角点绘制2

算法原理：

http://blog.csdn.net/lcc_633/article/details/52691311

算法详细步骤：

第一步：计算图像X方向与Y方向的一阶高斯偏导数Ix与Iy

第二步：根据第一步结果得到Ix^2 , Iy^2与Ix*Iy值

第三步：高斯模糊第二步三个值得到Sxx, Syy, Sxy

第四部：定义每个像素的Harris矩阵，计算出矩阵的两个特质值

第五步：计算出每个像素的R值

第六步：使用3X3或者5X5的窗口，实现非最大值压制

第七步：根据角度检测结果计算，最提取到的关键点以绿色标记，显示在原图上。

#include<opencv2\opencv.hpp>
#include<iostream>
using namespace std;
using namespace cv;
class harris {
private:
	Mat cornerStrength;   
	Mat cornerTh; 
	Mat localMax; 
	Mat kernel;

	int neighbourhood; 
	int aperture;  
	double k;
	double maxStrength;
	double Threshold;
	int nonMaxSize; 

public:
	harris():neighbourhood(3),aperture(3),k(0.01),maxStrength(0),Threshold(0.1),nonMaxSize(0){}
	void detect(const Mat& img) {
		cornerHarris(img, cornerStrength, neighbourhood, aperture, k);
		double minStrength = 0;
		minMaxLoc(cornerStrength, &minStrength, &maxStrength);
		Mat temp;
		dilate(cornerStrength, temp, Mat());
		compare(temp, cornerStrength, localMax, CMP_EQ);
	}
	void getCorners(vector<Point> &point, double value) {
		Mat tempMap;
		Threshold = value * maxStrength;
		threshold(cornerStrength, cornerTh, Threshold, 255, THRESH_BINARY);
		cornerTh.convertTo(tempMap, CV_8U);
		bitwise_and(tempMap, localMax, tempMap);
		for (int i = 0; i < tempMap.rows; i++) {
			const uchar* p = tempMap.ptr<uchar>(i);
			for (int j = 0; j < tempMap.cols; j++) {
				if (p[j]) {
					point.push_back(Point(j, i));
				}
			}
		}
	}
	void drawOnImg(Mat &img, const vector<Point> &point, Scalar color = Scalar(255,155,155),int radis = 3, int thickness = 2) {
		vector<Point>::const_iterator it = point.begin();
		for (;it != point.end(); ++it) {
			circle(img, *it, radis, color, thickness);
		}
	}
};
void main() {
	Mat img = imread("E://图片//1.jpg");
	if (img.empty()) {
		return;
	}
	Mat gray;
	cvtColor(img, gray, CV_BGR2GRAY);
	harris goal;
	vector<Point> pointDetect;
	goal.detect(gray);
	goal.getCorners(pointDetect, 0.01);
	goal.drawOnImg(img, pointDetect);
	imshow("result", img);
	waitKey(0);
}

运行结果：