opencv::自定义角点检测

#include <opencv2/opencv.hpp>

#include <iostream>

#include <math.h>

using namespace cv;

using namespace std;

const char* harris_win = "Custom Harris Corners Detector";

const char* shitomasi_win = "Custom Shi-Tomasi Corners Detector";

Mat src, gray_src;

// harris corner response

Mat harris_dst, harrisRspImg;

double harris_min_rsp;

double harris_max_rsp;

// shi-tomasi corner response

Mat shiTomasiRsp;

double shitomasi_max_rsp;

double shitomasi_min_rsp;

int sm_qualitylevel = ;

// quality level

int qualityLevel = ;

int max_count = ;

void CustomHarris_Demo(int, void*);

void CustomShiTomasi_Demo(int, void*);

int main(int argc, char** argv) {

    src = imread("D:/vcprojects/images/home.jpg");

    if (src.empty()) {

        printf("could not load image...\n");

        return -;

    }

    namedWindow("input image", CV_WINDOW_AUTOSIZE);

    imshow("input image", src);

    //灰度图

    cvtColor(src, gray_src, COLOR_BGR2GRAY);

    // 计算特征值

    int blockSize = ;

    int ksize = ;

    double k = 0.04;

    //对每个像素做处理

    harris_dst = Mat::zeros(src.size(), CV_32FC());

    harrisRspImg = Mat::zeros(src.size(), CV_32FC1);

    cornerEigenValsAndVecs(gray_src, harris_dst, blockSize, ksize, );

    // 计算响应

    for (int row = ; row < harris_dst.rows; row++) {

        for (int col = ; col < harris_dst.cols; col++) {

            double lambda1 =harris_dst.at<Vec6f>(row, col)[];

            double lambda2 = harris_dst.at<Vec6f>(row, col)[];

            harrisRspImg.at<float>(row, col) = lambda1*lambda2 - k*pow((lambda1 + lambda2), );

        }

    }

    minMaxLoc(harrisRspImg, &harris_min_rsp, &harris_max_rsp, , , Mat());

    namedWindow(harris_win, CV_WINDOW_AUTOSIZE);

    createTrackbar("Quality Value:", harris_win, &qualityLevel, max_count, CustomHarris_Demo);

    CustomHarris_Demo(, );

    // 计算最小特征值

    shiTomasiRsp = Mat::zeros(src.size(), CV_32FC1);

    cornerMinEigenVal(gray_src, shiTomasiRsp, blockSize, ksize, );

    minMaxLoc(shiTomasiRsp, &shitomasi_min_rsp, &shitomasi_max_rsp, , , Mat());

    namedWindow(shitomasi_win, CV_WINDOW_AUTOSIZE);

    createTrackbar("Quality:", shitomasi_win, &sm_qualitylevel, max_count, CustomShiTomasi_Demo);

    CustomShiTomasi_Demo(, );

    waitKey();

    return ;

}

void CustomHarris_Demo(int, void*) {

    if (qualityLevel < ) {

        qualityLevel = ;

    }

    Mat resultImg = src.clone();

    float t = harris_min_rsp + (((double)qualityLevel) / max_count)*(harris_max_rsp - harris_min_rsp);

    for (int row = ; row < src.rows; row++) {

        for (int col = ; col < src.cols; col++) {

            float v = harrisRspImg.at<float>(row, col);

            if (v > t) {

                circle(resultImg, Point(col, row), , Scalar(, , ), , , );

            }

        }

    }

    imshow(harris_win, resultImg);

}

void CustomShiTomasi_Demo(int, void*) {

    if (sm_qualitylevel < ) {

        sm_qualitylevel = ;

    }

    Mat resultImg = src.clone();

    float t = shitomasi_min_rsp + (((double)sm_qualitylevel) / max_count)*(shitomasi_max_rsp - shitomasi_min_rsp);

    for (int row = ; row < src.rows; row++) {

        for (int col = ; col < src.cols; col++) {

            float v = shiTomasiRsp.at<float>(row, col);

            if (v > t) {

                circle(resultImg, Point(col, row), , Scalar(, , ), , , );

            }

        }

    }

    imshow(shitomasi_win, resultImg);

}