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The OpenCV Reference Manual

Release 2.3

October 15, 2011

CONTENTS

1 Introduction 1

1.1 API Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2 core. The Core Functionality 7

2.1 Basic Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.2 Basic C Structures and Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

2.3 Dynamic Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

2.4 Operations on Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

2.5 Drawing Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

2.6 XML/YAML Persistence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

2.7 XML/YAML Persistence (C API) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

2.8 Clustering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

2.9 Utility and System Functions and Macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

3 imgproc. Image Processing 199

3.1 Image Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

3.2 Geometric Image Transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

3.3 Miscellaneous Image Transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

3.4 Histograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

3.5 Structural Analysis and Shape Descriptors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

3.6 Planar Subdivisions (C API) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

3.7 Motion Analysis and Object Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

3.8 Feature Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

3.9 Object Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

4 highgui. High-level GUI and Media I/O 299

4.1 User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

4.2 Reading and Writing Images and Video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304

4.3 Qt New Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

5 video. Video Analysis 321

5.1 Motion Analysis and Object Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

6 calib3d. Camera Calibration and 3D Reconstruction 335

6.1 Camera Calibration and 3D Reconstruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335

7 features2d. 2D Features Framework 365

7.1 Feature Detection and Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365

7.2 Common Interfaces of Feature Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378

7.3 Common Interfaces of Descriptor Extractors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

7.4 Common Interfaces of Descriptor Matchers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

7.5 Common Interfaces of Generic Descriptor Matchers . . . . . . . . . . . . . . . . . . . . . . . . . . 400

7.6 Drawing Function of Keypoints and Matches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407

7.7 Object Categorization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408

8 objdetect. Object Detection 413

8.1 Cascade Classiﬁcation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413

9 ml. Machine Learning 421

9.1 Statistical Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

9.2 Normal Bayes Classiﬁer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424

9.3 K-Nearest Neighbors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

9.4 Support Vector Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429

9.5 Decision Trees . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435

9.6 Boosting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

9.7 Gradient Boosted Trees . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

9.8 Random Trees . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451

9.9 Extremely randomized trees . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

9.10 Expectation Maximization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

9.11 Neural Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

9.12 MLData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466

10 ﬂann. Clustering and Search in Multi-Dimensional Spaces 473

10.1 Fast Approximate Nearest Neighbor Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473

10.2 Clustering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476

11 gpu. GPU-accelerated Computer Vision 479

11.1 GPU Module Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

11.2 Initalization and Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481

11.3 Data Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484

11.4 Operations on Matrices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

11.5 Per-element Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493

11.6 Image Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498

11.7 Matrix Reductions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509

11.8 Object Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

11.9 Feature Detection and Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517

11.10 Image Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524

11.11 Camera Calibration and 3D Reconstruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538

Bibliography 547

CHAPTER

ONE

INTRODUCTION

OpenCV (Open Source Computer Vision Library: http://opencv.willowgarage.com/wiki/) is an open-source BSD-

licensed library that includes several hundreds of computer vision algorithms. The document describes the so-called

OpenCV 2.x API, which is essentially a C++ API, as opposite to the C-based OpenCV 1.x API. The latter is described

in opencv1x.pdf.

OpenCV has a modular structure, which means that the package includes several shared or static libraries. The

following modules are available:

• core - a compact module deﬁning basic data structures, including the dense multi-dimensional array Mat and

basic functions used by all other modules.

• imgproc - an image processing module that includes linear and non-linear image ﬁltering, geometrical image

transformations (resize, afﬁne and perspective warping, generic table-based remapping), color space conversion,

histograms, and so on.

• video - a video analysis module that includes motion estimation, background subtraction, and object tracking

algorithms.

• calib3d - basic multiple-view geometry algorithms, single and stereo camera calibration, object pose estimation,

stereo correspondence algorithms, and elements of 3D reconstruction.

• features2d - salient feature detectors, descriptors, and descriptor matchers.

• objdetect - detection of objects and instances of the predeﬁned classes (for example, faces, eyes, mugs, people,

cars, and so on).

• highgui - an easy-to-use interface to video capturing, image and video codecs, as well as simple UI capabilities.

• gpu - GPU-accelerated algorithms from different OpenCV modules.

• ... some other helper modules, such as FLANN and Google test wrappers, Python bindings, and others.

The further chapters of the document describe functionality of each module. But ﬁrst, make sure to get familiar with

the common API concepts used thoroughly in the library.

1.1 API Concepts

cv Namespace

All the OpenCV classes and functions are placed into the cv namespace. Therefore, to access this functionality from

your code, use the cv:: speciﬁer or using namespace cv; directive:

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