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* @function cornerDetector_Demo.cpp
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* @brief Demo code for detecting corners using OpenCV built-in functions
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#include "opencv2/imgcodecs.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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Mat myHarris_dst; Mat myHarris_copy; Mat Mc;
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Mat myShiTomasi_dst; Mat myShiTomasi_copy;
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int myShiTomasi_qualityLevel = 50;
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int myHarris_qualityLevel = 50;
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int max_qualityLevel = 100;
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double myHarris_minVal; double myHarris_maxVal;
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double myShiTomasi_minVal; double myShiTomasi_maxVal;
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const char* myHarris_window = "My Harris corner detector";
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const char* myShiTomasi_window = "My Shi Tomasi corner detector";
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void myShiTomasi_function( int, void* );
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void myHarris_function( int, void* );
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int main( int, char** argv )
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/// Load source image and convert it to gray
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src = imread( argv[1], 1 );
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cvtColor( src, src_gray, COLOR_BGR2GRAY );
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/// Set some parameters
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int blockSize = 3; int apertureSize = 3;
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/// My Harris matrix -- Using cornerEigenValsAndVecs
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myHarris_dst = Mat::zeros( src_gray.size(), CV_32FC(6) );
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Mc = Mat::zeros( src_gray.size(), CV_32FC1 );
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cornerEigenValsAndVecs( src_gray, myHarris_dst, blockSize, apertureSize, BORDER_DEFAULT );
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for( int j = 0; j < src_gray.rows; j++ )
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{ for( int i = 0; i < src_gray.cols; i++ )
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float lambda_1 = myHarris_dst.at<Vec6f>(j, i)[0];
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float lambda_2 = myHarris_dst.at<Vec6f>(j, i)[1];
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Mc.at<float>(j,i) = lambda_1*lambda_2 - 0.04f*pow( ( lambda_1 + lambda_2 ), 2 );
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minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal, 0, 0, Mat() );
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/* Create Window and Trackbar */
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namedWindow( myHarris_window, WINDOW_AUTOSIZE );
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createTrackbar( " Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel, myHarris_function );
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myHarris_function( 0, 0 );
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/// My Shi-Tomasi -- Using cornerMinEigenVal
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myShiTomasi_dst = Mat::zeros( src_gray.size(), CV_32FC1 );
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cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize, BORDER_DEFAULT );
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minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal, 0, 0, Mat() );
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/* Create Window and Trackbar */
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namedWindow( myShiTomasi_window, WINDOW_AUTOSIZE );
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createTrackbar( " Quality Level:", myShiTomasi_window, &myShiTomasi_qualityLevel, max_qualityLevel, myShiTomasi_function );
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myShiTomasi_function( 0, 0 );
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* @function myShiTomasi_function
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void myShiTomasi_function( int, void* )
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myShiTomasi_copy = src.clone();
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if( myShiTomasi_qualityLevel < 1 ) { myShiTomasi_qualityLevel = 1; }
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for( int j = 0; j < src_gray.rows; j++ )
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{ for( int i = 0; i < src_gray.cols; i++ )
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if( myShiTomasi_dst.at<float>(j,i) > myShiTomasi_minVal + ( myShiTomasi_maxVal - myShiTomasi_minVal )*myShiTomasi_qualityLevel/max_qualityLevel )
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{ circle( myShiTomasi_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }
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imshow( myShiTomasi_window, myShiTomasi_copy );
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* @function myHarris_function
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void myHarris_function( int, void* )
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myHarris_copy = src.clone();
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if( myHarris_qualityLevel < 1 ) { myHarris_qualityLevel = 1; }
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for( int j = 0; j < src_gray.rows; j++ )
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{ for( int i = 0; i < src_gray.cols; i++ )
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if( Mc.at<float>(j,i) > myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )*myHarris_qualityLevel/max_qualityLevel )
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{ circle( myHarris_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }
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imshow( myHarris_window, myHarris_copy );