C# 影像特征点提取

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内容和要求如下：

 任务：提取一幅数字影像中的特征点
 内容：使用Moravec算子编写程序，从一幅数字影像中自动提取出50个以上的特征点
 要求：程序能读取数字图像、在窗口中显示整幅图像、在图像中显示所提取的特征点(+)，并列表显示各特征点的像素坐标。

算法流程及计算原理
1.选取一个合理的邻域遍历图像，这里是5*5邻域的。在邻域中依次计算，垂直，水平，对角与反对角四个相邻像素灰度的差的平方和，作为该邻域特征值。
大致就是下面这个样子：

公式：

这里k是窗口的半径。
2.从四个特征值中选最小的值作为该像素初次候选特征值。
公式：

3.设定一个阈值，将大于该阈值初次候选特征值的选为二次候选特征值。
4.设定一个邻域，将该邻域最大的二次候选特征值作为最终要选择的特征值。
界面调试

主要界面的代码：

FORM1：
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Drawing.Imaging;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace shuzituxiangchuli
{
    public partial class Form1 : Form
    {
        public Form1()
        {
            InitializeComponent();
        }
        private string curFilename;
        private System.Drawing.Bitmap curbitmap;
        private void button1_Click(object sender, EventArgs e)
        {
            OpenFileDialog openglg = new OpenFileDialog();
            openglg.Filter = "所有图像文件|*.bmp;*.png;*.pcx;*.jpg;*.gif;*.tif;*.ico";
            openglg.Title = "打开图像文件";
            openglg.ShowHelp = true;
            if (openglg.ShowDialog() == DialogResult.OK)
            {
                curFilename = openglg.FileName;
                try
                {
                    curbitmap = (Bitmap)Image.FromFile(curFilename);
                }
                catch (Exception exp)
                {
                    MessageBox.Show(exp.Message);
                }
            }
            Invalidate();

        }

        private void Form1_Paint(object sender, PaintEventArgs e)
        {
            Graphics g = this.panel1.CreateGraphics();
            if (curbitmap != null)
            {
                int x, y;
                x = curbitmap.Width;
                y = curbitmap.Height;
                while (x > this.Width - 160 && y > this.Height - 20)
                {
                    x = x / 2;
                    y = y / 2;
                }
                g.DrawImage(curbitmap, 160, 20, x, y);
                //g.DrawImage(curbitmap, 160, 20, curbitmap.Width, curbitmap.Height);

            }
            g.Dispose();
        }

        private void panel1_Paint(object sender, PaintEventArgs e)
        {

        }

        private void Form1_Load(object sender, EventArgs e)
        {
            //this.panel1.Left = 10;
            this.panel1.BackColor = Color.CadetBlue;
        }

        private void vScrollBar1_Scroll(object sender, ScrollEventArgs e)
        {
            //curbitmap = new Bitmap(curbitmap, new Size(curbitmap.Width / 2, curbitmap.Height / 2));
            Graphics g = this.panel1.CreateGraphics();
            g.Clear(this.panel1.BackColor);
        }

        private void Form1_Scroll(object sender, ScrollEventArgs e)
        {


        }

        private void button4_Click(object sender, EventArgs e)
        {
            FrmhistR f = new FrmhistR(curbitmap);
            f.Show();
            FrmhistG G = new FrmhistG(curbitmap);
            G.Show();
            FrmhistB B = new FrmhistB(curbitmap);
            B.Show();
        }

        private void button5_Click(object sender, EventArgs e)
        {
            if (curbitmap != null)
            {
                Frmliner finearfrom = new Frmliner();
                if (finearfrom.ShowDialog() == DialogResult.OK)
                {
                    Rectangle rect = new Rectangle(0, 0, curbitmap.Width, curbitmap.Height);
                    System.Drawing.Imaging.BitmapData bmpdata = curbitmap.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadWrite,
                        curbitmap.PixelFormat);
                    IntPtr ptr = bmpdata.Scan0;
                    int bytes = 3 * curbitmap.Width * curbitmap.Height;
                    byte[] grayValues = new byte[bytes];
                    System.Runtime.InteropServices.Marshal.Copy(ptr, grayValues, 0, bytes);


                    int temp = 0;
                    double a = Convert.ToDouble(finearfrom.Getscaling);
                    double b = Convert.ToDouble(finearfrom.Getoffset);
                    for (int i = 0; i < bytes; i++)
                    {
                        temp = (int)(a * grayValues[i] + b + 0.5);
                        if (temp > 255)
                        {
                            grayValues[i] = 255;
                        }
                        else
                            if (temp < 0)
                            grayValues[i] = 0;
                        else
                            grayValues[i] = (byte)temp;


