public VectorOfPointF Detect(Image<Gray, byte> image, int innerCornersPerChessboardCols,
int innerCornersPerChessboardRows)
{
var corners = new VectorOfPointF();
CvInvoke.FindChessboardCorners(image, new Size(innerCornersPerChessboardCols, innerCornersPerChessboardRows),
corners);
if (corners.Size != innerCornersPerChessboardCols*innerCornersPerChessboardRows)
{
return new VectorOfPointF(new[] {new PointF(0, 0)});
}
var refinedCorners = new[] {corners.ToArray()};
image.FindCornerSubPix(refinedCorners, new Size(11, 11), new Size(-1, -1), new MCvTermCriteria(10));
return new VectorOfPointF(refinedCorners[0]);
}
