opencv4.6.0版本的四路相机标定C++代码

以下是使用OpenCV 4.6.0版本进行四路相机标定的C++代码示例：

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

using namespace std;
using namespace cv;

int main()
{
    // 定义相机数量和图像数量
    const int numCameras = 4;
    const int numBoards = 20;
    const int numCornersHor = 9;
    const int numCornersVer = 6;
    const int numSquares = numCornersHor * numCornersVer;
    const int boardSize = 30;

    // 创建相机对象
    vector<VideoCapture> cameras(numCameras);
    for (int i = 0; i < numCameras; i++)
    {
        cameras[i].open(i);
        if (!cameras[i].isOpened())
        {
            cout << "Error: Could not open camera " << i << endl;
            return -1;
        }
    }

    // 初始化图像点和物理点向量
    vector<vector<Point2f>> imagePoints(numCameras);
    vector<vector<Point3f>> objectPoints(numCameras);

    // 获取棋盘格角点
    vector<Point2f> corners;
    bool found;
    for (int i = 0; i < numCameras; i++)
    {
        for (int j = 0; j < numBoards; j++)
        {
            Mat image;
            cameras[i] >> image;
            found = findChessboardCorners(image, Size(numCornersHor, numCornersVer), corners);

            if (found)
            {
                Mat grayImage;
                cvtColor(image, grayImage, COLOR_BGR2GRAY);
                cornerSubPix(grayImage, corners, Size(11, 11), Size(-1, -1), TermCriteria(TermCriteria::EPS | TermCriteria::MAX_ITER, 30, 0.1));
                drawChessboardCorners(image, Size(numCornersHor, numCornersVer), corners, found);
                imshow("Chessboard", image);
                waitKey(100);

                // 添加图像点和物理点
                vector<Point2f> cornersTransformed;
                for (int k = 0; k < corners.size(); k++)
                {
                    cornersTransformed.push_back(Point2f(corners[k].x + i * image.cols, corners[k].y));
                }
                imagePoints[i].push_back(cornersTransformed);
                vector<Point3f> objectCorners;
                for (int k = 0; k < numSquares; k++)
                {
                    objectCorners.push_back(Point3f(k / numCornersHor * boardSize, k % numCornersHor * boardSize, 0.0f));
                }
                objectPoints[i].push_back(objectCorners);
            }
        }
    }

    // 进行标定
    Mat cameraMatrix[numCameras], distCoeffs[numCameras];
    vector<Mat> rvecs[numCameras], tvecs[numCameras];
    for (int i = 0; i < numCameras; i++)
    {
        calibrateCamera(objectPoints[i], imagePoints[i], Size(boardSize * numCornersHor, boardSize * numCornersVer), cameraMatrix[i], distCoeffs[i], rvecs[i], tvecs[i]);
    }

    // 打印结果
    for (int i = 0; i < numCameras; i++)
    {
        cout << "Camera " << i << ":" << endl;
        cout << "Camera matrix:" << endl << cameraMatrix[i] << endl;
        cout << "Distortion coefficients:" << endl << distCoeffs[i] << endl;
        cout << "Rotation vectors:" << endl << rvecs[i] << endl;
        cout << "Translation vectors:" << endl << tvecs[i] << endl;
    }

    return 0;
}

注意：这只是一个示例代码，你需要根据你的实际情况进行修改，比如相机数量、图像数量、棋盘格大小等。