Creating your own corner detector

Creating your own corner detector

一.函数介绍

1.cornerEigenValsAndVecs()

void cv::cornerEigenValsAndVecs	(	InputArray	src,
		OutputArray	dst,
		int	blockSize,
		int	ksize,
		int	borderType = BORDER_DEFAULT
	)

该函数用来计算特征值和特征向量，其中src为输入灰度图像，dst为输出（6通道 CV_32FC(6)，依次保存的是α， t1, β， t2），blockSize为邻域大小，ksize为sobel求取微分时的窗口大小。

用于Harris检测

2.cornerMinEigenVal()

void cv::cornerMinEigenVal	(	InputArray	src,
		OutputArray	dst,
		int	blockSize,
		int	ksize = 3,
		int	borderType = BORDER_DEFAULT
	)

计算特征值的最小值，用于ShiTomasi角点检测

3.minMaxLoc()

 minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal, 0, 0, Mat() ); 

函数获取特征表达式的最大值min和最小值max，然后利用这两个值换算滑动条值（滑动条上的值只是用来调整的，并不是实际阈值）对应的阈值

实际阈值计算公式时

shresh=myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )*myHarris_qualityLevel/max_qualityLevel )

因为0 <= *myHarris_qualityLevel/max_qualityLevel ) <= 1所以控制阈值在特征值的最大值与最小值之间，不会出现无意义的阈值。

二.代码实现及详解

/**
 * @function cornerDetector_Demo.cpp
 * @brief Demo code for detecting corners using OpenCV built-in functions
 * @author OpenCV team
 */

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

using namespace cv;
using namespace std;

/// Global variables
Mat src, src_gray;
Mat myHarris_dst; Mat myHarris_copy; Mat Mc;
Mat myShiTomasi_dst; Mat myShiTomasi_copy;

int myShiTomasi_qualityLevel = 50;
int myHarris_qualityLevel = 50;
int max_qualityLevel = 100;

double myHarris_minVal; double myHarris_maxVal;
double myShiTomasi_minVal; double myShiTomasi_maxVal;

RNG rng(12345);

const char* myHarris_window = "My Harris corner detector";
const char* myShiTomasi_window = "My Shi Tomasi corner detector";

/// Function headers
void myShiTomasi_function( int, void* );
void myHarris_function( int, void* );

/**
 * @function main
 */
int main( int argc, char** argv )
{
  /// Load source image and convert it to gray
  CommandLineParser parser( argc, argv, "{@input | ../data/stuff.jpg | input image}" );
  src = imread( parser.get<String>( "@input" ), IMREAD_COLOR );
  if ( src.empty() )
  {
    cout << "Could not open or find the image!\n" << endl;
    cout << "Usage: " << argv[0] << " <Input image>" << endl;
    return -1;
  }
  cvtColor( src, src_gray, COLOR_BGR2GRAY );

  /// Set some parameters
  int blockSize = 3; int apertureSize = 3;

  /// My Harris matrix -- Using cornerEigenValsAndVecs
  myHarris_dst = Mat::zeros( src_gray.size(), CV_32FC(6) );
  Mc = Mat::zeros( src_gray.size(), CV_32FC1 );

  cornerEigenValsAndVecs( src_gray, myHarris_dst, blockSize, apertureSize, BORDER_DEFAULT );//获取特征值和特征向量

  /* calculate Mc */
  for( int j = 0; j < src_gray.rows; j++ )
     { for( int i = 0; i < src_gray.cols; i++ )
          {
            float lambda_1 = myHarris_dst.at<Vec6f>(j, i)[0];//获取对应点的特征值
            float lambda_2 = myHarris_dst.at<Vec6f>(j, i)[1];//获取对应点的特征值
            Mc.at<float>(j,i) = lambda_1*lambda_2 - 0.04f*pow( ( lambda_1 + lambda_2 ), 2 );//计算之前博客中提到的R
          }
     }

  minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal, 0, 0, Mat() );//计算图片中特征值的最大值和最小值

  /* Create Window and Trackbar */
  namedWindow( myHarris_window, WINDOW_AUTOSIZE );
  createTrackbar( " Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel, myHarris_function );
  myHarris_function( 0, 0 );//自己的Harris角点检测器

  /// My Shi-Tomasi -- Using cornerMinEigenVal
  myShiTomasi_dst = Mat::zeros( src_gray.size(), CV_32FC1 );
  cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize, BORDER_DEFAULT );//获取对应点的最小特征值

  minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal, 0, 0, Mat() );

  /* Create Window and Trackbar */
  namedWindow( myShiTomasi_window, WINDOW_AUTOSIZE );
  createTrackbar( " Quality Level:", myShiTomasi_window, &myShiTomasi_qualityLevel, max_qualityLevel, myShiTomasi_function );
  myShiTomasi_function( 0, 0 );

  waitKey(0);
  return(0);
}

/**
 * @function myShiTomasi_function
 */
void myShiTomasi_function( int, void* )
{
  myShiTomasi_copy = src.clone();

  if( myShiTomasi_qualityLevel < 1 ) { myShiTomasi_qualityLevel = 1; }

  for( int j = 0; j < src_gray.rows; j++ )
     { for( int i = 0; i < src_gray.cols; i++ )
          {
            if( myShiTomasi_dst.at<float>(j,i) > myShiTomasi_minVal + ( myShiTomasi_maxVal - myShiTomasi_minVal )*myShiTomasi_qualityLevel/max_qualityLevel )//和阈值进行比较
              { circle( myShiTomasi_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }
          }
     }
  imshow( myShiTomasi_window, myShiTomasi_copy );
}

/**
 * @function myHarris_function
 */
void myHarris_function( int, void* )
{
  myHarris_copy = src.clone();

  if( myHarris_qualityLevel < 1 ) { myHarris_qualityLevel = 1; }

  for( int j = 0; j < src_gray.rows; j++ )
     { for( int i = 0; i < src_gray.cols; i++ )
          {
            if( Mc.at<float>(j,i) > myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )*myHarris_qualityLevel/max_qualityLevel )//和阈值比较
              { circle( myHarris_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }
          }
     }
  imshow( myHarris_window, myHarris_copy );
}

运行截图：