【opencv练习39 - Harris角点】

/*******************************************************************
    测试程序  Harris角点
    时间：2016年9月6日
********************************************************************/

Mat src, src_gray;
int thresh = 200;
int max_thresh = 255;

const char* source_window = "Source image";
const char* corners_window = "Corners detected";

/// Function header
void cornerHarris_demo( int, void* );


int main(void)
{
  //加载&灰度化
  src = imread( "Image.jpg", 1 );
  cvtColor( src, src_gray, COLOR_BGR2GRAY );
  namedWindow( source_window, WINDOW_AUTOSIZE );
  createTrackbar( "Threshold: ", source_window, &thresh, max_thresh, cornerHarris_demo );
  imshow( source_window, src );

  cornerHarris_demo( 0, 0 );

  waitKey(0);
  return(0);
}


 //* @brief 【执行角点检测，对可能的角点绘制圈】
 //* Executes the corner detection and draw a circle around the possible corners

void cornerHarris_demo( int, void* )
{

  Mat dst, dst_norm, dst_norm_scaled;
  dst = Mat::zeros( src.size(), CV_32FC1 );

  //【检测子参数】 
  int blockSize = 2;                    //块大小
  int apertureSize = 3;                 //孔径
  double k = 0.04;

  //【检测角点】 
  //【计算每一像素的Harris cornerness 测度】
  cornerHarris( src_gray, dst, blockSize, apertureSize, k, BORDER_DEFAULT );

  //【归一化】 
  normalize( dst, dst_norm, 0, 255, NORM_MINMAX, CV_32FC1, Mat() );
  convertScaleAbs( dst_norm, dst_norm_scaled );

  //【绘制角点圈】 
  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(255), 2, 8, 0 );
              }
          }
     }

  namedWindow( corners_window, WINDOW_AUTOSIZE );
  imshow( corners_window, dst_norm_scaled );

}