Code branched from:
http://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
(Authors note: this was just a collection of useful openCV snippets. It has not been touched or maintained in a long time and may be a red herring, I recommend going directly to the opencv docs for help instead of using anything here).
cmake .
make
and then: ./CalibrateCamera filename.xml
The file should exist before you run this.
also be sure to configure the .xml file with the data you want, whether you're calibrating with a chessboard, or via a camera or with video.