1 /** 2 * @function cornerDetector_Demo.cpp 3 * @brief Demo code for detecting corners using OpenCV built-in functions 4 * @author OpenCV team 5 */ 6 #include "opencv2/imgcodecs.hpp" 7 #include "opencv2/highgui/highgui.hpp" 8 #include "opencv2/imgproc/imgproc.hpp" 9 #include <iostream> 10 #include <stdio.h> 11 #include <stdlib.h> 12 13 using namespace cv; 14 using namespace std; 15 16 /// Global variables 17 Mat src, src_gray; 18 Mat myHarris_dst; Mat myHarris_copy; Mat Mc; 19 Mat myShiTomasi_dst; Mat myShiTomasi_copy; 20 21 int myShiTomasi_qualityLevel = 50; 22 int myHarris_qualityLevel = 50; 23 int max_qualityLevel = 100; 24 25 double myHarris_minVal; double myHarris_maxVal; 26 double myShiTomasi_minVal; double myShiTomasi_maxVal; 27 28 RNG rng(12345); 29 30 const char* myHarris_window = "My Harris corner detector"; 31 const char* myShiTomasi_window = "My Shi Tomasi corner detector"; 32 33 /// Function headers 34 void myShiTomasi_function( int, void* ); 35 void myHarris_function( int, void* ); 36 37 /** 38 * @function main 39 */ 40 int main( int, char** argv ) 41 { 42 /// Load source image and convert it to gray 43 src = imread( argv[1], 1 ); 44 cvtColor( src, src_gray, COLOR_BGR2GRAY ); 45 46 /// Set some parameters 47 int blockSize = 3; int apertureSize = 3; 48 49 /// My Harris matrix -- Using cornerEigenValsAndVecs 50 myHarris_dst = Mat::zeros( src_gray.size(), CV_32FC(6) ); 51 Mc = Mat::zeros( src_gray.size(), CV_32FC1 ); 52 53 cornerEigenValsAndVecs( src_gray, myHarris_dst, blockSize, apertureSize, BORDER_DEFAULT ); 54 55 /* calculate Mc */ 56 for( int j = 0; j < src_gray.rows; j++ ) 57 { for( int i = 0; i < src_gray.cols; i++ ) 58 { 59 float lambda_1 = myHarris_dst.at<Vec6f>(j, i)[0]; 60 float lambda_2 = myHarris_dst.at<Vec6f>(j, i)[1]; 61 Mc.at<float>(j,i) = lambda_1*lambda_2 - 0.04f*pow( ( lambda_1 + lambda_2 ), 2 ); 62 } 63 } 64 65 minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal, 0, 0, Mat() ); 66 67 /* Create Window and Trackbar */ 68 namedWindow( myHarris_window, WINDOW_AUTOSIZE ); 69 createTrackbar( " Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel, myHarris_function ); 70 myHarris_function( 0, 0 ); 71 72 /// My Shi-Tomasi -- Using cornerMinEigenVal 73 myShiTomasi_dst = Mat::zeros( src_gray.size(), CV_32FC1 ); 74 cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize, BORDER_DEFAULT ); 75 76 minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal, 0, 0, Mat() ); 77 78 /* Create Window and Trackbar */ 79 namedWindow( myShiTomasi_window, WINDOW_AUTOSIZE ); 80 createTrackbar( " Quality Level:", myShiTomasi_window, &myShiTomasi_qualityLevel, max_qualityLevel, myShiTomasi_function ); 81 myShiTomasi_function( 0, 0 ); 82 83 waitKey(0); 84 return(0); 85 } 86 87 /** 88 * @function myShiTomasi_function 89 */ 90 void myShiTomasi_function( int, void* ) 91 { 92 myShiTomasi_copy = src.clone(); 93 94 if( myShiTomasi_qualityLevel < 1 ) { myShiTomasi_qualityLevel = 1; } 95 96 for( int j = 0; j < src_gray.rows; j++ ) 97 { for( int i = 0; i < src_gray.cols; i++ ) 98 { 99 if( myShiTomasi_dst.at<float>(j,i) > myShiTomasi_minVal + ( myShiTomasi_maxVal - myShiTomasi_minVal )*myShiTomasi_qualityLevel/max_qualityLevel ) 100 { circle( myShiTomasi_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); } 101 } 102 } 103 imshow( myShiTomasi_window, myShiTomasi_copy ); 104 } 105 106 /** 107 * @function myHarris_function 108 */ 109 void myHarris_function( int, void* ) 110 { 111 myHarris_copy = src.clone(); 112 113 if( myHarris_qualityLevel < 1 ) { myHarris_qualityLevel = 1; } 114 115 for( int j = 0; j < src_gray.rows; j++ ) 116 { for( int i = 0; i < src_gray.cols; i++ ) 117 { 118 if( Mc.at<float>(j,i) > myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )*myHarris_qualityLevel/max_qualityLevel ) 119 { circle( myHarris_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); } 120 } 121 } 122 imshow( myHarris_window, myHarris_copy ); 123 } 124
