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Turns out the problem was with the definition of the size parameter of camera_calibrator. OpenCV expects the number of inner corners, not the number of squares. That was quite misleading and I was only able to figure that out after reading this.

I suggest the documentation and/or tutorials are more explicit about that. OpenCV documentation is quite clear about how cvFindChessboardCorners works, but the user of camera_calibration won't know that function is used until they open the source code.