OpenCV3 角点检测

OpenCV中角点检测方法有：
1.cornerHarris(),
2.Shi-Tomasi：goodFeatureToTrack()
3.corneSubPix()

1.cornerHarris()检测计算公式为:
dst=det(M)-k*tr(M)2 其中M为 2x2 的协方差矩阵

C++: cornerHarris(InputArray src,OutputArray dst,int blocksize,int ksize,double k,int bordeType=BORDER_DEFAULT)

cornerHarris()代码如下：

#include<opencv2/opencv.hpp>
#include<opencv2/imgproc.hpp>
#include<opencv2/highgui/highgui.hpp>

using namespace cv;
#define Window_name1 "[程序窗口1]"
#define Window_name2 "[程序窗口2]"

Mat g_scrImage, g_scrImage1, g_grayImage;
int thresh = 30;
int max_thresh = 175;
void on_CornerHarris(int, void*);

int main() {
   

	g_scrImage = imread("hough.jpg", 1);
	imshow("原始图",g_scrImage);
	g_scrImage1 = g_scrImage.clone();
	cvtColor(g_scrImage1,g_grayImage,COLOR_BGR2GRAY);
	namedWindow(Window_name1,WINDOW_AUTOSIZE);
	createTrackbar("阈值", Window_name1,&thresh,max_thresh,on_CornerHarris);
	on_CornerHarris(0,0);
	waitKey();
	return 0;
}
void on_CornerHarris(int, void*) {
   
	Mat dstImage;
	Mat normImage;
	Mat scaledImage;
	dstImage = Mat::zeros(g_scrImage.size(),CV_32FC1);
	g_scrImage = g_scrImage.clone();
	cornerHarris(g_grayImage, dstImage, 2, 3, 0.04, BORDER_DEFAULT);//角点检测
	normalize(dstImage, normImage,0,225,NORM_MINMAX,CV_32FC1,Mat());//归一化
	convertScaleAbs(normImage,scaledImage);//将归一化的图线性的转为8位无符号的运算
	//将检测出来