Ask Your Question

To find the coordinates of corners detected by Harris corner detection

asked 2018-03-12 10:58:13 -0500

csthakur gravatar image

updated 2018-03-12 14:24:46 -0500

berak gravatar image

I have applied harris corner detection on the following image Input Image

and obtained the result as Image after Harris corner detection

and now i want to find the coordinates of these corner pixels marked in red how do i do so?


import numpy as np

import cv2




gray = cv2.cvtColor(res,cv2.COLOR_BGR2GRAY)

gray = np.float32(gray)

dst = cv2.cornerHarris(gray,2,3,0.04)


dst = cv2.dilate(dst,None)



print list(points)



edit retag flag offensive close merge delete


I want to be able to find out the coordinates of the corner points, the points in red aren't going to give me a single pixel value since each of them comprise of several pixels.I need this information so that i can automatically separate the image into it's constituent squares by using numpy array slicing

csthakur gravatar imagecsthakur ( 2018-03-12 14:32:34 -0500 )edit

first of all, don't dilate the dst image. from there on it's basically non-maximum-suppression

(and probably you need a higher threshold value)

or use goodFeaturesToTrack() instead ?

berak gravatar imageberak ( 2018-03-12 15:20:36 -0500 )edit

Hi @csthakur Were you able to solve this issue. I am also working on similar problem where i am trying to find the corners of a grid and then slice it. I was trying to find the lines using HoughTransformP, seperate horizontal and vertical line, and then detect the point of intersections. Do let me know if you were able to solve this problem.

sai teja gravatar imagesai teja ( 2018-12-11 09:57:19 -0500 )edit

It will of great help for me & others like me if you add your solution in the answers below and accept it as a right answer.

sai teja gravatar imagesai teja ( 2018-12-11 09:59:54 -0500 )edit

@sai teja are you using python

sturkmen gravatar imagesturkmen ( 2018-12-11 10:07:29 -0500 )edit

Yes @sturkmen i am using python.

sai teja gravatar imagesai teja ( 2018-12-11 19:04:36 -0500 )edit

1 answer

Sort by ยป oldest newest most voted

answered 2018-03-13 00:39:03 -0500

saideepthik gravatar image

import cv2 import numpy as np

filename = 'chessboard2.jpg' img = cv2.imread(filename) gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)

find Harris corners

gray = np.float32(gray) dst = cv2.cornerHarris(gray,2,3,0.04) dst = cv2.dilate(dst,None) ret, dst = cv2.threshold(dst,0.01*dst.max(),255,0) dst = np.uint8(dst)

find centroids

ret, labels, stats, centroids = cv2.connectedComponentsWithStats(dst)

define the criteria to stop and refine the corners

criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 0.001) corners = cv2.cornerSubPix(gray,np.float32(centroids),(5,5),(-1,-1),criteria) print corners #here u can get corners check for more information follow the link...........

Now draw them

res = np.hstack((centroids,corners)) res = np.int0(res) img[res[:,1],res[:,0]]=[0,0,255] img[res[:,3],res[:,2]] = [0,255,0]


edit flag offensive delete link more
Login/Signup to Answer

Question Tools

1 follower


Asked: 2018-03-12 10:58:13 -0500

Seen: 663 times

Last updated: Mar 13