Detecting corners location in subpixeles

Goal

In this tutorial you will learn how to:

• Use the OpenCV function cornerSubPix to find more exact corner positions (more exact than integer pixels).

Theory

Code

This tutorial code’s is shown lines below. You can also download it from here

#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>

using namespace cv;
using namespace std;

/// Global variables
Mat src, src_gray;

int maxCorners = 10;
int maxTrackbar = 25;

RNG rng(12345);
char* source_window = "Image";

/// Function header
void goodFeaturesToTrack_Demo( 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, COLOR_BGR2GRAY );

  /// Create Window
  namedWindow( source_window, WINDOW_AUTOSIZE );

  /// Create Trackbar to set the number of corners
  createTrackbar( "Max  corners:", source_window, &maxCorners, maxTrackbar, goodFeaturesToTrack_Demo);

  imshow( source_window, src );

  goodFeaturesToTrack_Demo( 0, 0 );

  waitKey(0);
  return(0);
}

/**
 * @function goodFeaturesToTrack_Demo.cpp
 * @brief Apply Shi-Tomasi corner detector
 */
void goodFeaturesToTrack_Demo( int, void* )
{
  if( maxCorners < 1 ) { maxCorners = 1; }

  /// Parameters for Shi-Tomasi algorithm
  vector<Point2f> corners;
  double qualityLevel = 0.01;
  double minDistance = 10;
  int blockSize = 3;
  bool useHarrisDetector = false;
  double k = 0.04;

  /// Copy the source image
  Mat copy;
  copy = src.clone();

  /// Apply corner detection
  goodFeaturesToTrack( src_gray,
               corners,
               maxCorners,
               qualityLevel,
               minDistance,
               Mat(),
               blockSize,
               useHarrisDetector,
               k );


  /// Draw corners detected
  cout<<"** Number of corners detected: "<<corners.size()<<endl;
  int r = 4;
  for( int i = 0; i < corners.size(); i++ )
     { circle( copy, corners[i], r, Scalar(rng.uniform(0,255), rng.uniform(0,255),
                                                 rng.uniform(0,255)), -1, 8, 0 ); }

  /// Show what you got
  namedWindow( source_window, WINDOW_AUTOSIZE );
  imshow( source_window, copy );

  /// Set the neeed parameters to find the refined corners
  Size winSize = Size( 5, 5 );
  Size zeroZone = Size( -1, -1 );
  TermCriteria criteria = TermCriteria( TermCriteria::EPS + TermCriteria::MAX_ITER, 40, 0.001 );

  /// Calculate the refined corner locations
  cornerSubPix( src_gray, corners, winSize, zeroZone, criteria );

  /// Write them down
  for( int i = 0; i < corners.size(); i++ )
     { cout<<" -- Refined Corner ["<<i<<"]  ("<<corners[i].x<<","<<corners[i].y<<")"<<endl; }
}

Explanation

Result

Here is the result: