There is a C++ example of camera calibration at the official OpenCV documentation site.If you want the arc-tangent return values of PC and Android to be the same, you should use fastAtan2() instead of atan2() of “math.h” For the issue of speed, I checked the speeds of atan2() and fastAtan2() and got strange results.

For arc-tangent, there is a OpenCV function fastAtan2().If you want to calibrate a camera with ViSP tools follow Tutorial: Camera intrinsic calibration. ViSP camera parameters are implemented in vpCameraParameters class. In this tutorial we explain how to convert data such as camera parameters or images from ViSP to OpenCV or vice versa.a) result of undistort of perspective camera model (all possible coefficients (k_1, k_2, k_3, k_4, k_5, k_6) of distortion were optimized under calibration) b) result of fisheye::undistortImage of fisheye camera model (all possible coefficients (k_1, k_2, k_3, k_4) of fisheye distortion were optimized under calibration).Next step is to extract corners from calibration pattern. A new pattern named random pattern can also be used, you can refer to opencv_contrib/modules/ccalib for more details. Several kinds of patterns are supported by OpenCV, like checkerborad and circle grid. The first step to calibrate camera is to get a calibration pattern and take some photos.It interfaces the calibration parameters in sensor_msgs/CameraInfo messages. `image_geometry` contains C++ and Python libraries for interpreting images geometrically.I want to calibrate a camera stereo with opencv, can any one send me an algorithem for calibration?.

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