用C++的opencv库写一个相机标定的程序

当然可以！以下是一个使用C++的OpenCV库实现相机标定的示例程序：

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

int main() {
    std::vector<std::vector<cv::Point3f>> objectPoints;
    std::vector<std::vector<cv::Point2f>> imagePoints;
    std::vector<cv::Mat> rvecs, tvecs;

    // 定义标定板上的角点数量
    int boardWidth = 9;
    int boardHeight = 6;
    int numImages = 10;

    // 构造世界坐标系中的标定板角点坐标
    std::vector<cv::Point3f> corners;
    for (int y = 0; y < boardHeight; ++y) {
        for (int x = 0; x < boardWidth; ++x) {
            corners.push_back(cv::Point3f(x, y, 0));
        }
    }

    // 检测标定板角点并保存图像和角点坐标
    cv::Mat frame, gray;
    cv::VideoCapture capture(0);
    int numSuccesses = 0;
    while (numSuccesses < numImages) {
        capture >> frame;
        cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);

        std::vector<cv::Point2f> currentPoints;
        bool found = cv::findChessboardCorners(gray, cv::Size(boardWidth, boardHeight), currentPoints);

        if (found) {
            cv::cornerSubPix(gray, currentPoints, cv::Size(11, 11), cv::Size(-1, -1),
                             cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 30, 0.1));
            cv::drawChessboardCorners(frame, cv::Size(boardWidth, boardHeight), currentPoints, found);
            cv::imshow("Camera Calibration", frame);

            if (cv::waitKey(500) == ' ') {
                std::cout << "Image #" << numSuccesses + 1 << " captured." << std::endl;
                ++numSuccesses;
                objectPoints.push_back(corners);
                imagePoints.push_back(currentPoints);
            }
        } else {
            cv::imshow("Camera Calibration", frame);
            cv::waitKey(10);
        }
    }

    // 进行相机标定
    cv::Mat cameraMatrix, distCoeffs;
    std::vector<cv::Mat> rvecs, tvecs;
    cv::calibrateCamera(objectPoints, imagePoints, frame.size(), cameraMatrix, distCoeffs, rvecs, tvecs);

    // 打印标定结果
    std::cout << "Camera matrix:" << std::endl;
    std::cout << cameraMatrix << std::endl;
    std::cout << "Distortion coefficients:" << std::endl;
    std::cout << distCoeffs << std::endl;

    return 0;
}

这个程序使用了OpenCV的`findChessboardCorners`函数来检测标定板上的角点，并使用`calibrateCamera`函数进行相机标定。程序会从摄像头实时获取图像，直到成功采集到指定数量的标定图像。最后，程序会输出相机矩阵和畸变系数。

请注意，这只是一个简单的示例程序，实际的相机标定过程可能需要更多的步骤和参数调整。你可以根据自己的需求对程序进行修改和扩展。