opencvC++的前后左右四路相机标定，标定结束之后并保存标定结果的代码

以下是OpenCV C++的前后左右四路相机标定，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<vector<Point2f>>> imagePoints(4);
    vector<vector<vector<Point3f>>> objectPoints(4);

    // 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
    vector<Mat> cameraMatrix(4), distCoeffs(4);
    for (int i = 0; i < 4; i++)
    {
        cameraMatrix[i] = Mat::eye(3, 3, CV_64F);
        distCoeffs[i] = Mat::zeros(8, 1, CV_64F);
    }

    // 获取图像文件名
    vector<String> filenames[4];
    glob("image_dir/front/*.jpg", filenames[0]);
    glob("image_dir/rear/*.jpg", filenames[1]);
    glob("image_dir/left/*.jpg", filenames[2]);
    glob("image_dir/right/*.jpg", filenames[3]);

    // 循环读取图像并提取角点
    for (int i = 0; i < 4; i++)
    {
        for (size_t j = 0; j < filenames[i].size(); j++)
        {
            Mat image = imread(filenames[i][j]);

            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[i].push_back(corners);

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

    // 标定相机
    vector<Mat> rvecs[4], tvecs[4];
    for (int i = 0; i < 4; i++)
    {
        calibrateCamera(objectPoints[i], imagePoints[i], Size(640, 480), cameraMatrix[i], distCoeffs[i], rvecs[i], tvecs[i]);
    }

    // 保存相机内参矩阵和畸变系数
    FileStorage fs("calib_results.xml", FileStorage::WRITE);
    for (int i = 0; i < 4; i++)
    {
        string name = "cameraMatrix" + to_string(i);
        fs << name << cameraMatrix[i];
        name = "distCoeffs" + to_string(i);
        fs << name << distCoeffs[i];
    }
    fs.release();

    return 0;
}

以上代码中，我们使用了一个三维向量imagePoints和一个三维向量objectPoints来存储四路相机的图像和角点。在循环读取图像并提取角点时，我们使用了四个glob()函数来获取每个相机的图像文件名。接着，我们使用一个外层循环来遍历四个相机，内层循环遍历每张图像，提取角点，并将其存储在相应的三维向量中。最后，我们使用一个外层循环来遍历四个相机，调用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。