二维特征框架——创建自己的角检测器 OpenCV v4.8.0

上一个教程 ： Shi-Tomasi 角检测器

下一个教程 ： 检测子像素中的拐角位置

原作者	Ana Huamán
兼容性	OpenCV >= 3.0

目标

在本教程中，您将学习如何

• 使用 OpenCV 函数 cv::cornerEigenValsAndVecs 查找特征值和特征向量，以确定像素是否是一个角落。
• 使用 OpenCV 函数 cv::cornerMinEigenVal 查找用于拐角检测的最小特征值。
• 使用上述两个函数，实现我们自己版本的 Harris 检测器和 Shi-Tomasi 检测器。

代码

C++
本教程代码如下所示。您也可以从此处下载

#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
using namespace cv;
using namespace std;
Mat src, src_gray;
Mat myHarris_dst, myHarris_copy, Mc;
Mat myShiTomasi_dst, myShiTomasi_copy;
int myShiTomasi_qualityLevel = 50;
int myHarris_qualityLevel = 50;
int max_qualityLevel = 100;
double myHarris_minVal, myHarris_maxVal;
double myShiTomasi_minVal, myShiTomasi_maxVal;
RNG rng(12345);
const char* myHarris_window = "My Harris corner detector";
const char* myShiTomasi_window = "My Shi Tomasi corner detector";
void myShiTomasi_function( int, void* );
void myHarris_function( int, void* );
int main( int argc, char** argv )
{
 CommandLineParser parser( argc, argv, "{@input | building.jpg | input image}" );
 src = imread( samples::findFile( parser.get<String>( "@input" ) ) );
 if ( src.empty() )
 {
 cout << "Could not open or find the image!\n" << endl;
 cout << "Usage: " << argv[0] << " <Input image>" << endl;
 return -1;
 }
 cvtColor( src, src_gray, COLOR_BGR2GRAY );
 int blockSize = 3, apertureSize = 3;
 cornerEigenValsAndVecs( src_gray, myHarris_dst, blockSize, apertureSize );
 /* 计算 Mc */
 Mc = Mat( src_gray.size(), 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) = lambda_1*lambda_2 - 0.04f*((lambda_1 + lambda_2) * (lambda_1 + lambda_2));
 }
 }
 minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal );
 /* 创建窗口和轨迹条 */
 namedWindow( myHarris_window );
 createTrackbar( "Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel, myHarris_function );
 myHarris_function( 0, 0 );
 cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize );
 minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal );
 /* 创建窗口和轨迹栏 */
 namedWindow( myShiTomasi_window );
 createTrackbar( "Quality Level:", myShiTomasi_window, &myShiTomasi_qualityLevel, max_qualityLevel, myShiTomasi_function );
 myShiTomasi_function( 0, 0 );
 waitKey();
 return 0;
}
void myShiTomasi_function( int, void* )
{
 myShiTomasi_copy = src.clone();
 myShiTomasi_qualityLevel = 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 )
 {
 circle( myShiTomasi_copy, Point(j,i), 4, Scalar( rng.uniform(0,256), rng.uniform(0,256), rng.uniform(0,256) ), FILLED );
 }
 }
 }
 imshow( myShiTomasi_window, myShiTomasi_copy );
}
void myHarris_function( int, void* )
{
 myHarris_copy = src.clone();
 myHarris_qualityLevel = 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 )
 {
 circle( myHarris_copy, Point(j,i), 4, Scalar( rng.uniform(0,256), rng.uniform(0,256), rng.uniform(0,256) ), FILLED );
 }
 }
 }
 imshow( myHarris_window, myHarris_copy );
}

