单目视觉相机测距代码c++

以下是使用OpenCV库实现单目视觉相机测距的C++代码示例：

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

using namespace cv;
using namespace std;

int main()
{
    Mat frame, gray;
    VideoCapture cap(0); //打开摄像头
    if (!cap.isOpened())
    {
        cout << "Failed to open camera!" << endl;
        return -1;
    }

    while (true)
    {
        cap >> frame; //读取帧
        if (frame.empty())
        {
            cout << "Failed to capture frame!" << endl;
            break;
        }

        cvtColor(frame, gray, COLOR_BGR2GRAY); //转为灰度图

        //检测棋盘格角点
        Size boardSize(8, 6); //棋盘格大小
        vector<Point2f> corners; //角点数组
        bool found = findChessboardCorners(gray, boardSize, corners);

        if (found) //成功检测到角点
        {
            drawChessboardCorners(frame, boardSize, corners, found); //绘制角点

            //计算相机内参和畸变系数
            Mat K, distCoeffs;
            vector<Vec3f> rvecs, tvecs;
            vector<Point3f> objectPoints;
            for (int i = 0; i < boardSize.height; i++)
            {
                for (int j = 0; j < boardSize.width; j++)
                {
                    objectPoints.push_back(Point3f(j * 2.5, i * 2.5, 0)); //棋盘格上每个角点的实际坐标
                }
            }
            calibrateCamera(vector<vector<Point3f>>(1, objectPoints), vector<vector<Point2f>>(1, corners), gray.size(), K, distCoeffs, rvecs, tvecs);

            //计算相机到棋盘格平面的距离
            Mat rvec, tvec;
            solvePnP(objectPoints, corners, K, distCoeffs, rvec, tvec);
            double distance = -tvec.at<double>(2); //相机到棋盘格平面的距离（单位：毫米）

            //显示距离
            putText(frame, format("Distance: %.2f mm", distance), Point(20, 50), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 255, 0), 2);
        }

        imshow("Camera", frame);

        if (waitKey(30) == 27) //按ESC键退出
            break;
    }

    return 0;
}

该代码使用棋盘格标定相机，计算相机内参和畸变系数，并使用solvePnP函数计算相机到棋盘格平面的距离。请注意，在实际应用中，需要对距离进行进一步的校准和误差修正。