opencv自定义角点_定制化创建角点检测子

#include "opencv2/highgui/highgui.hpp"

#include "opencv2/imgproc/imgproc.hpp"

#include

#include

#include

using namespace cv;

using namespace std;

/// Global variables

Mat src, src_gray;

Mat myHarris_dst; Mat myHarris_copy; Mat Mc;

Mat myShiTomasi_dst; Mat myShiTomasi_copy;

int myShiTomasi_qualityLevel = 50;

int myHarris_qualityLevel = 50;

int max_qualityLevel = 100;

double myHarris_minVal; double myHarris_maxVal;

double myShiTomasi_minVal; double myShiTomasi_maxVal;

RNG rng(12345);

char* myHarris_window = "My Harris corner detector";

char* myShiTomasi_window = "My Shi Tomasi corner detector";

/// Function headers

void myShiTomasi_function( int, void* );

void myHarris_function( 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 );

/// Set some parameters

int blockSize = 3; int apertureSize = 3;

/// My Harris matrix -- Using cornerEigenValsAndVecs

myHarris_dst = Mat::zeros( src_gray.size(), CV_32FC(6) );

Mc = Mat::zeros( src_gray.size(), CV_32FC1 );

cornerEigenValsAndVecs( src_gray, myHarris_dst, blockSize, apertureSize, BORDER_DEFAULT );

/* calculate Mc */

for( int j = 0; j < src_gray.rows; j++ )

{ for( int i = 0; i < src_gray.cols; i++ )

{

float lambda_1 = myHarris_dst.at( j, i, 0 );

float lambda_2 = myHarris_dst.at( j, i, 1 );

Mc.at(j,i) = lambda_1*lambda_2 - 0.04*pow( ( lambda_1 + lambda_2 ), 2 );

}

}

minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal, 0, 0, Mat() );

/* Create Window and Trackbar */

namedWindow( myHarris_window, CV_WINDOW_AUTOSIZE );

createTrackbar( " Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel,

myHarris_function );

myHarris_function( 0, 0 );

/// My Shi-Tomasi -- Using cornerMinEigenVal

myShiTomasi_dst = Mat::zeros( src_gray.size(), CV_32FC1 );

cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize, BORDER_DEFAULT );

minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal, 0, 0, Mat() );

/* Create Window and Trackbar */

namedWindow( myShiTomasi_window, CV_WINDOW_AUTOSIZE );

createTrackbar( " Quality Level:", myShiTomasi_window, &myShiTomasi_qualityLevel, max_qualityLevel,

myShiTomasi_function );

myShiTomasi_function( 0, 0 );

waitKey(0);

return(0);

}

/** @function myShiTomasi_function */

void myShiTomasi_function( int, void* )

{

myShiTomasi_copy = src.clone();

if( myShiTomasi_qualityLevel < 1 ) { myShiTomasi_qualityLevel = 1; }

for( int j = 0; j < src_gray.rows; j++ )

{ for( int i = 0; i < src_gray.cols; i++ )

{

if( myShiTomasi_dst.at(j,i) > myShiTomasi_minVal + ( myShiTomasi_maxVal -

myShiTomasi_minVal )*myShiTomasi_qualityLevel/max_qualityLevel )

{ circle( myShiTomasi_copy, Point(i,j), 4, Scalar( rng.uniform(0,255),

rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }

}

}

imshow( myShiTomasi_window, myShiTomasi_copy );

}

/** @function myHarris_function */

void myHarris_function( int, void* )

{

myHarris_copy = src.clone();

if( myHarris_qualityLevel < 1 ) { myHarris_qualityLevel = 1; }

for( int j = 0; j < src_gray.rows; j++ )

{ for( int i = 0; i < src_gray.cols; i++ )

{

if( Mc.at(j,i) > myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )

*myHarris_qualityLevel/max_qualityLevel )

{ circle( myHarris_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255),

rng.uniform(0,255) ), -1, 8, 0 ); }

}

}

imshow( myHarris_window, myHarris_copy );

}