Java
本教程代码如下所示。您也可以从此处下载

import java.awt.BorderLayout;
import java.awt.Container;
import java.awt.Image;
import java.util.Random;
import javax.swing.BoxLayout;
import javax.swing.ImageIcon;
import javax.swing.JFrame;
import javax.swing.JLabel;
import javax.swing.JPanel;
import javax.swing.JSlider;
import javax.swing.event.ChangeEvent;
import javax.swing.event.ChangeListener;
import org.opencv.core.Core;
import org.opencv.core.Core.MinMaxLocResult;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.highgui.HighGui;
import org.opencv.imgcodecs.Imgcodecs;
import org.opencv.imgproc.Imgproc;
class CornerDetector {
 private Mat src = new Mat();
 private Mat srcGray = new Mat();
 private Mat harrisDst = new Mat();
 private Mat shiTomasiDst = new Mat();
 private Mat harrisCopy = new Mat();
 private Mat shiTomasiCopy = new Mat();
 private Mat Mc = new Mat();
 private JFrame frame;
 private JLabel harrisImgLabel;
 private JLabel shiTomasiImgLabel;
 private static final int MAX_QUALITY_LEVEL = 100;
 private int qualityLevel = 50;
 private double harrisMinVal;
 private double harrisMaxVal;
 private double shiTomasiMinVal;
 private double shiTomasiMaxVal;
 private Random rng = new Random(12345);
 public CornerDetector(String[] args) {
 String filename = args.length > 0 ? args[0] : "../data/building.jpg";
 src = Imgcodecs.imread(filename);
 if (src.empty()) {
 System.err.println("Cannot read image: " + filename);
 System.exit(0);
 }
 Imgproc.cvtColor(src, srcGray, Imgproc.COLOR_BGR2GRAY);
 // 创建并设置窗口。
 frame = new JFrame("Creating your own corner detector demo")；
 frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE)；
 // 设置内容窗格。
 Image img = HighGui.toBufferedImage(src)；
 addComponentsToPane(frame.getContentPane(), img)；
 // 使用内容窗格的默认边框布局。无需
 // setLayout(new BorderLayout())；
 // 显示窗口。
 frame.pack();
 frame.setVisible(true);
 int blockSize = 3, apertureSize = 3;
 Imgproc.cornerEigenValsAndVecs(srcGray, harrisDst, blockSize, apertureSize);
 /* 计算 Mc */
 Mc = Mat.zeros(srcGray.size(), CvType.CV_32F);
 float[] harrisData = new float[(int) (harrisDst.total() * harrisDst.channels())];
 harrisDst.get(0, 0, harrisData);
 float[] McData = new float[(int) (Mc.total() * Mc.channels())];
 Mc.get(0, 0, McData);
 for( int i = 0; i < srcGray.rows(); i++ ) {
 for( int j = 0; j < srcGray.cols(); j++ ) {
 float lambda1 = harrisData[(i*srcGray.cols() + j) * 6];
 float lambda2 = harrisData[(i*srcGray.cols() + j) * 6 + 1];
 McData[i*srcGray.cols()+j] = (float) (lambda1*lambda2 - 0.04f*Math.pow( ( lambda1 + lambda2 ), 2 ));
 }
 }
 Mc.put(0, 0, McData);
 MinMaxLocResult res = Core.minMaxLoc(Mc);
 harrisMinVal = res.minVal;
 harrisMaxVal = res.maxVal;
 Imgproc.cornerMinEigenVal(srcGray, shiTomasiDst, blockSize, apertureSize);
 res = Core.minMaxLoc(shiTomasiDst);
 shiTomasiMinVal = res.minVal;
 shiTomasiMaxVal = res.maxVal;
 update();
 }
 private void addComponentsToPane(Container pane, Image img) {
 if (!(pane.getLayout() instanceof BorderLayout)) {
 pane.add(new JLabel("Container doesn't use BorderLayout!"));
 return;
 }
 JPanel sliderPanel = new JPanel();
 sliderPanel.setLayout(new BoxLayout(sliderPanel, BoxLayout.PAGE_AXIS));
 sliderPanel.add(new JLabel("Max corners:"));
 JSlider slider = new JSlider(0, MAX_QUALITY_LEVEL, qualityLevel);
 slider.setMajorTickSpacing(20);
 slider.setMinorTickSpacing(10);
 slider.setPaintTicks(true);
 slider.setPaintLabels(true);
 slider.addChangeListener(new ChangeListener() {
 @Override
 public void stateChanged(ChangeEvent e) {
 JSlider source = (JSlider) e.getSource();
 qualityLevel = source.getValue();
 update();
 }
 });
 sliderPanel.add(slider);
 pane.add(sliderPanel, BorderLayout.PAGE_START);
 JPanel imgPanel = new JPanel();
 harrisImgLabel = new JLabel(new ImageIcon(img));
 shiTomasiImgLabel = new JLabel(new ImageIcon(img));
 imgPanel.add(harrisImgLabel);
 imgPanel.add(shiTomasiImgLabel);
 pane.add(imgPanel, BorderLayout.CENTER);
 }
 private void update() {
 int qualityLevelVal = Math.max(qualityLevel, 1);
 //Harris
 harrisCopy = src.clone();
 float[] McData = new float[(int) (Mc.total() * Mc.channels())];
 Mc.get(0, 0, McData);
 for (int i = 0; i < srcGray.rows(); i++) {
 for (int j = 0; j < srcGray.cols(); j++) {
 if (McData[i * srcGray.cols() + j] > harrisMinVal
 + (harrisMaxVal - harrisMinVal) * qualityLevelVal / MAX_QUALITY_LEVEL) {
 Imgproc.circle(harrisCopy, new Point(j, i), 4,
 new Scalar(rng.nextInt(256), rng.nextInt(256), rng.nextInt(256)), Imgproc.FILLED);
 }
 }
 }
 //Shi-Tomasi
 shiTomasiCopy = src.clone();
 float[] shiTomasiData = new float[(int) (shiTomasiDst.total() * shiTomasiDst.channels())];
 shiTomasiDst.get(0, 0, shiTomasiData);
 for (int i = 0; i < srcGray.rows(); i++) {
 for (int j = 0; j < srcGray.cols(); j++) {
 if (shiTomasiData[i * srcGray.cols() + j] > shiTomasiMinVal
 + (shiTomasiMaxVal - shiTomasiMinVal) * qualityLevelVal / MAX_QUALITY_LEVEL) {
 Imgproc.circle(shiTomasiCopy, new Point(j, i), 4,
 new Scalar(rng.nextInt(256), rng.nextInt(256), rng.nextInt(256)), Imgproc.FILLED);
 }
 }
 }
 harrisImgLabel.setIcon(new ImageIcon(HighGui.toBufferedImage(harrisCopy)));
 shiTomasiImgLabel.setIcon(new ImageIcon(HighGui.toBufferedImage(shiTomasiCopy)));
 frame.repaint();
 }
}
public class CornerDetectorDemo {
 public static void main(String[] args) {
 // 加载本地 OpenCV 库
 System.loadLibrary(Core.NATIVE_LIBRARY_NAME)；
 // 为事件派发线程安排任务：
 // 创建并显示此应用程序的图形用户界面。
 javax.swing.SwingUtilities.invokeLater(new Runnable() {
 @Override
 public void run() {
 new CornerDetector(args);
 }
 });
 }
}

