Classic Zhang Zhengyou Camera Calibration Method

This document introduces the classic Zhang Zhenyou camera calibration method, a widely-used approach for calculating camera intrinsic parameters and lens distortion. The calibration process involves capturing multiple images of known geometric patterns (such as chessboard grids) from different viewpoints, then utilizing these images to compute camera parameters through mathematical optimization. Our implementation includes detailed Chinese annotations to help users understand key algorithmic steps including corner detection, homography estimation, intrinsic parameter initialization, and distortion coefficient calculation. The code demonstrates practical implementation techniques for handling image preprocessing, coordinate transformation, and nonlinear optimization using OpenCV functions. Through this method, users can effectively calibrate cameras and achieve more accurate image results by understanding how to properly set up calibration patterns, capture training images, and interpret calibration results.