基于OpenCV，首先进行直线提取和直线优化，精确提取出地板接缝线，之后对每个角点进行编码识别，得到角点的物方坐标，再进行后方交会，获得相机位姿。
- 降采样
- 高斯模糊
- Canny 边缘检测
- 膨胀
- 去除孤立区域
- 霍夫变换
- 直线分类
- 直线优化
- 角点提取
- HSV颜色识别
- 寻找初始编码点
- 寻找所有编码点
- 编码识别
- P3P
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