cvCornerHarris角点提取实例c++

cvCornerHarris：

功能：检测图像的哈里斯角点检测，判断出某一点是不是图像的角点

函数形式：

void cvCornerHarris( const CvArr* image, CvArr* harris_responce, int block_size, int aperture_size=3, double k=0.04 );

参数列表：

Image 输入图像

harris_responce存储哈里斯检测responces的图像。与输入图像等大

block_size 邻域大小（见关于cvCornerEigenValsAndVecs的讨论）

aperture_size 扩展 Sobel 核的大小（见 cvSobel）。格式.当输入图像是浮点数格式时，该参数表示用来计算差分固定的浮点滤波器的个数

k 哈里斯检测器的自由参数

示例代码

原图片：

例程1：使用Mat

#include<opencv2/imgproc/imgproc.hpp>  
#include<opencv2/core/core.hpp>  
#include<opencv2/highgui/highgui.hpp>  
#include<iostream>  
using namespace cv;  
using namespace std;  

int main()  
{  
    Mat src,src_gray;  
    src= imread("1.jpg");  
    cvtColor(src, src_gray, CV_RGB2GRAY);  //灰度处理

    Mat cornerStrength;  
    cornerHarris(src_gray, cornerStrength, 3, 3, 0.01);  //检测
    threshold(cornerStrength, cornerStrength, 0.0001, 255, THRESH_BINARY);  //二值化灰度图
    imshow("shiyan", cornerStrength);  
    waitKey(0);  

    return 0;  
}

运行结果：

例程2：使用IplImage

#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<iostream>

using namespace cv;
using namespace std;

int main()
{
    IplImage* src = cvLoadImage("1.jpg");
    cvNamedWindow("src");
    cvShowImage("src", src);
	//IPL_DEPTH_32F 4通道彩色图格式
    IplImage* harris = cvCreateImage(cvGetSize(src), IPL_DEPTH_32F, 1);
    //IPL_DEPTH_8U 单通道灰度图格式
    IplImage* gray = cvCreateImage(cvGetSize(src), IPL_DEPTH_8U, 1);
	//需转成单通道灰度图，才能进行角点提取。cvCornerHarris的提取角点的原图输入要求IPL_DEPTH_8U
    cvCvtColor(src, gray, CV_BGR2GRAY);
	//提取角点
    cvCornerHarris(gray, harris, 3);

    cvNamedWindow("harris");
    cvShowImage("harris", harris);
	//此时，计算出来的harris值非常小，显示一片黑，因此需要对其值进行放缩
    double minVal, maxVal;
	//提取harris最大最小值，用于计算亮度放缩值
    cvMinMaxLoc(harris, &minVal, &maxVal, NULL, NULL, 0);
    IplImage *harris_out = cvCreateImage(cvGetSize(src), 8, 1);
	//亮度放缩值计算
    double Scale;
    double Shift;
    //将harris的值均匀分布在0-255之间
    Scale = 255 / (maxVal - minVal);
    Shift = -minVal * Scale;
    //图像亮度调整
    cvConvertScale(harris, harris_out, Scale, Shift);
    cvShowImage("harris_out", harris_out);

    waitKey(0);
    cvReleaseImage(&src);
    cvReleaseImage(&harris);
    cvReleaseImage(&harris_out);
    return 0;
}

运行结果：

例程3：使用 cvCalcOpticalFlowPyrLK匹配角点

#include<opencv/cv.h>
#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<iostream>
#include<stdio.h>

using namespace cv;
using namespace std;
const int MAX_CORNERS = 500;
int main(int argc, char** argv) {

    IplImage* imgA = cvLoadImage("h1.jpg",CV_LOAD_IMAGE_GRAYSCALE);
    IplImage* imgB = cvLoadImage("h2.jpg",CV_LOAD_IMAGE_GRAYSCALE);
    CvSize img_sz = cvGetSize( imgA );
    int win_size = 10;
    IplImage* imgC = cvLoadImage("h2.jpg",CV_LOAD_IMAGE_UNCHANGED);

    //需要做的第一件事就是获取我们想要跟踪的特征
    IplImage* eig_image = cvCreateImage( img_sz, IPL_DEPTH_32F, 1 );
    IplImage* tmp_image = cvCreateImage( img_sz, IPL_DEPTH_32F, 1 );
    int corner_count = MAX_CORNERS;
    CvPoint2D32f* cornersA = new CvPoint2D32f[ MAX_CORNERS ];
    cvGoodFeaturesToTrack(
        imgA,
        eig_image,
        tmp_image,
        cornersA,
        &corner_count,
        0.01,
        5.0,
        0,
        3,
        0,
        0.04
        );
    cvFindCornerSubPix(
        imgA,                                                                                                                                                                                        cornersA,                                                                                                                                                                                    corner_count,                                                                                                                                                                                cvSize(win_size,win_size),
        cvSize(-1,-1),                                                                                                                                                                               cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03)
        );

    char features_found[ MAX_CORNERS ];
    float feature_errors[ MAX_CORNERS ]; 
    CvSize pyr_sz = cvSize( imgA->width+8, imgB->height/3 );
    IplImage* pyrA = cvCreateImage( pyr_sz, IPL_DEPTH_32F, 1 );
    IplImage* pyrB = cvCreateImage( pyr_sz, IPL_DEPTH_32F, 1 );
    CvPoint2D32f* cornersB = new CvPoint2D32f[ MAX_CORNERS ];
    cvCalcOpticalFlowPyrLK(             //在图像金字塔中计算LK光流
        imgA,
        imgB,
        pyrA,
        pyrB,
        cornersA,
        cornersB,
        corner_count,
        cvSize( win_size,win_size ),
        5,
        features_found,
        feature_errors,
        cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 ),
        0
        );

    for( int i=0; i<corner_count; i++ ) {
        if( features_found[i]==0 || feature_errors[i]>550 ) {
            printf("Error is %f\n", feature_errors[i]);
            continue;
        }
    //显示匹配点，在原图中显示像素的移动
    //找到前后对应的点的像素坐标，用红色连接显示
        printf("Got it\n");
        CvPoint p0 = cvPoint(
            cvRound( cornersA[i].x ),
            cvRound( cornersA[i].y )
            );
        CvPoint p1 = cvPoint(
            cvRound( cornersB[i].x ),
            cvRound( cornersB[i].y )
            );
        cvLine( imgC, p0, p1, CV_RGB(255,0,0),2 );
    }
    cvNamedWindow("ImageA",0);
    cvNamedWindow("ImageB",0);
    cvNamedWindow("LKpyr_OpticalFlow",0);
    cvShowImage("ImageA",imgA);
    cvShowImage("ImageB",imgB);
    cvShowImage("LKpyr_OpticalFlow",imgC);
    cvWaitKey(0);
    return 0;
}

运行结果：

编译命令：

g++ harr.cpp `pkg-config --libs --cflags opencv`

参考链接：
cvCornerHarris函数-https://blog.csdn.net/jinwanchiji/article/details/78950919
cvCornerHarris角点检测-https://blog.csdn.net/c_ros/article/details/46523845
opencv-常用函数：https://www.cnblogs.com/xiaopanlyu/p/4561728.html
opencv3-0 API https://docs.opencv.org/3.0-beta/modules/refman.html
cvCalcOpticalFlowPyrLK的使用-https://blog.csdn.net/qq_28584889/article/details/103261377