.groups.yahoo.com/group/OpenCV/
+   * The minutes of weekly OpenCV development meetings are at:
+     http://pr.willowgarage.com/wiki/OpenCV
+   ************************************************** */
+
+

LearningOpenCV_Code/Makefile.txt

+TOP      := .
+
+BINARIES :=  \
+	ch2_ex2_1  \
+	ch2_ex2_2  \
+	ch2_ex2_3  \
+	ch2_ex2_4  \
+	ch2_ex2_5  \
+	ch2_ex2_6  \
+	ch2_ex2_7  \
+	ch2_ex2_8  \
+	ch2_ex2_9  \
+	ch2_ex2_10 \
+	ch3_ex3_3  \
+	ch3_ex3_4  \
+	ch3_ex3_5  \
+	ch3_ex3_9  \
+	ch3_ex3_11 \
+	ch3_ex3_12 \
+	ch3_ex3_13 \
+	ch3_ex3_14 \
+	ch3_ex3_15 \
+	ch3_ex3_17 \
+	ch3_ex3_19 \
+	ch3_ex3_20 \
+	ch4_ex4_1  \
+	ch4_ex4_2  \
+	ch4_ex4_3  \
+	ch5_ex5_1  \
+	ch5_ex5_2  \
+	ch5_ex5_3  \
+	ch5_ex5_4  \
+	ch6_ex6_1  \
+	ch6_ex6_2  \
+	ch6_ex6_3  \
+	ch6_ex6_4  \
+	ch6_ex6_5  \
+	ch7_ex7_1  \
+	ch7_ex7_3_expanded \
+	ch7_ex7_5_HistBackProj \
+	ch7_ex7_5  \
+	ch8_ex8_2  \
+	ch8_ex8_3  \
+	ch9_ex9_1    \
+	ch9_background \
+	ch9_watershed \
+	ch10_ex10_1 \
+	ch10_ex10_1b_Horn_Schunck  \
+	ch10_motempl \
+	ch10_ex10_2  \
+	ch11_ex11_1  \
+	ch11_ex11_1_fromdisk \
+	ch12_ex12_1   \
+	ch12_ex12_2  \
+	ch12_ex12_3  \
+	ch12_ex12_4  \
+	ch13_ex13_1 \
+	ch13_ex13_2 \
+	ch13_ex13_3 \
+	ch13_ex13_4
+
+
+
+SUBDIRS  := 
+
+FLAGS =  -I/usr/local/include/opencv # -Wall
+
+include $(TOP)/common.mk
+
+ch2_ex2_1: ch2_ex2_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch2_ex2_2: ch2_ex2_2.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch2_ex2_3: ch2_ex2_3.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch2_ex2_4: ch2_ex2_4.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch2_ex2_5: ch2_ex2_5.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch2_ex2_6: ch2_ex2_6.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch2_ex2_7: ch2_ex2_7.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch2_ex2_8: ch2_ex2_8.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch2_ex2_9: ch2_ex2_9.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch2_ex2_10: ch2_ex2_10.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_3: ch3_ex3_3.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_4: ch3_ex3_4.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_5: ch3_ex3_5.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_9: ch3_ex3_9.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_11: ch3_ex3_11.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_12: ch3_ex3_12.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_13: ch3_ex3_13.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_14: ch3_ex3_14.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_15: ch3_ex3_15.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_17: ch3_ex3_17.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_19: ch3_ex3_19.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch3_ex3_20: ch3_ex3_20.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch4_ex4_3: ch4_ex4_3.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch4_ex4_1: ch4_ex4_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch4_ex4_2: ch4_ex4_2.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch5_ex5_1: ch5_ex5_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch5_ex5_2: ch5_ex5_2.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch5_ex5_3: ch5_ex5_3.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch5_ex5_4: ch5_ex5_4.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch6_ex6_1: ch6_ex6_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch6_ex6_2: ch6_ex6_2.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch6_ex6_3: ch6_ex6_3.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch6_ex6_4: ch6_ex6_4.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch6_ex6_5: ch6_ex6_5.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch7_ex7_1: ch7_ex7_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch7_ex7_3_expanded: ch7_ex7_3_expanded.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+	
