--- /dev/null
+/**
+ * @function cornerDetector_Demo.cpp
+ * @brief Demo code for detecting corners using OpenCV built-in functions
+ * @author OpenCV team
+ */
+#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 );
+}
+