add charuco point detection method

harris.h

@@ -0,0 +1,44 @@
+#include <opencv2/imgproc.hpp>
+#include <opencv2/features2d.hpp>
+
+static std::vector<cv::Point2f> harrisDetectPoints(cv::Mat& image, const cv::Mat& mask, 
+											 int blockSize = 5, int apature = 5, float detectorParameter = 0.01,
+											 float minSize = 7, bool verbose = false)
+{
+	cv::Mat gray;
+	cv::cvtColor(image, gray, cv::COLOR_BGR2GRAY);
+	
+	//detect corners
+	cv::Mat corners;
+	cv::cornerHarris(gray, corners, blockSize, apature, detectorParameter);
+	cv::normalize(corners, corners, 0, 255, cv::NORM_MINMAX, CV_32FC1, cv::Mat());
+	cv::convertScaleAbs( corners, corners );
+	cv::threshold(corners, corners, 50, 255, cv::THRESH_BINARY);
+	cv::Mat cornersMasked;
+	if(mask.data && mask.size == corners.size) corners.copyTo(cornersMasked, mask);
+	else corners.copyTo(cornersMasked);
+	
+	if(verbose)
+	{
+		cv::imshow( "Viewer", cornersMasked );
+		cv::waitKey(0);
+	}
+	
+	//get middle of corners
+	cv::SimpleBlobDetector::Params blobParams;
+	blobParams.filterByArea = true;
+	blobParams.minArea = minSize;
+	blobParams.maxArea = 500;
+	blobParams.filterByColor = false;
+	blobParams.blobColor = 255;
+	blobParams.filterByInertia = false;
+	blobParams.filterByConvexity = false;
+	cv::Ptr<cv::SimpleBlobDetector> blobDetector = cv::SimpleBlobDetector::create(blobParams);
+	std::vector<cv::KeyPoint> keypoints;
+	blobDetector->detect(cornersMasked, keypoints);
+	
+	std::vector<cv::Point2f> points;
+	cv::KeyPoint::convert(keypoints, points);
+	
+	return points;
+}