四路相机进行相机标定的代码

以下是使用OpenCV库进行四路相机标定的代码示例：

import numpy as np
import cv2

# 设置标定板大小和格子大小
board_w = 9
board_h = 6
square_size = 0.023  # 单位为米

# 创建标定板对象
board = np.zeros((board_h * board_w, 3), np.float32)
board[:, :2] = np.mgrid[0:board_w, 0:board_h].T.reshape(-1, 2)
board *= square_size

# 存储标定板角点的世界坐标和图像坐标
world_points = []
image_points = []

# 读取四路相机的图片
for i in range(4):
    img = cv2.imread('img' + str(i+1) + '.jpg')
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

    # 检测标定板角点
    ret, corners = cv2.findChessboardCorners(gray, (board_w, board_h), None)

    # 如果检测到角点，则添加到world_points和image_points中
    if ret:
        world_points.append(board)
        image_points.append(corners)
        cv2.drawChessboardCorners(img, (board_w, board_h), corners, ret)
        cv2.imshow('img' + str(i+1), img)
        cv2.waitKey(500)

cv2.destroyAllWindows()

# 进行相机标定
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(
    world_points, image_points, gray.shape[::-1], None, None)

# 打印标定结果
print("Intrinsic matrix:\n", mtx)
print("Distortion coefficients:\n", dist)
print("Rotation vectors:\n", rvecs)
print("Translation vectors:\n", tvecs)

其中，需要将`img1.jpg` ~ `img4.jpg`替换为你自己的四路相机拍摄的图片。代码中的`square_size`参数需要根据实际情况进行修改，表示标定板上格子的大小。最终输出的标定结果包括相机内参矩阵、畸变系数、旋转向量和平移向量。