1 findChessboardCorners
功能如下
The function attempts to determine whether the input image is a view of the chessboard pattern and locate the internal chessboard corners. The function returns a non-zero value if all of the corners are found and they are placed in a certain order (row by row, left to right in every row). Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example, a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black squares touch each other. The detected coordinates are approximate, and to determine their positions more accurately, the function calls cornerSubPix. You also may use the function cornerSubPix with different parameters if returned coordinates are not accurate enough.
翻译一下就是，
- 此函数的功能是找到chessboard并定位角点。
- 如果找到角点，返回非零值，按行从左到右排列。
- 否则，返回0.
那么opencv的findChessboardCorners用的什么算法?
论文http://bmvc2018.org/contents/papers/0508.pdf
论文没看，想看了再说。
ChessboardCorner已经是传统的相机标定方法了，如果追求高精度和遮挡情况下下的相机标定，可以使用ChArUco，opencv有相应的实现，非常方便。