opencv自定义角点_opencv::自定义角点检测

#include #include#include

using namespacecv;using namespacestd;const char* harris_win = "Custom Harris Corners Detector";const char* shitomasi_win = "Custom Shi-Tomasi Corners Detector";

Mat src, gray_src;//harris corner response

Mat harris_dst, harrisRspImg;doubleharris_min_rsp;doubleharris_max_rsp;//shi-tomasi corner response

Mat shiTomasiRsp;doubleshitomasi_max_rsp;doubleshitomasi_min_rsp;int sm_qualitylevel = 30;//quality level

int qualityLevel = 30;int max_count = 100;void CustomHarris_Demo(int, void*);void CustomShiTomasi_Demo(int, void*);int main(int argc, char**argv) {

src= imread("D:/vcprojects/images/home.jpg");if(src.empty()) {

printf("could not load image...\n");return -1;

}

namedWindow("input image", CV_WINDOW_AUTOSIZE);

imshow("input image", src);//灰度图

cvtColor(src, gray_src, COLOR_BGR2GRAY);//计算特征值

int blockSize = 3;int ksize = 3;double k = 0.04;//对每个像素做处理

harris_dst = Mat::zeros(src.size(), CV_32FC(6));

harrisRspImg=Mat::zeros(src.size(), CV_32FC1);

cornerEigenValsAndVecs(gray_src, harris_dst, blockSize, ksize,4);//计算响应

for (int row = 0; row < harris_dst.rows; row++) {for (int col = 0; col < harris_dst.cols; col++) {double lambda1 =harris_dst.at(row, col)[0];double lambda2 = harris_dst.at(row, col)[1];

harrisRspImg.at(row, col) = lambda1*lambda2 - k*pow((lambda1 + lambda2), 2);

}

}

minMaxLoc(harrisRspImg,&harris_min_rsp, &harris_max_rsp, 0, 0, Mat());

namedWindow(harris_win, CV_WINDOW_AUTOSIZE);

createTrackbar("Quality Value:", harris_win, &qualityLevel, max_count, CustomHarris_Demo);

CustomHarris_Demo(0, 0);//计算最小特征值

shiTomasiRsp =Mat::zeros(src.size(), CV_32FC1);

cornerMinEigenVal(gray_src, shiTomasiRsp, blockSize, ksize,4);

minMaxLoc(shiTomasiRsp,&shitomasi_min_rsp, &shitomasi_max_rsp, 0, 0, Mat());

namedWindow(shitomasi_win, CV_WINDOW_AUTOSIZE);

createTrackbar("Quality:", shitomasi_win, &sm_qualitylevel, max_count, CustomShiTomasi_Demo);

CustomShiTomasi_Demo(0, 0);

waitKey(0);return 0;

}void CustomHarris_Demo(int, void*) {if (qualityLevel < 10) {

qualityLevel= 10;

}

Mat resultImg=src.clone();float t = harris_min_rsp + (((double)qualityLevel) / max_count)*(harris_max_rsp -harris_min_rsp);for (int row = 0; row < src.rows; row++) {for (int col = 0; col < src.cols; col++) {float v = harrisRspImg.at(row, col);if (v >t) {

circle(resultImg, Point(col, row),2, Scalar(0, 0, 255), 2, 8, 0);

}

}

}

imshow(harris_win, resultImg);

}void CustomShiTomasi_Demo(int, void*) {if (sm_qualitylevel < 20) {

sm_qualitylevel= 20;

}

Mat resultImg=src.clone();float t = shitomasi_min_rsp + (((double)sm_qualitylevel) / max_count)*(shitomasi_max_rsp -shitomasi_min_rsp);for (int row = 0; row < src.rows; row++) {for (int col = 0; col < src.cols; col++) {float v = shiTomasiRsp.at(row, col);if (v >t) {

circle(resultImg, Point(col, row),2, Scalar(0, 0, 255), 2, 8, 0);

}

}

}

imshow(shitomasi_win, resultImg);

}