编写opencv六路相机标定的C++代码

下面是使用OpenCV进行六路相机标定的C++代码示例：

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

using namespace std;
using namespace cv;

int main()
{
    // 设定棋盘格尺寸，这里假设棋盘格为 20mm x 20mm
    const float square_size = 20.0f;

    // 设定棋盘格内角点数量
    const int board_width = 9;
    const int board_height = 6;
    const int board_size = board_width * board_height;

    // 读入图像
    vector<vector<Mat>> images;
    for (int i = 0; i < 6; i++)
    {
        vector<Mat> img_vec;
        for (int j = 0; j < 10; j++)
        {
            stringstream ss;
            ss << "./data/" << i << "_" << j << ".jpg";
            Mat img = imread(ss.str(), 0);
            if (img.empty())
            {
                cerr << "Image not found: " << ss.str() << endl;
                return -1;
            }
            img_vec.push_back(img);
        }
        images.push_back(img_vec);
    }

    // 计算内角点坐标
    vector<Point3f> object_points;
    for (int i = 0; i < board_height; i++)
    {
        for (int j = 0; j < board_width; j++)
        {
            object_points.push_back(Point3f(j * square_size, i * square_size, 0));
        }
    }

    // 搜寻内角点
    vector<vector<Point2f>> image_points;
    for (int i = 0; i < 6; i++)
    {
        vector<Point2f> img_pts;
        for (int j = 0; j < 10; j++)
        {
            Mat img = images[i][j];
            vector<Point2f> corners;
            bool found = findChessboardCorners(img, Size(board_width, board_height), corners);
            if (found)
            {
                // 提高角点精度
                cornerSubPix(img, corners, Size(11, 11), Size(-1, -1),
                    TermCriteria(TermCriteria::EPS + TermCriteria::MAX_ITER, 30, 0.1));
                img_pts.insert(img_pts.end(), corners.begin(), corners.end());
            }
        }
        image_points.push_back(img_pts);
    }

    // 执行标定
    vector<Mat> rvecs, tvecs;
    Mat K, D;
    vector<vector<Point3f>> object_points_vec(6, object_points);
    calibrateCamera(object_points_vec, image_points, images[0][0].size(), K, D, rvecs, tvecs,
        CV_CALIB_ZERO_TANGENT_DIST | CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5);

    // 输出标定结果
    cout << "K: \n" << K << endl;
    cout << "D: \n" << D << endl;
    for (int i = 0; i < 6; i++)
    {
        cout << "rvec" << i << ": \n" << rvecs[i] << endl;
        cout << "tvec" << i << ": \n" << tvecs[i] << endl;
    }

    return 0;
}

这段代码假设读入了六个相机的十张棋盘格图像，图像文件名为 `./data/i_j.jpg`，其中 `i` 表示相机编号，`j` 表示图像编号。标定结果将输出相机的内参矩阵 `K`、畸变系数 `D`，以及每个相机的旋转向量 `rvec` 和平移向量 `tvec`。