Main Content

Camera Calibration

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

Camera calibrationis 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 theCamera Calibratorapp and functions to estimate single camera intrinsics, extrinsics, and lens distortion parameters.

Use theStereo Camera Calibratorapp 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.

Calibration patterns

Apps

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

Functions

expand all

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

Pinhole Camera

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

Fisheye Camera

estimateFisheyeParameters Calibrate fisheye camera

Stereo Camera

estimateStereoBaseline Estimate baseline of stereo camera

Single Camera

cameraParameters Object for storing camera parameters
cameraIntrinsics Object for storing intrinsic camera parameters
cameraMatrix 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 对象存储标准的错误估计ereo parameters
extrinsicsEstimationErrors Object for storing standard errors of estimated camera intrinsics 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

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
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
extrinsics Compute location of calibrated camera
extrinsicsToCameraPose Convert extrinsics to camera pose
cameraPoseToExtrinsics Convert camera pose to extrinsics
relativeCameraPose Compute relative rotation and translation between camera poses
rotationMatrixToVector Convert 3-D rotation matrix to rotation vector
rotationVectorToMatrix Convert 3-D rotation vector to rotation matrix
cameraIntrinsicsToOpenCV Convert camera intrinsic parameters fromMATLABto OpenCV
cameraIntrinsicsFromOpenCV Convert camera intrinsic parameters from OpenCV toMATLAB
stereoParametersToOpenCV Convert stereo camera parameters fromMATLABto OpenCV
stereoParametersFromOpenCV Convert stereo camera parameters from OpenCV toMATLAB

Topics