+ch7_ex7_5_HistBackProj: ch7_ex7_5_HistBackProj.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch7_ex7_5: ch7_ex7_5.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+	
+ch8_ex8_2: ch8_ex8_2.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch8_ex8_3: ch8_ex8_3.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch9_ex9_1: ch9_ex9_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+	
+ch9_background: ch9_AvgBackground.o cv_yuv_codebook.o  ch9_backgroundAVG.o
+	$(LINK) -o $@ $^ -lcv -lhighgui -lcxcore
+	
+ch9_watershed: ch9_watershed.o 
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch10_ex10_1: ch10_ex10_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch10_ex10_1b_Horn_Schunck: ch10_ex10_1b_Horn_Schunck.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch10_motempl: ch10_motempl.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch10_ex10_2: ch10_ex10_2.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch9_pg11: ch9_pg11.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch9_pg14: ch9_pg14.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch9_pg15: ch9_pg15.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch11_ex11_1: ch11_ex11_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch11_ex11_1_fromdisk: ch11_ex11_1_fromdisk.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch12_ex12_1: ch12_ex12_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch12_ex12_2: ch12_ex12_2.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch12_ex12_3: ch12_ex12_3.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch12_ex12_4: ch12_ex12_4.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch13_ex13_1: ch13_ex13_1.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+ch13_ex13_2: ch13_ex13_2.o
+	$(LINK) -o $@ $^ -lcv -lhighgui -lml
+	
+ch13_ex13_3: ch13_ex13_3.o
+	$(LINK) -o $@ $^ -lcv -lhighgui -lml
+
+ch13_ex13_4: ch13_ex13_4.o
+	$(LINK) -o $@ $^ -lcv -lhighgui
+
+

LearningOpenCV_Code/ReadMe_run_programs.txt

+# EXAMPLES OF HOW TO RUN THE PROGRAMS ASSUMING YOU ARE IN THEIR DIRECTORY
+# On Linux, make the files using "make" (which will invoke Makefile in the directory)
+# If you just copy programs from the pdf of the book, watch out that the 
+# quote characters aren't special characters. 
+#
+# I put a calibration pattern, OpenCV_Chessboard.png in this directory
+# print it out and tape it to any rigid object like a book or binder. It's
+# for use with the camera calibration programs in Chapter 11.
+#
+
+#------------------------------------------------------------------------#
+#CHAPTER 2 PROGRAMS:
+./ch2_ex2_1 stuff.jpg
+./ch2_ex2_2 test.avi
+./ch2_ex2_3 test.avi
+./ch2_ex2_4 stuff.jpg 
+./ch2_ex2_5 stuff.jpg 
+./ch2_ex2_6 stuff.jpg 
+./ch2_ex2_7 stuff.jpg 
+./ch2_ex2_8 stuff.jpg 
+  
+  # With video camera: 
+./ch2_ex2_9     
+
+  # Using movie file: 
+./ch2_ex2_9 test.avi
+
+  # Writing won't work if you are using gstreamer. Use ffmpeg but might have to have developer libs from ffmpeg 
+./ch2_ex2_10 test.avi log_polar_out.avi
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 3 PROGRAMS:   
+  ch3_ex3_1.txt  [not a program]
+  ch3_ex3_2.txt  [not a program]
+./ch3_ex3_3
+./ch3_ex3_4
+./ch3_ex3_5
+  ch3_ex3_6.txt  [not a program]
+  ch3_ex3_7.txt  [not a program]
+  ch3_ex3_8.txt  [not a program]  
+./ch3_ex3_9
+  ch3_ex3_10.txt [not a program]
+./ch3_ex3_11 stuff.jpg
+./ch3_ex3_12 stuff.jpg 50 100 300 200 100
+./ch3_ex3_13 stuff.jpg 50 100 300 200 100
+./ch3_ex3_14 stuff.jpg adrian.jpg 50 100 300 200 0.5 0.5
+./ch3_ex3_15
+  ch3_ex3_16.txt [not a program]
+./ch3_ex3_17
+  ch3_ex3_18.xml [not a program]
+./ch3_ex3_19
+./ch3_ex3_20
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 4 PROGRAMS
+./ch4_ex4_1 
+./ch4_ex4_2 test.avi
+./ch4_ex4_3 test.avi
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 5 PROGRAMS
+./ch5_ex5_1 stuff.jpg 
+./ch5_ex5_2 adrian.jpg
+./ch5_ex5_3 adrian.jpg
+./ch5_ex5_4 15 1 1 71 15 adrian.jpg 
+
