opencvc++四个摄像头标定的C++代码

以下是使用OpenCV C++标定四个摄像头的示例代码：

#include <opencv2/calib3d.hpp>
#include <opencv2/core.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/highgui.hpp>
#include <iostream>
#include <vector>

using namespace cv;
using namespace std;

int main()
{
    int numBoards = 20;
    int numCornersHor = 9;
    int numCornersVer = 6;

    Size boardSize = Size(numCornersHor, numCornersVer);
    vector<vector<Point3f>> objectPoints;
    vector<vector<Point2f>> imagePoints;

    vector<Point2f> corners;
    int successes = 0;

    vector<Mat> images;
    Mat image;
    for (int i = 0; i < 4; i++)
    {
        for (int j = 1; j <= numBoards; j++)
        {
            string filename = "camera" + to_string(i) + "_" + to_string(j) + ".jpg";
            image = imread(filename, IMREAD_GRAYSCALE);

            bool found = findChessboardCorners(image, boardSize, corners, CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE);

            if (found)
            {
                cornerSubPix(image, corners, Size(11, 11), Size(-1, -1), TermCriteria(TermCriteria::EPS | TermCriteria::MAX_ITER, 30, 0.1));
                drawChessboardCorners(image, boardSize, corners, found);
                imshow("Board", image);
                waitKey(100);

                imagePoints.push_back(corners);
                objectPoints.push_back(vector<Point3f>());
                vector<Point3f> &opt = objectPoints.back();
                for (int k = 0; k < numCornersHor * numCornersVer; k++)
                {
                    opt.push_back(Point3f((float)(k / numCornersHor) * 25, (float)(k % numCornersHor) * 25, 0.0f));
                }

                successes++;

                if (successes >= numBoards)
                {
                    break;
                }
            }
        }
    }

    vector<Mat> rvecs, tvecs;
    vector<double> reprojErrs;
    double rms = calibrateCameraRO(objectPoints, imagePoints, boardSize, 0, 0, rvecs, tvecs);

    cout << "RMS: " << rms << endl;

    Mat cameraMatrix, distCoeffs;
    vector<Mat> rvecsMat, tvecsMat;
    for (int i = 0; i < 4; i++)
    {
        Mat rvec, tvec;
        calibrateCameraRO(objectPoints, imagePoints, boardSize, cameraMatrix, distCoeffs, rvec, tvec, i, 0);

        rvecsMat.push_back(rvec);
        tvecsMat.push_back(tvec);
    }

    cout << "Camera matrix: " << endl;
    cout << cameraMatrix << endl;
    cout << "Distortion coefficients: " << endl;
    cout << distCoeffs << endl;

    return 0;
}

上述代码使用了OpenCV中的`calibrateCameraRO`函数进行标定，并采用棋盘格进行标定。其中，`numBoards`表示采集的标定板数量，`numCornersHor`和`numCornersVer`分别表示棋盘格的水平和垂直角点数。通过对每个摄像头采集图像数据，并分别进行标定，最终得到了每个摄像头的内参矩阵和畸变系数。