Python
本教程代码如下所示。您也可以从此处下载

from __future__ import print_function
import cv2 as cv
import numpy as np
import argparse
import random as rng
myHarris_window = 'My Harris corner detector'
myShiTomasi_window = 'My Shi Tomasi corner detector'
myHarris_qualityLevel = 50
myShiTomasi_qualityLevel = 50
max_qualityLevel = 100
rng.seed(12345)
def myHarris_function(val):
 myHarris_copy = np.copy(src)
 myHarris_qualityLevel = max(val, 1)
 for i in range(src_gray.shape[0]):
 for j in range(src_gray.shape[1]):
 if Mc[i,j] > myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )*myHarris_qualityLevel/max_qualityLevel:
 cv.circle(myHarris_copy, (j,i), 4, (rng.randint(0,256), rng.randint(0,256), rng.randint(0,256)), cv.FILLED)
 cv.imshow(myHarris_window, myHarris_copy)
def myShiTomasi_function(val):
 myShiTomasi_copy = np.copy(src)
 myShiTomasi_qualityLevel = max(val, 1)
 for i in range(src_gray.shape[0]):
 for j in range(src_gray.shape[1]):
 if myShiTomasi_dst[i,j] > myShiTomasi_minVal + ( myShiTomasi_maxVal - myShiTomasi_minVal )*myShiTomasi_qualityLevel/max_qualityLevel:
 cv.circle(myShiTomasi_copy, (j,i), 4, (rng.randint(0,256), rng.randint(0,256), rng.randint(0,256)), cv.FILLED)
 cv.imshow(myShiTomasi_window, myShiTomasi_copy)
# 加载源图像并转换为灰度图像
parser = argparse.ArgumentParser(description='Code for Creating your own corner detector tutorial.')
parser.add_argument('--input', help='Path to input image.', default='building.jpg')
args = parser.parse_args()
src = cv.imread(cv.samples.findFile(args.input))
if src is None:
 print('Could not open or find the image:', args.input)
 exit(0)
src_gray = cv.cvtColor(src, cv.COLOR_BGR2GRAY)
# 设置一些参数
blockSize = 3
apertureSize = 3
# 我的哈里斯矩阵 -- 使用角特征值和数值
myHarris_dst = cv.cornerEigenValsAndVecs(src_gray, blockSize, apertureSize)
# 计算 Mc
Mc = np.empty(src_gray.shape, dtype=np.float32)
for i in range(src_gray.shape[0]):
 for j in range(src_gray.shape[1]):
 lambda_1 = myHarris_dst[i,j,0]
 lambda_2 = myHarris_dst[i,j,1]
 Mc[i,j] = lambda_1*lambda_2 - 0.04*pow( ( lambda_1 + lambda_2 ), 2 )
myHarris_minVal, myHarris_maxVal, _, _ = cv.minMaxLoc(Mc)
# 创建窗口和轨迹条
cv.namedWindow(myHarris_window)
cv.createTrackbar('Quality Level:', myHarris_window, myHarris_qualityLevel, max_qualityLevel, myHarris_function)
myHarris_function(myHarris_qualityLevel)
# 我的 Shi-Tomasi -- 使用 cornerMinEigenVal
myShiTomasi_dst = cv.cornerMinEigenVal(src_gray, blockSize, apertureSize)
myShiTomasi_minVal, myShiTomasi_maxVal, _, _ = cv.minMaxLoc(myShiTomasi_dst)
# 创建窗口和轨迹条
cv.namedWindow(myShiTomasi_window)
cv.createTrackbar('Quality Level:', myShiTomasi_window, myShiTomasi_qualityLevel, max_qualityLevel, myShiTomasi_function)
myShiTomasi_function(myShiTomasi_qualityLevel)
cv.waitKey()

结果