OpenCV Harris 角点检测子

 1 #include "opencv2/highgui/highgui.hpp"
 2 #include "opencv2/imgproc/imgproc.hpp"
 3 #include <iostream>
 4 #include <stdio.h>
 5 #include <stdlib.h>
 6 
 7 using namespace cv;
 8 using namespace std;
 9 
10 /// Global variables
11 Mat src, src_gray;
12 int thresh = 200;
13 int max_thresh = 255;
14 
15 char* source_window = "Source image";
16 char* corners_window = "Corners detected";
17 
18 /// Function header
19 void cornerHarris_demo( int, void* );
20 
21 /** @function main */
22 int main( int argc, char** argv )
23 {
24   /// Load source image and convert it to gray
25   src = imread( argv[1], 1 );
26   cvtColor( src, src_gray, CV_BGR2GRAY );
27 
28   /// Create a window and a trackbar
29   namedWindow( source_window, CV_WINDOW_AUTOSIZE );
30   createTrackbar( "Threshold: ", source_window, &thresh, max_thresh, cornerHarris_demo );
31   imshow( source_window, src );
32 
33   cornerHarris_demo( 0, 0 );
34 
35   waitKey(0);
36   return(0);
37 }
38 
39 /** @function cornerHarris_demo */
40 void cornerHarris_demo( int, void* )
41 {
42 
43   Mat dst, dst_norm, dst_norm_scaled;
44   dst = Mat::zeros( src.size(), CV_32FC1 );
45 
46   /// Detector parameters
47   int blockSize = 2;
48   int apertureSize = 3;
49   double k = 0.04;
50 
51   /// Detecting corners
52   cornerHarris( src_gray, dst, blockSize, apertureSize, k, BORDER_DEFAULT );
53 
54   /// Normalizing
55   normalize( dst, dst_norm, 0, 255, NORM_MINMAX, CV_32FC1, Mat() );
56   convertScaleAbs( dst_norm, dst_norm_scaled );
57 
58   /// Drawing a circle around corners
59   for( int j = 0; j < dst_norm.rows ; j++ )
60      { for( int i = 0; i < dst_norm.cols; i++ )
61           {
62             if( (int) dst_norm.at<float>(j,i) > thresh )
63               {
64                circle( dst_norm_scaled, Point( i, j ), 5,  Scalar(0), 2, 8, 0 );
65               }
66           }
67      }
68   /// Showing the result
69   namedWindow( corners_window, CV_WINDOW_AUTOSIZE );
70   imshow( corners_window, dst_norm_scaled );
71 }