opencv4.6.0版本的用c++四个摄像头标定和去畸变，并保存标定参数以及使用畸变图像的代码

好的，下面是使用OpenCV 4.6.0版本的C++代码实现四个摄像头的标定和去畸变，并保存标定参数以及使用畸变图像的过程：

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

using namespace std;
using namespace cv;

// 图像文件夹路径
const string IMAGE_FOLDER_PATH = "images/";

// 棋盘格尺寸，单位为毫米
const float CHESSBOARD_SIZE = 30.0;

// 棋盘格每行、每列的角点数
const int CHESSBOARD_ROW = 6;
const int CHESSBOARD_COL = 9;

// 标定用到的图像数量
const int IMAGE_NUM = 20;

// 摄像头数量
const int CAMERA_NUM = 4;

int main()
{
    // 存放棋盘格角点的坐标
    vector<vector<Point3f>> objPoints;
    // 存放每幅图像的棋盘格角点坐标
    vector<vector<Point2f>> imgPoints(CAMERA_NUM);
    // 存放每幅图像的大小
    vector<Size> imgSizes;

    // 1. 读取棋盘格图像并提取角点坐标
    for (int i = 0; i < IMAGE_NUM; i++)
    {
        for (int j = 0; j < CAMERA_NUM; j++)
        {
            string imgPath = IMAGE_FOLDER_PATH + "camera" + to_string(j + 1) + "/img" + to_string(i + 1) + ".jpg";
            Mat img = imread(imgPath);

            // 转换为灰度图
            Mat gray;
            cvtColor(img, gray, COLOR_BGR2GRAY);

            // 提取棋盘格角点坐标
            vector<Point2f> corners;
            bool ret = findChessboardCorners(gray, Size(CHESSBOARD_COL, CHESSBOARD_ROW), corners);

            if (ret)
            {
                // 绘制角点
                drawChessboardCorners(img, Size(CHESSBOARD_COL, CHESSBOARD_ROW), corners, ret);

                // 保存每幅图像的角点坐标
                imgPoints[j].push_back(corners);
                imgSizes.push_back(img.size());

                // 保存棋盘格角点坐标
                vector<Point3f> obj;
                for (int r = 0; r < CHESSBOARD_ROW; r++)
                {
                    for (int c = 0; c < CHESSBOARD_COL; c++)
                    {
                        obj.push_back(Point3f(c * CHESSBOARD_SIZE, r * CHESSBOARD_SIZE, 0));
                    }
                }
                objPoints.push_back(obj);
            }

            imshow("image", img);
            waitKey(500);
        }
    }

    // 2. 标定相机参数
    vector<Mat> cameraMats, distCoeffs;
    vector<vector<Mat>> rvecs, tvecs;
    for (int i = 0; i < CAMERA_NUM; i++)
    {
        Mat cameraMat, distCoeff;
        vector<Mat> rvec, tvec;

        double rms = calibrateCamera(objPoints, imgPoints[i], imgSizes, cameraMat, distCoeff, rvec, tvec);

        cameraMats.push_back(cameraMat);
        distCoeffs.push_back(distCoeff);
        rvecs.push_back(rvec);
        tvecs.push_back(tvec);

        cout << "Camera " << i + 1 << " calibration is finished, RMS error = " << rms << endl;
    }

    // 3. 保存标定参数
    for (int i = 0; i < CAMERA_NUM; i++)
    {
        FileStorage fs("camera" + to_string(i + 1) + ".xml", FileStorage::WRITE);

        fs << "cameraMat" << cameraMats[i];
        fs << "distCoeff" << distCoeffs[i];
        fs << "rvecs" << rvecs[i];
        fs << "tvecs" << tvecs[i];

        fs.release();
    }

    // 4. 校正图像并显示
    for (int i = 0; i < IMAGE_NUM; i++)
    {
        for (int j = 0; j < CAMERA_NUM; j++)
        {
            string imgPath = IMAGE_FOLDER_PATH + "camera" + to_string(j + 1) + "/img" + to_string(i + 1) + ".jpg";
            Mat img = imread(imgPath);

            // 校正图像
            Mat undistorted;
            undistort(img, undistorted, cameraMats[j], distCoeffs[j]);

            imshow("undistorted", undistorted);
            waitKey(500);
        }
    }

    return 0;
}

以上代码实现了以下功能：

1. 读取棋盘格图像并提取角点坐标；
2. 标定相机参数，并保存标定参数；
3. 根据标定参数对图像进行去畸变，并显示去畸变后的图像。

需要注意的是，代码中使用了四个摄像头进行标定，并且将每个摄像头的标定参数分别保存到了不同的XML文件中。同时，代码中还实现了对每个摄像头拍摄的图像进行去畸变并显示的功能。

希望以上代码能够对您有所帮助！