+#------------------------------------------------------------------------#
+#CHAPTER 6
+./ch6_ex6_1 stuff.jpg
+./ch6_ex6_2 stuff.jpg 
+./ch6_ex6_3 adrian.jpg 
+./ch6_ex6_4 stuff.jpg 100
+./ch6_ex6_5 
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 7
+./ch7_ex7_1 adrian.jpg 
+  ch7_ex7_2.txt  [not a program]
+./ch7_ex7_3_expanded HandIndoorColor.jpg HandOutdoorSunColor.jpg HandOutdoorColor.jpg adrian.jpg 
+  ch7_ex7_4.txt  [not a program]
+./ch7_ex7_5_HistBackProj BlueCup.jpg adrian.jpg 0
+./ch7_ex7_5 faceTemplate.jpg faceScene.jpg 
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 8
+  ch8_ex8_1.txt  [not a program]
+./ch8_ex8_2 adrian.jpg 
+./ch8_ex8_3 faceTemplate.jpg 
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 9
+./ch9_ex9_1 test.avi 
+
+  # The background demo shows 2 background modeling methods: Averaging and YUV Codebook
+  # I've set the parameters to work well with tree.avi == we learn the model for 50 frames
+  # The parameters following tree.avi below are optional, but pretty good for that sequence
+  # You can adjust them on the fly.  Best to pause "p", adjust, single step a bit with "s"
+  # and then resume running with "r" or "p".  To adjust, the video window and NOT the consul
+  # window must be active.  I put a built in pause in the short tree.avi sequence so you
+  # can experiment with parmeters as you single step "s", adjust" and step "s" along. -- Gary
+./ch9_background 1 50 tree.avi 9 2 35 16 2 15 11 16
+
+  # Copy of watershed.cpp in samples/c directory is also here
+./ch9_watershed fruits.jpg 
+
+  #This one isn't a stand alone program, it is a function that does frame differencing as in the book
+ch9_backgroundDiff.cpp  [not built as a program]
+
+  #This is a potentially add on function to ch9_backgroundAVG.cpp -- it clears stale codebook entries
+ch9_ClearStaleCB_Entries.cpp [not built as a program]
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 10
+ ./ch10_ex10_1 
+ 
+   # Decided to do the same example, except using the Horn-Schunck algorithm
+./ch10_ex10_1b_Horn_Schunck
+
+  # For fun, here's motion template code copied from samples/c.  Uses a video camera.  Point the camera
+  # away from you.  Start the program, wait a few seconds until it goes black.  Then move in front
+  # of the camera.
+./ch10_motempl 
+
+./ch10_ex10_2
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 11
+  # Calibration using video camera
+  #  Parameters are chessboard_width height num_to_collect  wait_frames
+  #  The num_to_collect is how many valid chessboard captures we should use to calibrate
+  #  The wait_frames is how many frames to skip before attempting to find a chessboard (this allows you to move it around).
+  #  NOTE: The "9 6" work with OpenCV_Chessboard.png which you can print out and use for this.
+./ch11_ex11_1 9 6 10 60
+
+  # We can also calibrate from a list of images on disk.  You will need to run this in order for the birdseye demo to work.
+./ch11_ex11_1_fromdisk 12 12 ch11_chessboards.txt
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 12
+./ch12_ex12_1 12 12 Intrinsics.xml Distortion.xml ch12_birdseye.jpg 
+
+  # Just a belabored example of computing the fundamental matrix
+  #  NOTE: The "9 6" work with OpenCV_Chessboard.png which you can print out and use for this.
+./ch12_ex12_2 9 6 8 40
+
+  # Stereo calibration, rectification and depth
+./ch12_ex12_3
+
+./ch12_ex12_4
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 13
+./ch13_ex13_1
+./ch13_ex13_2
+./ch13_ex13_3
+./ch13_ex13_4
+
+
+
+
+
+#------------------------------------------------------------------------#
+#CHAPTER 14
+  # You fill in these
+
+
+
+
+
+  

LearningOpenCV_Code/ch10_ex10_1.cpp

+// Example 10-1. Pyramid Lucas-Kanade optical flow code
+//
+/* *************** License:**************************
+   Oct. 3, 2008
+   Right to use this code in any way you want without warrenty, support or any guarentee of it working.