                    }
                    System.Runtime.InteropServices.Marshal.Copy(grayValues, 0, ptr, bytes);
                    curbitmap.UnlockBits(bmpdata);

                }
                Invalidate();
            }
        }

        private void button6_Click(object sender, EventArgs e)
        {
            if (curbitmap != null)
            {
                Rectangle rect = new Rectangle(0, 0, curbitmap.Width, curbitmap.Height);
                System.Drawing.Imaging.BitmapData bmpdata = curbitmap.LockBits(rect,
                    System.Drawing.Imaging.ImageLockMode.ReadWrite, curbitmap.PixelFormat);
                IntPtr ptr = bmpdata.Scan0;
                int bytes = 2 * curbitmap.Width * curbitmap.Height;
                byte[] grayValues = new byte[bytes];
                System.Runtime.InteropServices.Marshal.Copy(ptr, grayValues, 0, bytes);
                byte a = 255;
                byte b = 0;
                double p;
                for (int i = 0; i < bytes; i++)
                {
                    if (a > grayValues[i])
                    {
                        a = grayValues[i];
                    }
                    if (b < grayValues[i])
                    {
                        b = grayValues[i];
                    }
                }
                p = 255.0 / (b - a);
                for (int i = 0; i < bytes; i++)
                {
                    grayValues[i] = (byte)(p * (grayValues[i] - a) + 0.5);
                }
                System.Runtime.InteropServices.Marshal.Copy(grayValues, 0, ptr, bytes);
                curbitmap.UnlockBits(bmpdata);
                Invalidate();

            }
        }

        private void button7_Click(object sender, EventArgs e)
        {
            if (curbitmap != null)
            {
                Rectangle rect = new Rectangle(0, 0, curbitmap.Width, curbitmap.Height);
                System.Drawing.Imaging.BitmapData bmpdata = curbitmap.LockBits(rect,
                    System.Drawing.Imaging.ImageLockMode.ReadWrite, curbitmap.PixelFormat);
                IntPtr ptr = bmpdata.Scan0;
                int bytes = 3 * curbitmap.Width * curbitmap.Height;
                byte[] grayValues = new byte[bytes];
                System.Runtime.InteropServices.Marshal.Copy(ptr, grayValues, 0, bytes);


                for (int i = 0; i < bytes; i += 3)
                {
                    grayValues[i] = 0;
                    grayValues[i + 1] = 0;
                }
                System.Runtime.InteropServices.Marshal.Copy(grayValues, 0, ptr, bytes);
                curbitmap.UnlockBits(bmpdata);
                Invalidate();

            }
        }

        private void button8_Click(object sender, EventArgs e)
        {
            if (curbitmap != null)
            {
                Rectangle rect = new Rectangle(0, 0, curbitmap.Width, curbitmap.Height);
                System.Drawing.Imaging.BitmapData bmpdata = curbitmap.LockBits(rect,
                    System.Drawing.Imaging.ImageLockMode.ReadWrite, curbitmap.PixelFormat);
                IntPtr ptr = bmpdata.Scan0;
                int bytes = 3 * curbitmap.Width * curbitmap.Height;
                byte[] grayValues = new byte[bytes];
                System.Runtime.InteropServices.Marshal.Copy(ptr, grayValues, 0, bytes);

                double[] junzhi = new double[3];
                junzhi[0] = 0; junzhi[1] = 0; junzhi[2] = 0;
                //double j = 0;
                for (int i = 0; i < bytes; i += 3)
                {
                    junzhi[0] += grayValues[i];
                    junzhi[1] += grayValues[i + 1];
                    junzhi[2] += grayValues[i + 2];
                    // grayValues[i + 1] = 0;
                }
                junzhi[0] = junzhi[0] / bytes * 3;
                junzhi[1] = junzhi[1] / bytes * 3;
                junzhi[2] = junzhi[2] / bytes * 3;
                double[] var = new double[3];
                var[0] = 0; var[1] = 0; var[2] = 0;
                for (int i = 0; i < bytes; i += 3)
                {
                    var[0] += (grayValues[i] - junzhi[0]) * (grayValues[i] - junzhi[0]);
                    var[1] += (grayValues[i + 1] - junzhi[1]) * (grayValues[i + 1] - junzhi[1]);
                    var[2] += (grayValues[i + 2] - junzhi[2]) * (grayValues[i + 2] - junzhi[2]);
                    // grayValues[i + 1] = 0;
                }
                var[0] = var[0] / bytes * 3;
                var[1] = var[1]