OpenCV定制化创建角点检测子
2016-03-18 15:18
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定制化创建角点检测子
目标
在这个教程中我们将涉及:使用 OpenCV 函数 cornerEigenValsAndVecs 来计算像素对应的本征值和本征向量来确定其是否是角点。
使用OpenCV 函数 cornerMinEigenVal 通过最小化本征值来进行角点检测。
用上述两个函数实现一个定制化的Harris detector,类似Shi-Tomasi检测子。
解释
代码
这个教程的代码如下所示。源代码还可以从 这个链接下载得到#include "opencv2/highgui/highgui.hpp" #include "opencv2/imgproc/imgproc.hpp" #include <iostream> #include <stdio.h> #include <stdlib.h> 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); char* myHarris_window = "My Harris corner detector"; 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 src = imread( argv[1], 1 ); cvtColor( src, src_gray, CV_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 ); /* 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<float>( j, i, 0 ); float lambda_2 = myHarris_dst.at<float>( j, i, 1 ); Mc.at<float>(j,i) = lambda_1*lambda_2 - 0.04*pow( ( lambda_1 + lambda_2 ), 2 ); } } minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal, 0, 0, Mat() ); /* Create Window and Trackbar */ namedWindow( myHarris_window, CV_WINDOW_AUTOSIZE ); createTrackbar( " Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel, myHarris_function ); myHarris_function( 0, 0 ); /// My Shi-Tomasi -- Using cornerMinEigenVal myShiTomasi_dst = Mat::zeros( src_gray.size(), CV_32FC1 ); cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize, BORDER_DEFAULT ); minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal, 0, 0, Mat() ); /* Create Window and Trackbar */ namedWindow( myShiTomasi_window, CV_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 ) { 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 ) { 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 ); }
解释
结果
翻译者
Shuai Zheng, <kylezheng04@gmail.com>, http://www.cbsr.ia.ac.cn/users/szheng/from: http://www.opencv.org.cn/opencvdoc/2.3.2/html/doc/tutorials/features2d/trackingmotion/generic_corner_detector/generic_corner_detector.html#generic-corner-detector
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