Camera Calibration

Calibrate single or stereo cameras and estimate camera intrinsics, extrinsics, and distortion parameters using pinhole and fisheye camera models

Camera calibration is the process of estimating camera parameters by using images that contain a calibration pattern. The parameters include camera intrinsics, distortion coefficients, and camera extrinsics. Use these camera parameters to remove lens distortion effects from an image, measure planar objects, reconstruct 3-D scenes from multiple cameras, and perform other computer vision applications.

Use the Camera Calibrator app and functions to estimate single camera intrinsics, extrinsics, and lens distortion parameters.

Use the Stereo Camera Calibrator app and functions to estimate the parameters and relative positions and orientations of both cameras in a stereo camera pair. You can then use the camera to recover depth from images. It also calculates the position and orientation of the second camera relative to the first camera.

Apps

Camera Calibrator	Estimate geometric parameters of a single camera
Stereo Camera Calibrator	Estimate geometric parameters of a stereo camera

Functions

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Generate and Detect Calibration Patterns

`detectCheckerboardPoints`	Detect checkerboard pattern in image
`generateCheckerboardPoints`	Generate checkerboard corner locations
`detectCircleGridPoints`	Detect circle grid pattern in images
`generateCircleGridPoints`	Generate circle grid point locations
`vision.calibration.PatternDetector`	Interface for defining custom planar pattern detectors

Estimate Camera Parameters

Pinhole Camera

`estimateCameraParameters`	Calibrate a single or stereo camera
`estimateCameraProjection`	Estimate camera projection matrix from world-to-image point correspondences

Fisheye Camera

estimateFisheyeParameters Calibrate fisheye camera

Stereo Camera

estimateStereoBaseline Estimate baseline of stereo camera

Store Results

Single Camera

`cameraParameters`	Object for storing camera parameters
`cameraIntrinsics`	Object for storing intrinsic camera parameters
`cameraProjection`	Camera projection matrix

Fisheye Camera

`fisheyeIntrinsics`	Object for storing intrinsic fisheye camera parameters
`fisheyeParameters`	Object for storing fisheye camera parameters

Stereo Camera

stereoParameters Object for storing stereo camera system parameters

Error Metrics

`cameraCalibrationErrors`	Object for storing standard errors of estimated camera parameters
`stereoCalibrationErrors`	Object for storing standard errors of estimated stereo parameters
`extrinsicsEstimationErrors`	Object for storing standard errors of estimated camera extrinsics and distortion coefficients
`intrinsicsEstimationErrors`	Object for storing standard errors of estimated camera intrinsics and distortion coefficients
`fisheyeCalibrationErrors`	Object for storing standard errors of estimated fisheye camera parameters
`fisheyeIntrinsicsEstimationErrors`	Object for storing standard errors of estimated fisheye camera intrinsics

Remove Distortion

Pinhole Camera

`undistortImage`	Correct image for lens distortion
`undistortPoints`	Correct point coordinates for lens distortion

Fisheye Camera

`undistortFisheyeImage`	Correct fisheye image for lens distortion
`undistortFisheyePoints`	Correct point coordinates for fisheye lens distortion

Visualize Results

`pcshow`	Plot 3-D point cloud
`plotCamera`	Plot a camera in 3-D coordinates
`showExtrinsics`	Visualize extrinsic camera parameters
`showReprojectionErrors`	Visualize calibration errors
`stereoAnaglyph`	Create red-cyan anaglyph from stereo pair of images

Estimate Camera Pose

`estimateExtrinsics`	Calculate location of calibrated camera
`extr2pose`	Convert extrinsics to camera pose
`pose2extr`	Convert camera pose to extrinsics
`estrelpose`	Calculate relative rotation and translation between camera poses

Conversions

`rotmat2vec3d`	Convert 3-D rotation matrix to rotation vector
`rotvec2mat3d`	Convert 3-D rotation vector to rotation matrix
`cameraIntrinsicsToOpenCV`	Convert camera intrinsic parameters from MATLAB to OpenCV
`cameraIntrinsicsFromOpenCV`	Convert camera intrinsic parameters from OpenCV to MATLAB
`stereoParametersToOpenCV`	Convert stereo camera parameters from MATLAB to OpenCV
`stereoParametersFromOpenCV`	Convert stereo camera parameters from OpenCV to MATLAB

Topics

What Is Camera Calibration?
Estimate the parameters of a lens and image sensor of an image or video camera.
Fisheye Calibration Basics
Fisheye camera model and calibration in MATLAB.
Using the Single Camera Calibrator App
Estimate camera intrinsics, extrinsics, and lens distortion parameters.
Using the Stereo Camera Calibrator App
Calibrate a stereo camera, which you can then use to recover depth from images.
Coordinate Systems
Specify pixel Indices, spatial coordinates, and 3-D coordinate systems
Point Feature Types
Choose functions that return and accept points objects for several types of features.