+
+   BOOK: It would be nice if you cited it:
+   Learning OpenCV: Computer Vision with the OpenCV Library
+     by Gary Bradski and Adrian Kaehler
+     Published by O'Reilly Media, October 3, 2008
+ 
+   AVAILABLE AT: 
+     http://www.amazon.com/Learning-OpenCV-Computer-Vision-Library/dp/0596516134
+     Or: http://oreilly.com/catalog/9780596516130/
+     ISBN-10: 0596516134 or: ISBN-13: 978-0596516130    
+
+   OTHER OPENCV SITES:
+   * The source code is on sourceforge at:
+     http://sourceforge.net/projects/opencvlibrary/
+   * The OpenCV wiki page (As of Oct 1, 2008 this is down for changing over servers, but should come back):
+     http://opencvlibrary.sourceforge.net/
+   * An active user group is at:
+     http://tech.groups.yahoo.com/group/OpenCV/
+   * The minutes of weekly OpenCV development meetings are at:
+     http://pr.willowgarage.com/wiki/OpenCV
+   ************************************************** */
+
+#include <cv.h>
+#include <cxcore.h>
+#include <highgui.h>
+#include <stdio.h>
+
+const int MAX_CORNERS = 500;
+int main(int argc, char** argv) {
+   // Initialize, load two images from the file system, and
+   // allocate the images and other structures we will need for
+   // results.
+	//
+	IplImage* imgA = cvLoadImage("OpticalFlow0.jpg",CV_LOAD_IMAGE_GRAYSCALE);
+	IplImage* imgB = cvLoadImage("OpticalFlow1.jpg",CV_LOAD_IMAGE_GRAYSCALE);
+	CvSize      img_sz    = cvGetSize( imgA );
+	int         win_size = 10;
+	IplImage* imgC = cvLoadImage("OpticalFlow1.jpg",CV_LOAD_IMAGE_UNCHANGED);
+	
+	// The first thing we need to do is get the features
+	// we want to track.
+	//
+	IplImage* eig_image = cvCreateImage( img_sz, IPL_DEPTH_32F, 1 );
+	IplImage* tmp_image = cvCreateImage( img_sz, IPL_DEPTH_32F, 1 );
+	int              corner_count = MAX_CORNERS;
+	CvPoint2D32f* cornersA        = new CvPoint2D32f[ MAX_CORNERS ];
+	cvGoodFeaturesToTrack(
+		imgA,
+		eig_image,
+		tmp_image,
+		cornersA,
+		&corner_count,
+		0.01,
+		5.0,
+		0,
+		3,
+		0,
+		0.04
+	);
+	cvFindCornerSubPix(
+		imgA,
+		cornersA,
+		corner_count,
+		cvSize(win_size,win_size),
+		cvSize(-1,-1),
+		cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03)
+	);
+	// Call the Lucas Kanade algorithm
+	//
+	char features_found[ MAX_CORNERS ];
+	float feature_errors[ MAX_CORNERS ];
+	CvSize pyr_sz = cvSize( imgA->width+8, imgB->height/3 );
+	IplImage* pyrA = cvCreateImage( pyr_sz, IPL_DEPTH_32F, 1 );
+  IplImage* pyrB = cvCreateImage( pyr_sz, IPL_DEPTH_32F, 1 );
+  CvPoint2D32f* cornersB        = new CvPoint2D32f[ MAX_CORNERS ];
+  cvCalcOpticalFlowPyrLK(
+     imgA,
+     imgB,
+     pyrA,
+     pyrB,
+     cornersA,
+     cornersB,
+     corner_count,
+     cvSize( win_size,win_size ),
+     5,
+     features_found,
+     feature_errors,
+     cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 ),
+     0
+  );
+  // Now make some image of what we are looking at:
+  //
+  for( int i=0; i<corner_count; i++ ) {
+     if( features_found[i]==0|| feature_errors[i]>550 ) {
+ //       printf("Error is %f/n",feature_errors[i]);
+        continue;
+     }
+ //    printf("Got it/n");
+     CvPoint p0 = cvPoint(
+        cvRound( cornersA[i].x ),
+        cvRound( cornersA[i].y )
+     );
+     CvPoint p1 = cvPoint(
+        cvRound( cornersB[i].x ),
+        cvRound( cornersB[i].y )
+     );
+     cvLine( imgC, p0, p1, CV_RGB(255,0,0),2 );
+  }
+  cvNamedWindow("ImageA",0);
+  cvNamedWindow("ImageB",0);
+  cvNamedWindow("LKpyr_OpticalFlow",0);