This Harris Corner Kps extraction codes based on the calculation of Heissen matrix of the Gaussian Kernel windows, estimating the corner points by det(M)/trace(M)
- Images after gaussian filters
- Second derivatives in x->x direction, x->y direction, y->y directions
- M is the 2*2 matrix computed from image derivatives:
- R response = det(M)/trace(M)
- get coordinates of candidates and their values (the R response point value > threshold)
- sort candidates
- set a min_distance and choose the candidates with the minimum distances