在ubuntu中使用goodFesturesToTrack函数提取特征点

1. 在ubuntu下CMakeLists.txt

cmake_minimum_required( VERSION 2.8 )
project ( feature )

set( CMAKE_CXX_COMPILER "g++" )
set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -march=native -O3" )

############### dependencies ######################

# OpenCV
find_package( OpenCV 3.1 REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )

set( THIRD_PARTY_LIBS 
    ${OpenCV_LIBS}
)
############### source and test ######################
add_executable(feature feature.cpp)
target_link_libraries( feature ${OpenCV_LIBS} )

2. 完整提取特征的代码

#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp> 

using namespace cv; 
using namespace std;

Mat image;
Mat imageGray;

int thresh = 5;
int MaxThresh = 255;

void Trackbar(int, void*); 

int main() 
{ 
    image = imread("/home/wbb/feature/2.png");
    if ( image.data == nullptr )
    {
        cout << "no picture is added" << endl; 
    }
    cvtColor(image, imageGray, CV_RGB2GRAY); 
    GaussianBlur(imageGray, imageGray, Size(5, 5), 1); //滤波 
    namedWindow("Corner Detected"); 
    createTrackbar("threshold: ","Corner Detected", &thresh, MaxThresh, Trackbar); 
    imshow("Corner Detected", image); 
    Trackbar(0,0); 
    waitKey(); 
    return 0; 
} 

void Trackbar(int, void*) 
{ 
	Mat imageSource;
	imageSource = image.clone(); 
	vector<Point2f> corners;   //保存的是提取出来的角点的坐标

	/*@brief extract feature point function*/
	//param 1 ---> 8位或32位的单通道灰度图像
	//param　2　---> 提取出来的角点的坐标
	//param 3 ---> 角点数目最大值
	//param 4 ---> 角点的品质因子
	//param 5 ---> 对于初选的角点，如果周围mindistance　一定范围存在更强的角点，则将此角点删除
    //param 6 ---> 设置ROI,即提取角点的范围
	goodFeaturesToTrack(imageGray, corners, thresh, 0.01, 30, Mat()); 

	//在原图上画角点
	for(int i = 0; i < corners.size(); i++) 
	{ 
		circle(imageSource, corners[i], 5, Scalar(0, 0, 255), 2); 
	}
	imshow("Corner Detected", imageSource); 
}

3.　建好这两个文件以后

cd filename
mkdir build
cd build
cmake ..
make
./Executable file name

4.　输出结果

拉动滑动条改变提取的特征点的个数。。。