opencvC++四路相机标定的代码

以下是使用OpenCV库进行四路相机标定的C++代码示例：

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

using namespace std;
using namespace cv;

int main()
{
    // 设置标定板大小和格子大小
    int board_w = 9;
    int board_h = 6;
    float square_size = 0.023;  // 单位为米

    // 创建标定板对象
    vector<Point3f> board;
    for (int i = 0; i < board_h; i++) {
        for (int j = 0; j < board_w; j++) {
            board.push_back(Point3f(j * square_size, i * square_size, 0));
        }
    }

    // 存储标定板角点的世界坐标和图像坐标
    vector<vector<Point3f>> world_points;
    vector<vector<Point2f>> image_points;

    // 读取四路相机的图片
    for (int i = 1; i <= 4; i++) {
        Mat img = imread("img" + to_string(i) + ".jpg");
        Mat gray;
        cvtColor(img, gray, COLOR_BGR2GRAY);

        // 检测标定板角点
        vector<Point2f> corners;
        bool ret = findChessboardCorners(gray, Size(board_w, board_h), corners);

        // 如果检测到角点，则添加到world_points和image_points中
        if (ret) {
            world_points.push_back(board);
            image_points.push_back(corners);
            drawChessboardCorners(img, Size(board_w, board_h), corners, ret);
            imshow("img" + to_string(i), img);
            waitKey(500);
        }
    }

    destroyAllWindows();

    // 进行相机标定
    Mat camera_matrix, dist_coeffs;
    vector<Mat> rvecs, tvecs;
    calibrateCamera(world_points, image_points, Size(board_w, board_h), camera_matrix, dist_coeffs, rvecs, tvecs);

    // 打印标定结果
    cout << "Intrinsic matrix:\n" << camera_matrix << endl;
    cout << "Distortion coefficients:\n" << dist_coeffs << endl;
    for (int i = 0; i < 4; i++) {
        cout << "Rotation vector " << i << ":\n" << rvecs[i] << endl;
        cout << "Translation vector " << i << ":\n" << tvecs[i] << endl;
    }

    return 0;
}

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。