The included samples/cpp/calibration.cpp is very large as it covers many different input options. It may be nice to include a very simple "one camera, one chessboard" example like the following:
<pre><code class="cpp">


#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"

#include <iostream>
#include <string>

using namespace cv;

std::vector<Point3f> Create3DChessboardCorners(Size boardSize, float squareSize);

int main( int argc, char** argv )
{
Size boardSize(7,7); // the number of "inside corners" (where a black square meets a white square). This board is actually 8x8 squares

float squareSize = 1.f; // This is "1 arbitrary unit"

//std::string imageFileName = argvr1;
std::string imageFileName = "board.jpg";

Mat view = imread(imageFileName, 1);

namedWindow( "Image View", 1 );

Size imageSize = view.size();

// Find the chessboard corners
vector<vector<Point2f> > imagePoints(1);
bool found = findChessboardCorners(view, boardSize, imagePointsr0);
if(!found)
{
std::cerr << "Could not find chess board!" << std::endl;
exit(-1);
}

drawChessboardCorners( view, boardSize, Mat(imagePointsr0), found );

std::vector<std::vector<Point3f> > objectPoints(1);
objectPointsr0 = Create3DChessboardCorners(boardSize, squareSize);

std::vector<Mat> rotationVectors;
std::vector<Mat> translationVectors;

Mat distortionCoefficients = Mat::zeros(8, 1, CV_64F); // There are 8 distortion coefficients
Mat cameraMatrix = Mat::eye(3, 3, CV_64F);

int flags = 0;
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distortionCoefficients, rotationVectors, translationVectors, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);

std::cout << "RMS: " << rms << std::endl;

std::cout << "Ccamera matrix: " << cameraMatrix << std::endl;
std::cout << "Distortion _coefficients: " << distortionCoefficients << std::endl;

imshow("Image View", view);
waitKey(0);

return 0;
}

std::vector<Point3f> Create3DChessboardCorners(Size boardSize, float squareSize)
{
// This function creates the 3D points of your chessboard in its own coordinate system

std::vector<Point3f> corners;

for( int i = 0; i < boardSize.height; i++ )
{
for( int j = 0; j < boardSize.width; j++ )
{
corners.push_back(Point3f(float(j*squareSize),
float(i*squareSize), 0));
}
}

return corners;
}
</code></pre>