Computer Vision Examples

This project contains code examples created in Visual Studio Code for Computer Vision using C++ & OpenCV & Point Cloud Library (PCL). These examples are created for the Computer Vision Subject of Robotics Software Engineering Degree at URJC.

Installation

Probably OpenCV is installed, but it's a good practice to install it as follows.

Open an Ubuntu terminal and follow the next steps:

1. Install dependencies:

sudo apt install build-essential cmake git pkg-config libgtk-3-dev \
    libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
    libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
    gfortran openexr libatlas-base-dev python3-dev python3-numpy \
    libtbb2 libtbb-dev libdc1394-22-dev

2. Clone OpenCV and Contrib repositories:

mkdir ~/opencv_build && cd ~/opencv_build
git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git

3. Create temporary build directory:

cd ~/opencv_build/opencv
mkdir build
cd build

4. Setup OpenCV:

cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/usr/local \
    -D INSTALL_C_EXAMPLES=ON \
    -D INSTALL_PYTHON_EXAMPLES=ON \
    -D OPENCV_GENERATE_PKGCONFIG=ON \
    -D OPENCV_EXTRA_MODULES_PATH=~/opencv_build/opencv_contrib/modules \
    -D BUILD_EXAMPLES=ON ..\
    -D OPENCV_ENABLE_NONFREE=ON

5. Compilation process:

make -j8

6. Installation process:

sudo make install

7. Import OpenCV package:

pkg-config opencv4 --cflags --libs

8. Add in ~/.bashrc:

echo 'export LD_LIBRARY_PATH=$LS_LIBRARY_PATH:/usr/local/lib/' >> ~/.bashrc

9. Load the libraries into the current shell:

source ~/.bashrc

Compiling PCL from source

The best way to be updated, is to install PCL compiling from source: https://pcl.readthedocs.io/projects/tutorials/en/latest/compiling_pcl_posix.html

It fixs some problems when you try to use Ubuntu 22.04, VTK 9.1 and PCL 1.12.1

1. Clone PCL repository:

mkdir ~/pcl_build && cd ~/pcl_build
git clone --recursive https://github.com/PointCloudLibrary/pcl.git

2. Create temporary build directory:

cd ~/pcl_build/pcl
mkdir build
cd build

3. Run the CMake build system using the default options:

cmake ..

4. Compilation process:

make -j2

5. Installation process:

sudo make -j2 install

About

This is a project made by José Miguel Guerrero, Associate Professor at Universidad Rey Juan Carlos. Copyright © 2021.

License

Shield:

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.