角点检测c语言,Harris角点检测原理及C++实现

#include "my_harris.h"

#define pi 3.14my_Harris::my_Harris()

{

}void my_Harris::RGB2GRAY(Mat rgb_img, Mat &gray_img)

{

Mat img_src=rgb_img.clone();int rows =img_src.rows;int cols =img_src.cols;

Mat img_gray= Mat(rows,cols,CV_8UC1,Scalar(0));for(int i = 0; i < rows; i++)

{for(int j = 0; j

{

img_gray.at(i,j) = (0.1*img_src.at(i,j)[0])+(0.6*img_src.at(i,j)[1])+(0.3*img_src.at(i,j)[2]);

}

}

gray_img=img_gray;

}void my_Harris::IMG_GRAD(Mat img, Mat &x_grad, Mat &y_grad)

{

Mat img_src=img.clone();int rows =img_src.rows;int cols =img_src.cols;

Mat x_g= Mat(rows,cols,CV_8UC1,Scalar(0));

Mat y_g= Mat(rows,cols,CV_8UC1,Scalar(0));for(int i = 1; i < rows-1; i++)

{for(int j = 1; j < cols -1; j++)

{

x_g.at(i,j) = ((img_src.at(i+1,j-1) - img_src.at(i-1,j-1))+(img_src.at(i+1,j) - img_src.at(i-1,j)) + (img_src.at(i+1,j+1) - img_src.at(i-1,j+1)))/3;

y_g.at(i,j) = ((img_src.at(i-1,j+1) - img_src.at(i-1,j-1))+(img_src.at(i,j+1) - img_src.at(i,j-1)) + (img_src.at(i+1,j+1) - img_src.at(i+1,j-1)))/3;

}

}

x_grad=x_g;

y_grad=y_g;

}void my_Harris::GRAD_MULTI(Mat x_grad, Mat y_grad, Mat &p_x, Mat &p_y, Mat &p_xy)

{

Mat x_g=x_grad.clone();

Mat y_g=y_grad.clone();int rows =x_g.rows;int cols =x_g.cols;

Mat px= Mat(rows,cols,CV_8UC1,Scalar(0));

Mat py= Mat(rows,cols,CV_8UC1,Scalar(0));

Mat pxy= Mat(rows,cols,CV_8UC1,Scalar(0));for(int i = 0; i < rows; i++)

{for(int j = 0; j < cols; j++)

{

px.at(i,j) = x_g.at(i,j)*x_g.at(i,j);

py.at(i,j) = y_g.at(i,j)*y_g.at(i,j);

pxy.at(i,j) = x_g.at(i,j)*y_g.at(i,j);

}

}

p_x=px;

p_y=py;

p_xy=pxy;

}void my_Harris::GAUSS_WEI(Mat p_x, Mat p_y, Mat p_xy, Mat &A, Mat &B, Mat &C)

{

Mat Ix=p_x.clone();

Mat Iy=p_y.clone();

Mat Ixy=p_xy.clone();int rows =Ix.rows;int cols =Ix.cols;

Mat g_Ix= Mat(rows,cols,CV_8UC1,Scalar(0));

Mat g_Iy= Mat(rows,cols,CV_8UC1,Scalar(0));

Mat g_Ixy= Mat(rows,cols,CV_8UC1,Scalar(0));int k = 3;

Mat gauss_plate= Mat(k,k,CV_8UC1,Scalar(0));//GET_GAUSS(3,0.5, gauss_plate);

g_Ix =GAUSS_PRO(Ix);

g_Iy=GAUSS_PRO(Iy);

g_Ixy=GAUSS_PRO(Ixy);

A=g_Ix;

B=g_Iy;

C=g_Ixy;

}

Mat my_Harris::GAUSS_PRO(Mat g)

{

Mat Ix=g.clone();float gauss_plate[3][3]={0.0113437, 0.0838195, 0.0113437, 0.0838195, 0.619347, 0.0838195,0.0113437,0.0838195,0.0113437};int rows =Ix.rows;int cols =Ix.cols;

Mat g_f= Mat(rows,cols,CV_8UC1,Scalar(0));for(int i = 1; i < rows-1; i++)

{for(int j = 1; j < cols-1; j++)

{

g_f.at(i,j) = Ix.at(i-1,j-1)*gauss_plate[0][0] + Ix.at(i,j-1)*gauss_plate[1][0] + Ix.at(i+1,j-1)*gauss_plate[2][0]+ Ix.at(i-1,j)*gauss_plate[0][1] + Ix.at(i,j-1)*gauss_plate[1][1] + Ix.at(i+1,j-1)*gauss_plate[2][1]+ Ix.at(i-1,j+1)*gauss_plate[0][2] + Ix.at(i,j+1)*gauss_plate[1][2] + Ix.at(i+1,j+1)*gauss_plate[2][2];

}

}returng_f;

}void my_Harris::GET_RESPONSE(Mat A_, Mat B_, Mat C_, Mat &R)

{

Mat A=A_.clone();

Mat B=B_.clone();

Mat C=C_.clone();int rows =A.rows;int cols =B.cols;

Mat M_R= Mat(rows, cols, CV_8UC1, Scalar(0));for(int i = 0; i < rows; i++)

{for(int j = 0; j < cols; j++)

{float k = 0.15;float a = A.at(i,j);float b = B.at(i,j);float c = C.at(i,j);float r = (a*b-c*c-k*((a+b)*(a+b)));

M_R.at(i,j) = int(r);if(abs(int(r)) > 48000)

{

M_R.at(i,j) = 255;

}else{

M_R.at(i,j) = 0;

}

}

}

R=M_R;

}void my_Harris::FILTER_THRESH(Mat R, Mat img, Mat &F_R)

{

Mat img_src=R.clone();int rows =img_src.rows;int cols =img_src.cols;for(int i = 0; i < rows; i++)

{for(int j = 0; j < cols; j++)

{if(abs(img_src.at(i,j))>254)

{

img.at(i,j)[0]=0;

img.at(i,j)[1]=0;

img.at(i,j)[2]=255;

}

}

}

imshow("img_src",img);

waitKey(0);

}