OpenCV学习笔记（九）

Harris角点检测

void cornerHarris(InputArray src, //Mat类，单通道8位浮点型图像
OutputArray dst,//用于存放Harris角点检测的输出结果
 int blockSize, //表示领域的大小
 int ksize, //表示Sobel()算子的孔径大小
 double k, //Harris参数
 intborderType=BORDER_DEFAULT)

#include<opencv2/opencv.hpp>
#include<opencv2/imgproc/imgproc.hpp>
using namespace cv;
int main()
{
	//以灰度模式载入图像并显示
	Mat srcImage = imread("1.jpg", 0);
	imshow("原始图", srcImage);
	//进行Harris角点检测找出角点
	Mat conrnerStrength;
	cornerHarris(srcImage, conrnerStrength, 2, 3, 0.01);
	//对灰度图进行阈值操作，得到二值图并显示
	Mat harrisCorner;
	threshold(conrnerStrength, harrisCorner, 0.00001, 255,THRESH_BINARY);
	imshow("角点检测后的二值效果图", harrisCorner);
	
	waitKey(0);
	return 0;
}

Harris角点检测与绘制

#include<opencv2/opencv.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
using namespace cv;
#define WINDOW_NAME1 "[程序窗口1]"
#define WINDOW_NAME2  "[程序窗口2]"
Mat g_srcImage, g_srcImage1, g_grayImage;
int thresh = 30;//当前阈值
int max_thresh = 175;//最大阈值
void on_CornerHarris(int, void*);

int main()
{
	g_srcImage = imread("4.jpg", 1);
	if (!g_srcImage.data) {
		printf("fail to load image!");
		return -1;
	}
	imshow("原始图", g_srcImage);
	g_srcImage1 = g_srcImage.clone();
	//存留一张灰度图
	cvtColor(g_srcImage1, g_grayImage, COLOR_BGR2GRAY);
	namedWindow(WINDOW_NAME1, WINDOW_AUTOSIZE);
	createTrackbar("阈值：", WINDOW_NAME1, &thresh, max_thresh, on_CornerHarris);
	//调用一次回调函数，进行初始化
	on_CornerHarris(0,0);

	waitKey(0);
	return 0;
}
void on_CornerHarris(int, void*)
{
	//定义一些变量
	Mat dstImage;//目标图
	Mat normImage;//归一化后的图
	Mat scaledImage;//线性变换后的八位无符号整型图
	//初始化
	dstImage = Mat::zeros(g_srcImage.size(),CV_32FC1);
	g_srcImage1 = g_srcImage.clone();
	//正式检测
	cornerHarris(g_grayImage,dstImage,2,3,0.04,BORDER_DEFAULT);
	//归一化与转换
	normalize(dstImage, normImage, 0, 255, NORM_MINMAX, CV_32FC1, Mat());
	convertScaleAbs(normImage, scaledImage);
	//进行绘制
	for (int j = 0; j < normImage.rows; j++) {
		for (int i = 0; i < normImage.cols; i++) {
			if ((int)normImage.at<float>(j,i) > thresh + 80) {
				circle(g_srcImage1, Point(i, j), 5, Scalar(10, 10, 255), 2, 9, 0);
				circle(g_srcImage, Point(i, j), 5, Scalar(0, 10, 255), 2, 8, 0);
			}
		}
	}
	imshow(WINDOW_NAME1, g_srcImage1);
	imshow(WINDOW_NAME2, scaledImage);
}

Shi-Tommasi角点检测

void goodFeaturesToTrack(InputArray image,//输入图像为8位或浮点型32位单通道
OutputArray corners,//检测到的角点的输出向量
int maxCorners,//角点的最大数量
double qualityLevel,//角点检测可接受的最小特征值
double minDistance,//角点之间的最小距离
InputArray mask = noArray(),//感兴趣区域
int blockSize = 3,//默认值3，计算导数自相关矩阵时指定的领域范围
bool useHarrisDetector = false,//默认false，指示是否使用Harris角点检测
double k=0.04)

#include<opencv2/opencv.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
using namespace cv;
using namespace std;
#define WINDOW_NAME "[Shi-Tomasi角点检测]"

