主要轉自http://blog.csdn.net/dcrmg/article/details/52929669
執行前需要先準備標定圖片和記錄標定圖片列表的文字檔案，並放入程式所在目錄下
文字檔案的內容如下：
calibdata.txt
裡面填寫好需要標定的圖片名稱
left02.jpg
left03.jpg
left04.jpg
left05.jpg
left06.jpg
left07.jpg
left08.jpg
left09.jpg
left10.jpg
left11.jpg
left12.jpg
left13.jpg
left14.jpg

#include "opencv2/core/core.hpp"
 

#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <fstream>

using namespace cv;
using namespace std;

int main()
{
    ifstream fin("calibdata.txt"); /* 標定所用影象檔案的路徑 */
    ofstream fout("caliberation_result.txt"
 
);  /* 儲存標定結果的檔案 */
    //讀取每一幅影象，從中提取出角點，然後對角點進行亞畫素精確化
    cout<<"開始提取角點………………";
    int image_count=0;  /* 影象數量 */
    Size image_size;  /* 影象的尺寸 */
    Size board_size = Size(8,7);    /* 標定板上每行、列的角點數 */
    vector<Point2f> image_points_buf;  /* 快取每幅影象上檢測到的角點 */
    vector< vector<Point2f>
 
 >  image_points_seq; /* 儲存檢測到的所有角點 */
    string filename;
    int count= -1 ;//用於儲存角點個數。
    while (getline(fin,filename))
    {
        image_count++;
        // 用於觀察檢驗輸出
        cout<<"image_count = "<<image_count<<endl;
        /* 輸出檢驗*/
        cout<<"-->count = "<<count;
        Mat imageInput=imread(filename);
        if (image_count == 1)  //讀入第一張圖片時獲取影象寬高資訊
        {
            image_size.width = imageInput.cols;
            image_size.height =imageInput.rows;
            cout<<"image_size.width = "<<image_size.width<<endl;
            cout<<"image_size.height = "<<image_size.height<<endl;
        }

        /* 提取角點 */
        if (0 == findChessboardCorners(imageInput,board_size,image_points_buf))
        {
            cout<<"can not find chessboard corners!\n"; //找不到角點
            exit(1);
        }
        else
        {
            Mat view_gray;
            cvtColor(imageInput,view_gray,CV_RGB2GRAY);
            /* 亞畫素精確化 */
            find4QuadCornerSubpix(view_gray,image_points_buf,Size(21,21)); //對粗提取的角點進行精確化
            image_points_seq.push_back(image_points_buf);  //儲存亞畫素角點
            /* 在影象上顯示角點位置 */
            drawChessboardCorners(view_gray,board_size,image_points_buf,true); //用於在圖片中標記角點
            imshow("Camera Calibration",view_gray);//顯示圖片
            waitKey(500);//暫停0.5S
        }
    }
    int total = image_points_seq.size();
    cout<<"total = "<<total<<endl;
    int CornerNum=board_size.width*board_size.height;  //每張圖片上總的角點數
    for (int ii=0 ; ii<total ;ii++)
    {
        if (0 == ii%CornerNum)// 24 是每幅圖片的角點個數。此判斷語句是為了輸出 圖片號，便於控制檯觀看
        {
            int i = -1;
            i = ii/CornerNum;
            int j=i+1;
            cout<<"--> 第 "<<j <<"圖片的資料 --> : "<<endl;
        }
        if (0 == ii%3)  // 此判斷語句，格式化輸出，便於控制檯檢視
        {
            cout<<endl;
        }
        else
        {
            cout.width(10);
        }
        //輸出所有的角點
        cout<<" -->"<<image_points_seq[ii][0].x;
        cout<<" -->"<<image_points_seq[ii][0].y;
    }
    cout<<"角點提取完成！\n";

