Opencv:Shi-Tomasi 角点检测 & 适合于跟踪的图像特征(Shi-Tomasi Corner Detector & Good Features to Track)

原理：

In last chapter, we saw Harris Corner Detector. Later in 1994, J. Shi and C. Tomasi made a small modification（前一个方法的小改进） to it in their paper Good Features to Track which shows better results compared to Harris Corner Detector. The scoring function in Harris Corner Detector was given by:

R=λ1λ2−k(λ1+λ2)2

Instead of this, Shi-Tomasi proposed:

R=min(λ1,λ2)

If it is a greater than a threshold value, it is considered as a corner. If we plot it in λ1−λ2 space as we did in Harris Corner Detector, we get an image as below:

---

代码使用：

corners	=	cv.goodFeaturesToTrack(	image, maxCorners, qualityLevel, minDistance[, corners[, mask[, blockSize[, useHarrisDetector[, k]]]]]	)
corners	=	cv.goodFeaturesToTrack(	image, maxCorners, qualityLevel, minDistance, mask, blockSize, gradientSize[, corners[, useHarrisDetector[, k]]]	)

Parameters

image	Input 8-bit or floating-point 32-bit, single-channel image.
corners	Output vector of detected corners.
maxCorners	Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned. maxCorners <= 0 implies that no limit on the maximum is set and all detected corners are returned.
qualityLevel	Parameter characterizing the minimal accepted quality of image corners. The parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue (see cornerMinEigenVal ) or the Harris function response (see cornerHarris ). The corners with the quality measure less than the product are rejected. For example, if the best corner has the quality measure = 1500, and the qualityLevel=0.01 , then all the corners with the quality measure less than 15 are rejected.
minDistance	Minimum possible Euclidean distance between the returned corners.
mask	Optional region of interest. If the image is not empty (it needs to have the type CV_8UC1 and the same size as image ), it specifies the region in which the corners are detected.
blockSize	Size of an average block for computing a derivative covariation matrix over each pixel neighborhood. See cornerEigenValsAndVecs .
useHarrisDetector	Parameter indicating whether to use a Harris detector (see cornerHarris) or cornerMinEigenVal.
k	Free parameter of the Harris detector.

---