OPENCV角点检测和亚像素级检测

 首先进行粗检测，函数goodFeaturesToTrack，存储进入corners中，然后cornerSubPix函数进行亚像素精确匹配，设置结束条件。

由于实际应用中线条较粗，因此

CORNER_BLOCKSIZE = 9；

CORNER_QUALITYLEVEL = 0.6；

其他参数可以微调。

    std::vector<cv::Point2f> corners;
    //double qualityLevel = 0.5;
    double minDistance = 10;
    int blockSize = CORNER_BLOCKSIZE, gradientSize = CORNER_BLOCKSIZE;
    bool useHarrisDetector = true;
    double k = 0.04;
    cv::Mat copy = img3.clone();
    cv::goodFeaturesToTrack( copy,
                         corners,
                         MAX_CORNERS,
                         CORNER_QUALITYLEVEL,
                         minDistance,
                         cv::Mat(),
                         blockSize,
                         gradientSize,
                         useHarrisDetector,
                         k );
    int radius = 4;
    for( size_t i = 0; i < corners.size(); i++ )
    {
        cv::circle( copy, corners[i], radius, cv::Scalar(rng.uniform(0,255), rng.uniform(0, 256), rng.uniform(0, 256)), cv::FILLED );
    } 

	cv::TermCriteria criteria = cv::TermCriteria(
					cv::TermCriteria::MAX_ITER + cv::TermCriteria::EPS,
					40,
					0.001);
 

	cv::cornerSubPix(img3, corners, cv::Size(CORNER_BLOCKSIZE, CORNER_BLOCKSIZE), cv::Size(-1, -1), criteria);
 
	for (int i = 0; i < corners.size(); i++)
	{
		cv::circle(img3, corners[i], radius, cv::Scalar(rng.uniform(0,255), rng.uniform(0, 256), rng.uniform(0, 256)), cv::FILLED );
  }
  

参考：https://docs.opencv.org/master/dd/d92/tutorial_corner_subpixels.html