opencv读取图片c++，完成棋盘格标定完整代码

下面是一个完整的 OpenCV C++ 棋盘格标定的示例代码，包括读取图片、检测棋盘格角点、计算相机内参和畸变参数等步骤：

#include <opencv2/opencv.hpp>

int main()
{
    // 棋盘格大小
    cv::Size boardSize(9, 6);

    // 棋盘格角点坐标
    std::vector<cv::Point3f> objPoints;
    for (int i = 0; i < boardSize.height; i++) {
        for (int j = 0; j < boardSize.width; j++) {
            objPoints.push_back(cv::Point3f(j, i, 0));
        }
    }

    // 图像文件列表
    std::vector<std::string> fileList = {"image1.jpg", "image2.jpg", "image3.jpg"};

    // 图像角点坐标
    std::vector<std::vector<cv::Point2f>> imgPoints;

    // 读取每张图像，检测角点
    for (const auto& fileName : fileList) {
        // 读取图像
        cv::Mat img = cv::imread(fileName);

        // 转换为灰度图像
        cv::Mat grayImg;
        cv::cvtColor(img, grayImg, cv::COLOR_BGR2GRAY);

        // 检测棋盘格角点
        std::vector<cv::Point2f> corners;
        bool found = cv::findChessboardCorners(grayImg, boardSize, corners);

        if (found) {
            // 亚像素精细化角点坐标
            cv::cornerSubPix(grayImg, corners, cv::Size(11, 11), cv::Size(-1, -1),
                             cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30, 0.1));

            // 显示检测到的角点
            cv::drawChessboardCorners(img, boardSize, corners, found);
            cv::imshow("Chessboard Corners", img);
            cv::waitKey(0);

            // 将角点坐标加入列表
            imgPoints.push_back(corners);
        }
        else {
            std::cout << "Cannot find chessboard corners in image " << fileName << std::endl;
        }
    }

    // 计算相机内参和畸变参数
    cv::Mat cameraMatrix, distCoeffs;
    std::vector<cv::Mat> rvecs, tvecs;
    double rms = cv::calibrateCamera(objPoints, imgPoints, cv::Size(grayImg.size()), cameraMatrix, distCoeffs, rvecs, tvecs);

    // 输出相机内参和畸变参数
    std::cout << "Camera matrix: " << cameraMatrix << std::endl;
    std::cout << "Distortion coefficients: " << distCoeffs << std::endl;

    return 0;
}

运行此程序，会依次读取 `image1.jpg`, `image2.jpg`, `image3.jpg` 三张图片，检测棋盘格角点，并计算相机内参和畸变参数。在检测到角点时，会在图像中显示角点，并等待用户按下任意键继续。在计算完成后，会输出相机内参和畸变参数的值。