opencv学习-feature-Harris corner detector

特征分为三种形式：边缘、角点（兴趣点）、斑点（感兴趣区域）

角点代表了图像中的该点的梯度变化，角点是同时在多个方向上变化的点，相对于边缘，更加具有独特性。 Harris corner角点的基本思想是通过一个小窗口来观察，因此很容易识别出角点来。因为在这些方向上，想任意方向移动窗口都会在窗口的亮度分布上给出很大的变化。图像中的点可以分为三类：“flat”，“edge”，“corner”，Harris 算法就是要提取出“corner”。

cornerHarris检测Harris角点函数，cornerHarris( src_gray, dst, blockSize, apertureSize, k, BORDER_DEFAULT );其中的k为可调灵敏系数，一般为0.04-0.06.

代码如下：

#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
using namespace cv;
using namespace std;
/// Global variables
Mat src, src_gray;
int thresh = 200;
int max_thresh = 255;
char* source_window = "Source image";
char* corners_window = "Corners detected";
/// Function header
void cornerHarris_demo( int, void* );
/** @function main */
int main( int argc, char** argv )
{
/// Load source image and convert it to gray
src = imread( argv[1], 1 );
cvtColor( src, src_gray, CV_BGR2GRAY );
/// Create a window and a trackbar
namedWindow( source_window, CV_WINDOW_AUTOSIZE );
createTrackbar( "Threshold: ", source_window, &thresh, max_thresh, cornerHarris_demo );
imshow( source_window, src );
cornerHarris_demo( 0, 0 );
waitKey(0);
return(0);
}
/** @function cornerHarris_demo */
void cornerHarris_demo( int, void* )
{
Mat dst, dst_norm, dst_norm_scaled;
dst = Mat::zeros( src.size(), CV_32FC1 );
/// Detector parameters
int blockSize = 2;
int apertureSize = 3;
double k = 0.04;
/// Detecting corners
cornerHarris( src_gray, dst, blockSize, apertureSize, k, BORDER_DEFAULT );
/// Normalizing
normalize( dst, dst_norm, 0, 255, NORM_MINMAX, CV_32FC1, Mat() );
convertScaleAbs( dst_norm, dst_norm_scaled );
/// Drawing a circle around corners
for( int j = 0; j < dst_norm.rows ; j++ )
{ for( int i = 0; i < dst_norm.cols; i++ )
{
if( (int) dst_norm.at<float>(j,i) > thresh )
{
circle( dst_norm_scaled, Point( i, j ), 5, Scalar(0), 2, 8, 0 );
}
}
}
/// Showing the result
namedWindow( corners_window, CV_WINDOW_AUTOSIZE );
imshow( corners_window, dst_norm_scaled );
}