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Harris Corner Detection in OpenCV

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Theory: Harris Corner Detector was developed by Chris Harris & Mike Stephens in 1988
It detects regions with large intensity variations in all directions
The detector maximizes the difference in intensity for a displacement
The result is a grayscale image with corner scores
Implementation in OpenCV: cv.cornerHarris() function detects corners in grayscale images
Function requires blockSize, ksize, k parameter and optional borderType
CornerSubPix() function refines corners with sub-pixel accuracy
CornerSubPix stops after specified iterations or accuracy threshold
Results: Harris corners are marked in red pixels
Refined corners are marked in green pixels
Important corner locations can be visualized in zoomed window