    //以下是攝像機標定
    cout<<"開始標定………………";
    /*棋盤三維資訊*/
    Size square_size = Size(20,20);  /* 實際測量得到的標定板上每個棋盤格的大小 */
    vector<vector<Point3f> > object_points; /* 儲存標定板上角點的三維座標 */
    /*內外引數*/
    Mat cameraMatrix=Mat(3,3,CV_32FC1,Scalar::all(0)); /* 攝像機內參數矩陣 */
    vector<int> point_counts;  // 每幅影象中角點的數量
    Mat distCoeffs=Mat(1,5,CV_32FC1,Scalar::all(0)); /* 攝像機的5個畸變係數：k1,k2,p1,p2,k3 */
    vector<Mat> tvecsMat;  /* 每幅影象的旋轉向量 */
    vector<Mat> rvecsMat; /* 每幅影象的平移向量 */
    /* 初始化標定板上角點的三維座標 */
    int i,j,t;
    for (t=0;t<image_count;t++)
    {
        vector<Point3f> tempPointSet;
        for (i=0;i<board_size.height;i++)
        {
            for (j=0;j<board_size.width;j++)
            {
                Point3f realPoint;
                /* 假設標定板放在世界座標系中z=0的平面上 */
                realPoint.x = i*square_size.width;
                realPoint.y = j*square_size.height;
                realPoint.z = 0;
                tempPointSet.push_back(realPoint);
            }
        }
        object_points.push_back(tempPointSet);
    }
    /* 初始化每幅影象中的角點數量，假定每幅影象中都可以看到完整的標定板 */
    for (i=0;i<image_count;i++)
    {
        point_counts.push_back(board_size.width*board_size.height);
    }
    /* 開始標定 */
    calibrateCamera(object_points,image_points_seq,image_size,cameraMatrix,distCoeffs,rvecsMat,tvecsMat,0);
    cout<<"標定完成！\n";
    //對標定結果進行評價
    cout<<"開始評價標定結果………………\n";
    double total_err = 0.0; /* 所有影象的平均誤差的總和 */
    double err = 0.0; /* 每幅影象的平均誤差 */
    vector<Point2f> image_points2; /* 儲存重新計算得到的投影點 */
    cout<<"\t每幅影象的標定誤差：\n";
    fout<<"每幅影象的標定誤差：\n";
    for (i=0;i<image_count;i++)
    {
        vector<Point3f> tempPointSet=object_points[i];
        /* 通過得到的攝像機內外引數，對空間的三維點進行重新投影計算，得到新的投影點 */
        projectPoints(tempPointSet,rvecsMat[i],tvecsMat[i],cameraMatrix,distCoeffs,image_points2);
        /* 計算新的投影點和舊的投影點之間的誤差*/
        vector<Point2f> tempImagePoint = image_points_seq[i];
        Mat tempImagePointMat = Mat(1,tempImagePoint.size(),CV_32FC2);
        Mat image_points2Mat = Mat(1,image_points2.size(), CV_32FC2);
        for (int j = 0 ; j < tempImagePoint.size(); j++)
        {
            image_points2Mat.at<Vec2f>(0,j) = Vec2f(image_points2[j].x, image_points2[j].y);
            tempImagePointMat.at<Vec2f>(0,j) = Vec2f(tempImagePoint[j].x, tempImagePoint[j].y);
        }
        err = norm(image_points2Mat, tempImagePointMat, NORM_L2);
        total_err += err/=  point_counts[i];
        std::cout<<"第"<<i+1<<"幅影象的平均誤差："<<err<<"畫素"<<endl;
        fout<<"第"<<i+1<<"幅影象的平均誤差："<<err<<"畫素"<<endl;
    }
    std::cout<<"總體平均誤差："<<total_err/image_count<<"畫素"<<endl;
    fout<<"總體平均誤差："<<total_err/image_count<<"畫素"<<endl<<endl;
    std::cout<<"評價完成！"<<endl;
    //儲存定標結果
    std::cout<<"開始儲存定標結果………………"<<endl;
    Mat rotation_matrix = Mat(3,3,CV_32FC1, Scalar::all(0)); /* 儲存每幅影象的旋轉矩陣 */
    fout<<"相機內參數矩陣："<<endl;
    fout<<cameraMatrix<<endl<<endl;
    fout<<"畸變係數：\n";
    fout<<distCoeffs<<endl<<endl<<endl;
    for (int i=0; i<image_count; i++)
    {
        fout<<"第"<<i+1<<"幅影象的旋轉向量："<<endl;
        fout<<tvecsMat[i]<<endl;
        /* 將旋轉向量轉換為相對應的旋轉矩陣 */
        Rodrigues(tvecsMat[i],rotation_matrix);
        fout<<"第"<<i+1<<"幅影象的旋轉矩陣："<<endl;
        fout<<rotation_matrix<<endl;
        fout<<"第"<<i+1<<"幅影象的平移向量："<<endl;
        fout<<rvecsMat[i]<<endl<<endl;
    }
    std::cout<<"完成儲存"<<endl;
    fout<<endl;
    system("pause");
    return 0;
}