OpenCVSharp 4.5 角点检测-自己的检测函数

用OpenCVSharp 4.5 跑一遍 OpenCV 官方教程

原OpenCV官方教程链接：OpenCV: Creating your own corner detector

核心函数：cv::cornerEigenValsAndVecs， cv::cornerMinEigenVal 

using System;
using OpenCvSharp;

namespace ConsoleApp1
{
    class tutorial45 : ITutorial
    {
        static Mat src, src_gray = new Mat();
        static Mat myHarris_dst, myHarris_copy, Mc;
        static Mat myShiTomasi_dst, myShiTomasi_copy;
        static int myShiTomasi_qualityLevel = 50;
        static int myHarris_qualityLevel = 50;
        static int max_qualityLevel = 100;
        static double myHarris_minVal, myHarris_maxVal;
        static double myShiTomasi_minVal, myShiTomasi_maxVal;
        static RNG rng = new RNG(12345);
        const string myHarris_window = "My Harris corner detector";
        const string myShiTomasi_window = "My Shi Tomasi corner detector";

        public void Run()
        {


            src = Cv2.ImRead(@"I:\csharp\images\building.jpg");
            if (src.Empty())
            {
                Console.WriteLine("Could not open or find the image!");
                return;
            }
            src_gray = new Mat();
            Cv2.CvtColor(src, src_gray, ColorConversionCodes.BGR2GRAY);
            int blockSize = 3, apertureSize = 3;
            myHarris_dst = new Mat();
            Cv2.CornerEigenValsAndVecs(src_gray, myHarris_dst, blockSize, apertureSize);
            /* calculate Mc */
            Mc = new Mat(src_gray.Size(), MatType.CV_32FC1);

            for (int i = 0; i < src_gray.Rows; i++)
            {
                for (int j = 0; j < src_gray.Cols; j++)
                {
                    float lambda_1 = myHarris_dst.At<Vec6f>(i, j)[0];
                    float lambda_2 = myHarris_dst.At<Vec6f>(i, j)[1];
                    Mc.At<float>(i, j) = (float)(lambda_1 * lambda_2 - 0.04f * Math.Pow((lambda_1 + lambda_2), 2));
                }
            }
            Cv2.MinMaxLoc(Mc, out myHarris_minVal, out myHarris_maxVal);

            /* Create Window and Trackbar */
            Cv2.NamedWindow(myHarris_window);
            Cv2.CreateTrackbar("Quality Level:", myHarris_window, ref myHarris_qualityLevel, max_qualityLevel, myHarris_function);
            myHarris_function(0, IntPtr.Zero);
            myShiTomasi_dst = new Mat();
            Cv2.CornerMinEigenVal(src_gray, myShiTomasi_dst, blockSize, apertureSize);

            Cv2.MinMaxLoc(myShiTomasi_dst, out myShiTomasi_minVal, out myShiTomasi_maxVal);

            /* Create Window and Trackbar */
            Cv2.NamedWindow(myShiTomasi_window);
            Cv2.CreateTrackbar("Quality Level:", myShiTomasi_window, ref myShiTomasi_qualityLevel, max_qualityLevel, myShiTomasi_function);
            myShiTomasi_function(0, IntPtr.Zero);
            Cv2.WaitKey();
            return;
        }
        private void myShiTomasi_function(int pos, IntPtr usedata)
        {
            myShiTomasi_copy = src.Clone();
            myShiTomasi_qualityLevel = Math.Max(myShiTomasi_qualityLevel, 1);
            for (int i = 0; i < src_gray.Rows; i++)
            {
                for (int j = 0; j < src_gray.Cols; j++)
                {
                    if (myShiTomasi_dst.At<float>(i, j) > myShiTomasi_minVal + (myShiTomasi_maxVal - myShiTomasi_minVal) * myShiTomasi_qualityLevel / max_qualityLevel)
                    {
                        Cv2.Circle(myShiTomasi_copy, new Point(j, i), 4, new Scalar(rng.Uniform(0, 256), rng.Uniform(0, 256), rng.Uniform(0, 256)), Cv2.FILLED);
                    }
                }
            }
            Cv2.ImShow(myShiTomasi_window, myShiTomasi_copy);
        }
        void myHarris_function(int pos, IntPtr usedata)
        {
            myHarris_copy = src.Clone();
            myHarris_qualityLevel = Math.Max(myHarris_qualityLevel, 1);
            for (int i = 0; i < src_gray.Rows; i++)
            {
                for (int j = 0; j < src_gray.Cols; j++)
                {
                    if (Mc.At<float>(i, j) > myHarris_minVal + (myHarris_maxVal - myHarris_minVal) * myHarris_qualityLevel / max_qualityLevel)
                    {
                        Cv2.Circle(myHarris_copy, new Point(j, i), 4, new Scalar(rng.Uniform(0, 256), rng.Uniform(0, 256), rng.Uniform(0, 256)), Cv2.FILLED);
                    }
                }
            }
            Cv2.ImShow(myHarris_window, myHarris_copy);
        }
    }
}