opencvC++的前后左右相机标定，标定结束之后并保存标定结果的代码

以下是OpenCV C++的前后左右相机标定，并保存标定结果的代码示例：

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

using namespace cv;
using namespace std;

int main()
{
    // 定义存储图像和角点的向量
    vector<vector<Point2f>> imagePoints;
    vector<vector<Point3f>> objectPoints;

    // 定义棋盘格尺寸和格点数
    Size boardSize = Size(9, 6);
    int boardPoints = boardSize.width * boardSize.height;

    // 定义相机内参矩阵和畸变系数
    Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
    Mat distCoeffs = Mat::zeros(8, 1, CV_64F);

    // 获取图像文件名
    vector<String> filenames;
    glob("image_dir/*.jpg", filenames);

    // 循环读取图像并提取角点
    for (size_t i = 0; i < filenames.size(); i++)
    {
        Mat image = imread(filenames[i]);

        vector<Point2f> corners;
        bool found = findChessboardCorners(image, boardSize, corners);

        if (found)
        {
            TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 30, 0.1);
            cornerSubPix(image, corners, Size(11, 11), Size(-1, -1), criteria);

            imagePoints.push_back(corners);

            vector<Point3f> obj;
            for (int j = 0; j < boardPoints; j++)
            {
                obj.push_back(Point3f(j / boardSize.width, j % boardSize.width, 0.0f));
            }
            objectPoints.push_back(obj);
        }
    }

    // 标定相机
    vector<Mat> rvecs, tvecs;
    calibrateCamera(objectPoints, imagePoints, Size(640, 480), cameraMatrix, distCoeffs, rvecs, tvecs);

    // 保存相机内参矩阵和畸变系数
    FileStorage fs("calib_results.xml", FileStorage::WRITE);
    fs << "cameraMatrix" << cameraMatrix;
    fs << "distCoeffs" << distCoeffs;
    fs.release();

    return 0;
}

以上代码中，我们首先使用glob()函数获取指定目录下的所有图像文件名，然后使用循环读取每张图像并提取角点，存储在imagePoints和objectPoints向量中。接着，使用calibrateCamera()函数对相机进行标定，并计算出相机的内参矩阵和畸变系数。最后，我们使用FileStorage类保存标定结果为xml格式文件。