opencv手眼标定c++源码

以下是一个使用OpenCV进行手眼标定的C++源码示例：

#include <iostream>
#include <opencv2/opencv.hpp>

int main() {
    // 读取相机内参
    cv::Mat cameraMatrix, distCoeffs;
    cv::FileStorage fs("intrinsics.xml", cv::FileStorage::READ);
    fs["camera_matrix"] >> cameraMatrix;
    fs["distortion_coefficients"] >> distCoeffs;
    fs.release();

    // 设置标定板尺寸和格点尺寸
    cv::Size boardSize(9, 6);
    float squareSize = 0.025; // 格点尺寸，单位为米

    std::vector<cv::Mat> rvecs, tvecs;
    std::vector<std::vector<cv::Point2f>> imagePoints;
    std::vector<std::vector<cv::Point3f>> objectPoints;

    cv::VideoCapture cap(0); // 打开摄像头
    if (!cap.isOpened()) {
        std::cerr << "Failed to open camera" << std::endl;
        return -1;
    }

    cv::namedWindow("Chessboard", cv::WINDOW_NORMAL);

    while (true) {
        cv::Mat frame, gray;
        cap >> frame;

        cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);

        std::vector<cv::Point2f> corners;

        // 检测棋盘格角点
        bool found = cv::findChessboardCorners(gray, boardSize, corners,
                                               cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_NORMALIZE_IMAGE);

        if (found) {
            // 提取亚像素角点
            cv::cornerSubPix(gray, corners, cv::Size(11,