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Part - 1 - Feature Detectors: Harris Corner Detector: Opencv Program

The document presents an OpenCV program that implements the Harris Corner Detector to identify corners in an image. It includes functions for reading the image, calculating corner responses, and saving the results. The program also allows for user-defined parameters such as window size, corner response constant, and threshold for corner detection.

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Ritanshu Khobarkhede
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6 views6 pages

Part - 1 - Feature Detectors: Harris Corner Detector: Opencv Program

The document presents an OpenCV program that implements the Harris Corner Detector to identify corners in an image. It includes functions for reading the image, calculating corner responses, and saving the results. The program also allows for user-defined parameters such as window size, corner response constant, and threshold for corner detection.

Uploaded by

Ritanshu Khobarkhede
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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PART – 1 – Feature detectors: Harris Corner Detector

21BLC1268

OpenCV program:

import cv2
import numpy as np
import sys
import getopt
import operator

def readImage(filename):
img = cv2.imread(filename, 0)
if img is None:
print('Invalid image:' + filename)
return None
else:
print('Image successfully read...')
return img

def findCorners(img, window_size, k, thresh):

#Find x and y derivatives


dy, dx = np.gradient(img)
Ixx = dx**2
Ixy = dy*dx
Iyy = dy**2
height = img.shape[0]
width = img.shape[1]

cornerList = []
newImg = img.copy()
color_img = cv2.cvtColor(newImg, cv2.COLOR_GRAY2RGB)
offset = window_size/2

#Loop through image and find our corners


print "Finding Corners..."
for y in range(offset, height-offset):
for x in range(offset, width-offset):
#Calculate sum of squares
windowIxx = Ixx[y-offset:y+offset+1, x-offset:x+offset+1]
windowIxy = Ixy[y-offset:y+offset+1, x-offset:x+offset+1]
windowIyy = Iyy[y-offset:y+offset+1, x-offset:x+offset+1]
Sxx = windowIxx.sum()
Sxy = windowIxy.sum()
Syy = windowIyy.sum()

#Find determinant and trace, use to get corner response


det = (Sxx * Syy) - (Sxy**2)
trace = Sxx + Syy
r = det - k*(trace**2)

#If corner response is over threshold, color the point and add to corner list
if r > thresh:
print x, y, r
cornerList.append([x, y, r])
color_img.itemset((y, x, 0), 0)
color_img.itemset((y, x, 1), 0)
color_img.itemset((y, x, 2), 255)
return color_img, cornerList

def main():
"""
Main parses argument list and runs findCorners() on the image
:return: None
"""
args, img_name = getopt.getopt(sys.argv[1:], '', ['window_size=',
'k_corner_response=', 'corner_threshold='])
args = dict(args)
print args
window_size = args.get('--window_size')
k = args.get('--k_corner_response')
thresh = args.get('--corner_threshold')

print("Image Name: " + str(img_name[0]))


print("Window Size: " + str(window_size))
print("K Corner Response: " + str(k))
print("Corner Response Threshold:" + thresh)

img = readImage(img_name[0])
if img is not None:
if len(img.shape) == 3:
img = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
if len(img.shape) == 4:
img = cv2.cvtColor(img, cv2.COLOR_RGBA2GRAY)
print "Shape: " + str(img.shape)
print "Size: " + str(img.size)
print "Type: " + str(img.dtype)
print "Printing Original Image..."
print(img)
finalImg, cornerList = findCorners(img, int(window_size), float(k), int(thresh))
if finalImg is not None:
cv2.imwrite("finalimage.png", finalImg)

# Write top 100 corners to file


cornerList.sort(key=operator.itemgetter(2))
outfile = open('corners.txt', 'w')
for i in range(100):
outfile.write(str(cornerList[i][0]) + ' ' + str(cornerList[i][1]) + ' ' +
str(cornerList[i][2]) + '\n')
outfile.close()

if __name__ == "__main__":
main()

Input image:

Output image:

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