6 cameras consider real-time panoramic stitching, want to use a fixed parameter, using binocular calibration rotation matrix, and then realize stitching through translation, but the reality is can't spell, then the distortion correction, using cylindrical projection transformation matrix to calculate the calibration board, close shot that go on, but is a little far worse, head, masters who have a good idea, you joining together does not require high precision, mainly speed, be obliged!