Mat g_srcImage,g_grayImage;
int g_maxCornerNumber = 33;
int g_maxTrackbarNumber = 500;
RNG g_rng(12345);

void on_GoodFeaturesToTrack(int, void*);

int main()
{
	g_srcImage = imread("2.jpg", 1);
	if (!g_srcImage.data) {
		printf("fail to load image!");
		return -1;
	}
	cvtColor(g_srcImage, g_grayImage, COLOR_BGR2GRAY);
	namedWindow(WINDOW_NAME, WINDOW_AUTOSIZE);
	createTrackbar("最大角点数", WINDOW_NAME, &g_maxCornerNumber,
		g_maxTrackbarNumber, on_GoodFeaturesToTrack);;

	imshow(WINDOW_NAME, g_srcImage);
	on_GoodFeaturesToTrack(0,0);
	waitKey(0);
	return 0;
}
void on_GoodFeaturesToTrack(int, void*)
{
	if (g_maxCornerNumber <= 1)
		g_maxCornerNumber = 1;
	//Shi-Tomasi算法参数准备
	vector<Point2f>corners;
	double qualityLevel = 0.01;//角点检测可接受的最小特征值
	double minDistance = 10;//角点之间的最小距离
	int blockSize = 3;//计算导数自相关时指定的领域范围
	double k = 0.4;//权重系数
	Mat copy = g_srcImage.clone();
	//进行Shi-Tomasi角点检测
	goodFeaturesToTrack(g_grayImage, corners, g_maxCornerNumber,
		qualityLevel, minDistance, Mat(), blockSize, false, k);
	cout << ">此次检测到的角点数量为:" << corners.size() << endl;
	int r = 4;
	for (unsigned int i = 0; i < corners.size(); i++) 
		circle(copy, corners[i], r, Scalar(g_rng.uniform(0, 255),
			g_rng.uniform(0, 255), g_rng.uniform(0, 255)), -1, 8, 0);

	imshow(WINDOW_NAME, copy);
}

亚像素级角点检测

#include<opencv2/opencv.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
using namespace cv;
using namespace std;
#define WINDOW_NAME "[Shi-Tomasi角点检测]"

Mat g_srcImage,g_grayImage;
int g_maxCornerNumber = 33;
int g_maxTrackbarNumber = 500;
RNG g_rng(12345);

void on_GoodFeaturesToTrack(int, void*);

int main()
{
	g_srcImage = imread("2.jpg", 1);
	if (!g_srcImage.data) {
		printf("fail to load image!");
		return -1;
	}
	cvtColor(g_srcImage, g_grayImage, COLOR_BGR2GRAY);
	namedWindow(WINDOW_NAME, WINDOW_AUTOSIZE);
	createTrackbar("最大角点数", WINDOW_NAME, &g_maxCornerNumber,
		g_maxTrackbarNumber, on_GoodFeaturesToTrack);;

	imshow(WINDOW_NAME, g_srcImage);
	on_GoodFeaturesToTrack(0,0);
	waitKey(0);
	return 0;
}
void on_GoodFeaturesToTrack(int, void*)
{
	if (g_maxCornerNumber <= 1)
		g_maxCornerNumber = 1;
	//Shi-Tomasi算法参数准备
	vector<Point2f>corners;
	double qualityLevel = 0.01;//角点检测可接受的最小特征值
	double minDistance = 10;//角点之间的最小距离
	int blockSize = 3;//计算导数自相关时指定的领域范围
	double k = 0.4;//权重系数
	Mat copy = g_srcImage.clone();
	//进行Shi-Tomasi角点检测
	goodFeaturesToTrack(g_grayImage, corners, g_maxCornerNumber,
		qualityLevel, minDistance, Mat(), blockSize, false, k);
	cout << ">此次检测到的角点数量为:" << corners.size() << endl;
	int r = 4;
	for (unsigned int i = 0; i < corners.size(); i++) 
		circle(copy, corners[i], r, Scalar(g_rng.uniform(0, 255),
			g_rng.uniform(0, 255), g_rng.uniform(0, 255)), -1, 8, 0);

	imshow(WINDOW_NAME, copy);
	//亚像素角点检测的参数设置
	Size winSize = Size(5, 5);
	Size zeroZone = Size(-1, -1);
	TermCriteria criteria = TermCriteria(TermCriteria::EPS +
		TermCriteria::MAX_ITER, 40, 0.001);
	//计算亚像素角点的位置
	cornerSubPix(g_grayImage, corners, winSize, zeroZone, criteria);
	//输出角点信息
	for (int i = 0; i < corners.size(); i++) {
		cout << "\t>>精确角点坐标[" << i << "](" << corners[i].x << ","
			<< corners[i].y << ")" << endl;
	}
}