harris角点检测

#include <iostream>      
#include <opencv2/core/core.hpp>      
#include <opencv2/highgui/highgui.hpp>   
#include <imgproc/imgproc.hpp>    
using namespace std;
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;
int max_thresh = 175;

void on_CornerHarris(int, void*)
{
    Mat dstImage;
    Mat normImage;
    Mat scaledImage;
    dstImage = Mat::zeros(g_srcImage.size(), CV_32FC1);
    g_srcImage1 = g_srcImage.clone();
    //进行角点检测  
    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);
    convertScaleAbs(normImage, scaledImage);
    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, 8, 0);
                circle(scaledImage, Point(i, j), 5, Scalar(0, 10, 255), 2, 8, 0);
            }
        }

    }
    imshow(WINDOW_NAME1, g_srcImage1);
    imshow(WINDOW_NAME2, scaledImage);
}

int main() {

    g_srcImage = imread("../../sources/goal_3.png");
    if (!g_srcImage.data)
        return -1;
    imshow("g_srcImage", g_srcImage);
    g_srcImage1 = g_srcImage.clone();
    cvtColor(g_srcImage1, g_grayImage, COLOR_BGR2GRAY);
    namedWindow(WINDOW_NAME1, WINDOW_AUTOSIZE);
    createTrackbar("阈值：", WINDOW_NAME1, &thresh, max_thresh, on_CornerHarris);
    on_CornerHarris(0, 0);
    waitKey(0);
    return 0;
}

效果如下：