相機(jī)的標(biāo)定，現(xiàn)在基本上都是用張正友標(biāo)定法，OpenCV中這些模塊和函數(shù)也非常成熟。
只要照著這個(gè)流程做下來就行了。
當(dāng)然首先要弄一個(gè)棋盤格做標(biāo)定板，標(biāo)定圖片需要使用標(biāo)定板在不同位置、不同角度、不同姿態(tài)下拍攝，最少需要3張，以10~20張為宜。

#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(biāo)定所用圖像文件的路徑 */
    ofstream fout("caliberation_result.txt");  /* 保存標(biāo)定結(jié)果的文件 */

    if (!fin){
        cout << "Calibration image txt read failed" << endl;
        return 0;
    }

    //讀取每一幅圖像，從中提取出角點(diǎn)，然后對角點(diǎn)進(jìn)行亞像素精確化 
    cout << "開始提取角點(diǎn)………………";
    int image_count = 0;  /* 圖像數(shù)量 */
    Size image_size;  /* 圖像的尺寸 */
    Size board_size = Size(4, 6);    /* 標(biāo)定板上每行、列的角點(diǎn)數(shù) */
    vector<Point2f> image_points_buf;  /* 緩存每幅圖像上檢測到的角點(diǎn) */
    vector<vector<Point2f>> image_points_seq; /* 保存檢測到的所有角點(diǎn) */
    string filename;

    int count = -1;//用于存儲(chǔ)角點(diǎn)個(gè)數(shù)。
    while (getline(fin, filename))
    {
        image_count++;
        // 用于觀察檢驗(yàn)輸出
        cout << "image_count = " << image_count << endl;
        /* 輸出檢驗(yàn)*/
        cout << "-->count = " << count;
        Mat imageInput = imread(filename);
        if (image_count == 1)  //讀入第一張圖片時(shí)獲取圖像寬高信息
        {
            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(diǎn) */
        if (0 == findChessboardCorners(imageInput, board_size, image_points_buf))
        {
            cout << "can not find chessboard corners!\n"; //找不到角點(diǎn)
            exit(1);
        }
        else
        {
            Mat view_gray;
            cvtColor(imageInput, view_gray, CV_RGB2GRAY);
            /* 亞像素精確化 */
            find4QuadCornerSubpix(view_gray, image_points_buf, Size(5, 5)); //對粗提取的角點(diǎn)進(jìn)行精確化
            //cornerSubPix(view_gray,image_points_buf,Size(5,5),Size(-1,-1),TermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));
            image_points_seq.push_back(image_points_buf);  //保存亞像素角點(diǎn)
            /* 在圖像上顯示角點(diǎn)位置 */
            drawChessboardCorners(view_gray, board_size, image_points_buf, false); //用于在圖片中標(biāo)記角點(diǎn)
            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(diǎn)數(shù)
    for (int ii = 0; ii<total; ii++)
    {
        if (0 == ii%CornerNum)// 24 是每幅圖片的角點(diǎn)個(gè)數(shù)。此判斷語句是為了輸出 圖片號(hào)，便于控制臺(tái)觀看 
        {
            int i = -1;
            i = ii / CornerNum;
            int j = i + 1;
            cout << "--> 第 " << j << "圖片的數(shù)據(jù) --> : " << endl;
        }
        if (0 == ii % 3)    // 此判斷語句，格式化輸出，便于控制臺(tái)查看
        {
            cout << endl;
        }
        else
        {
            cout.width(10);
        }
        //輸出所有的角點(diǎn)
        cout << " -->" << image_points_seq[ii][0].x;
        cout << " -->" << image_points_seq[ii][0].y;
    }
    cout << "角點(diǎn)提取完成！\n";

