opencv-自定义harris角点检测
关于harris角点检测的原理以及matlab版本,请移步https://www.cnblogs.com/klitech/p/5779600.html
小白初学,这里采用opencv实现之,把自己遇到的疑问一一表述出来,以备后用。
疑问1. CV_32FC1,CV_32FC(6)是什么意思?
CV_<bit_depth>(S|U|F)C<number_of_channels>
-
- bit_depth,可取的值为8,16,32,64.它表示一个像素所占用的bite数
- S|U|F, S--- signed int, U--- unsigned int, F---float
- C<number_of_channels> 通道数,灰度图像取值1,rgb图像取值3
疑问2. Mat::zeros的两种初始化
- Mat::zeros(int rows, int cols, int type)
- Mat::zeros(Size size,int type)
第一种形式,返回特定尺寸与类型的零矩阵,比如 Mat A = Mat::zeros(3,3,CV_32FC1);
第二种形式,程序中采用的方式,Mat::zeros(src.size(), CV_32FC(6));
我的理解是这两种形式实质一样
疑问3. cornerEigenValsAndVecs()使用方法
函数原型, cornerEigenValsAndVecs( InputArray src, OutputArray dst,
int blockSize, int ksize,
int borderType = BORDER_DEFAULT );
- src 图像类型应该为单通道,或者float
- dst 图像类型应该为CV_32FC(6),包含2个特征值,以及对应的2个2维向量,总计6个结果。
- blocksize 邻域大小
- ksize 函数采用sobel算子
- borderType 取默认BORDER_DEFAULT
函数调用参看后面的程序。
1 #include <opencv2/opencv.hpp> 2 #include <iostream> 3 #include <math.h> 4 using namespace cv; 5 using namespace std; 6 Mat src, gray_src; 7 Mat harris_dst, harrisRspImg; 8 double harris_min_rsp; 9 double harris_max_rsp; 10 int qualityLevel = 30; 11 const char* harris_win = "Custom Harris Corners Dector"; 12 int max_count = 100; 13 void CustomHarris_Demo(int, void *); 14 15 int main() 16 { 17 18 src = imread("D:/1.png"); 19 if (src.empty()) 20 { 21 cout << "could not load image..." << endl; 22 return -1; 23 } 24 namedWindow("input_image", CV_WINDOW_AUTOSIZE); 25 imshow("input_image", src); 26 cvtColor(src, gray_src, COLOR_BGR2GRAY); 27 // 计算特征值 28 int blockSize = 3; 29 int ksize = 3; 30 double k = 0.04; 31 32 harris_dst = Mat::zeros(src.size(), CV_32FC(6)); //6通道 33 harrisRspImg = Mat::zeros(src.size(), CV_32FC1); 34 cornerEigenValsAndVecs(gray_src, harris_dst, blockSize, ksize, 4); 35 //计算响应 36 for (int row = 0; row < harris_dst.rows; row++) 37 { 38 for (int col = 0; col < harris_dst.cols; col++) 39 { 40 double lambda1 = harris_dst.at<Vec6f>(row, col)[0]; 41 double lambda2 = harris_dst.at<Vec6f>(row, col)[1]; 42 harrisRspImg.at<float>(row, col) = lambda1 * lambda2 - k*pow((lambda1 + lambda2), 2); 43 } 44 } 45 minMaxLoc(harrisRspImg, &harris_min_rsp, &harris_max_rsp, 0, 0, Mat());//求最大最小响应 46 namedWindow(harris_win, CV_WINDOW_AUTOSIZE); 47 createTrackbar("Quality Value", harris_win, &qualityLevel, max_count, CustomHarris_Demo); 48 CustomHarris_Demo(0, 0); 49 waitKey(0); 50 return 0; 51 } 52 void CustomHarris_Demo(int, void*) { 53 if (qualityLevel < 10) { 54 qualityLevel = 10; 55 } 56 Mat resultImg = src.clone(); 57 float t = harris_min_rsp + (((double)qualityLevel) / max_count)*(harris_max_rsp - harris_min_rsp); 58 for (int row = 0; row < src.rows; row++) { 59 for (int col = 0; col < src.cols; col++) { 60 float v = harrisRspImg.at<float>(row, col); 61 if (v > t) { 62 circle(resultImg, Point(col, row), 2, Scalar(0, 0, 255), 2, 8, 0); 63 } 64 } 65 } 66 67 imshow(harris_win, resultImg); 68 }