opencv实现Harris角点检测

#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/core/core.hpp>
#include<vector>
#include<iostream>
#include<algorithm>
using namespace std;
using namespace cv;
//Harris角点检测
//blockSize是邻域大小，对每个像素，考虑blockSize*blockSize大小的邻域，计算邻域上的差分相关矩阵
//kSize是sobel算子的核尺寸
void CornerHarris(Mat& srcImage, Mat& result, int blockSize, int kSize, double k)
{
	Mat src;
	srcImage.copyTo(src);
	result.create(src.size(),CV_32F);//因为是灰度图，所以此处用CV_32F
	int depth = src.depth();
	//检测掩模尺寸，这里并没有看懂scale为什么是这样的
	double scale = (double)(1<<((kSize>0?kSize:3)-1))*blockSize;
	if (depth == CV_8U)
		scale *= 255;
	scale = 1. / scale;
	//第一步：先用sobel滤波计算dx,dy
	Mat dx, dy;
	Sobel(src,dx,CV_32F,1,0,kSize,scale,0);
	Sobel(src,dy,CV_32F,0,1,kSize,scale,0);
	//第二步：创建一个Mat矩阵，存储dx^2,dy^2,dx*dy
	Size size = src