    //以下是攝像機(jī)標(biāo)定
    cout << "開始標(biāo)定………………";
    /*棋盤三維信息*/
    Size square_size = Size(10, 10);  /* 實(shí)際測量得到的標(biāo)定板上每個(gè)棋盤格的大小 */
    vector<vector<Point3f>> object_points; /* 保存標(biāo)定板上角點(diǎn)的三維坐標(biāo) */
    /*內(nèi)外參數(shù)*/
    Mat cameraMatrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); /* 攝像機(jī)內(nèi)參數(shù)矩陣 */
    vector<int> point_counts;  // 每幅圖像中角點(diǎn)的數(shù)量
    Mat distCoeffs = Mat(1, 5, CV_32FC1, Scalar::all(0)); /* 攝像機(jī)的5個(gè)畸變系數(shù)：k1,k2,p1,p2,k3 */
    vector<Mat> tvecsMat;  /* 每幅圖像的旋轉(zhuǎn)向量 */
    vector<Mat> rvecsMat; /* 每幅圖像的平移向量 */
    /* 初始化標(biāo)定板上角點(diǎn)的三維坐標(biāo) */
    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(shè)標(biāo)定板放在世界坐標(biāo)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);
    }
    /* 初始化每幅圖像中的角點(diǎn)數(shù)量，假定每幅圖像中都可以看到完整的標(biāo)定板 */
    for (i = 0; i<image_count; i++)
    {
        point_counts.push_back(board_size.width*board_size.height);
    }
    /* 開始標(biāo)定 */
    calibrateCamera(object_points, image_points_seq, image_size, cameraMatrix, distCoeffs, rvecsMat, tvecsMat, 0);
    cout << "標(biāo)定完成！\n";
    //對標(biāo)定結(jié)果進(jìn)行評價(jià)
    cout << "開始評價(jià)標(biāo)定結(jié)果………………\n";
    double total_err = 0.0; /* 所有圖像的平均誤差的總和 */
    double err = 0.0; /* 每幅圖像的平均誤差 */
    vector<Point2f> image_points2; /* 保存重新計(jì)算得到的投影點(diǎn) */
    cout << "\t每幅圖像的標(biāo)定誤差：\n";
    fout << "每幅圖像的標(biāo)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(jī)內(nèi)外參數(shù)，對空間的三維點(diǎn)進(jìn)行重新投影計(jì)算，得到新的投影點(diǎn) */
        projectPoints(tempPointSet, rvecsMat[i], tvecsMat[i], cameraMatrix, distCoeffs, image_points2);
        /* 計(jì)算新的投影點(diǎn)和舊的投影點(diǎn)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 << "幅圖像的平均誤差：" << err << "像素" << endl;
        fout << "第" << i + 1 << "幅圖像的平均誤差：" << err << "像素" << endl;
    }
    std::cout << "總體平均誤差：" << total_err / image_count << "像素" << endl;
    fout << "總體平均誤差：" << total_err / image_count << "像素" << endl << endl;
    std::cout << "評價(jià)完成！" << endl;
    //保存定標(biāo)結(jié)果    
    std::cout << "開始保存定標(biāo)結(jié)果………………" << endl;
    Mat rotation_matrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); /* 保存每幅圖像的旋轉(zhuǎn)矩陣 */
    fout << "相機(jī)內(nèi)參數(shù)矩陣：" << endl;
    fout << cameraMatrix << endl << endl;
    fout << "畸變系數(shù)：\n";
    fout << distCoeffs << endl << endl << endl;
    for (int i = 0; i<image_count; i++)
    {
        fout << "第" << i + 1 << "幅圖像的旋轉(zhuǎn)向量：" << endl;
        fout << rvecsMat[i] << endl;
        /* 將旋轉(zhuǎn)向量轉(zhuǎn)換為相對應(yīng)的旋轉(zhuǎn)矩陣 */
        Rodrigues(rvecsMat[i], rotation_matrix); 
        fout << "第" << i + 1 << "幅圖像的旋轉(zhuǎn)矩陣：" << endl;
        fout << rotation_matrix << endl;
        fout << "第" << i + 1 << "幅圖像的平移向量：" << endl;
        fout << tvecsMat[i] << endl << endl;
    }
    std::cout << "完成保存" << endl;
    fout << endl;
    /************************************************************************
    顯示定標(biāo)結(jié)果
    *************************************************************************/
    Mat mapx = Mat(image_size, CV_32FC1);
    Mat mapy = Mat(image_size, CV_32FC1);
    Mat R = Mat::eye(3, 3, CV_32F);
    std::cout << "保存矯正圖像" << endl;
    string imageFileName;
    std::stringstream StrStm;
    for (int i = 0; i != image_count; i++)
    {
        std::cout << "Frame #" << i + 1 << "..." << endl;
        initUndistortRectifyMap(cameraMatrix, distCoeffs, R, cameraMatrix, image_size, CV_32FC1, mapx, mapy);
        StrStm.clear();
        imageFileName.clear();
        string filePath = "chess";
        StrStm << i + 1;
        StrStm >> imageFileName;
        filePath += imageFileName;
        filePath += ".bmp";
        Mat imageSource = imread(filePath);
        Mat newimage = imageSource.clone();
        //另一種不需要轉(zhuǎn)換矩陣的方式
        //undistort(imageSource,newimage,cameraMatrix,distCoeffs);
        remap(imageSource, newimage, mapx, mapy, INTER_LINEAR);
        StrStm.clear();
        filePath.clear();
        StrStm << i + 1;
        StrStm >> imageFileName;
        imageFileName += "_d.jpg";
        imwrite(imageFileName, newimage);
    }
    std::cout << "保存結(jié)束" << endl;


    return 0 ;
}