Single and Stereo Camera Calibration

Estimate intrinsic, extrinsic, and lens distortion parameters, perform fisheye calibration, extract 3-D information from 2-D images

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

3-D vision is the process of reconstructing a 3-D scene from two or more views of the scene. Using the Computer Vision Toolbox™, you can:

Perform dense 3-D reconstruction using a calibrated stereo pair of cameras.
Reconstruct the scene using an uncalibrated stereo pair of cameras, up to unknown scale.
Compute a sparse 3-D reconstruction from multiple images, using a single-calibrated 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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Calibration

Detect Calibration Pattern

`detectCheckerboardPoints`	Detect checkerboard pattern in image
`generateCheckerboardPoints`	Generate checkerboard corner locations
`undistortImage`	Correct image for lens distortion
`undistortPoints`	Correct point coordinates for lens distortion

Get Camera Parameters

`estimateCameraParameters`	Calibrate a single or stereo camera
`cameraPoseToExtrinsics`	Convert camera pose to extrinsics
`estimateCameraMatrix`	Estimate camera projection matrix from world-to-image point correspondences
`estimateStereoBaseline`	Estimate baseline of stereo camera

Store Results

`cameraMatrix`	Camera projection matrix
`cameraIntrinsics`	Object for storing intrinsic camera parameters
`cameraParameters`	Object for storing camera parameters
`cameraCalibrationErrors`	Object for storing standard errors of estimated camera parameters
`intrinsicsEstimationErrors`	Object for storing standard errors of estimated camera intrinsics and distortion coefficients
`extrinsicsEstimationErrors`	Object for storing standard errors of estimated camera extrinsics
`stereoCalibrationErrors`	Object for storing standard errors of estimated stereo parameters
`stereoParameters`	Object for storing stereo camera system parameters

Fisheye Calibration

`estimateFisheyeParameters`	Calibrate fisheye camera
`undistortFisheyeImage`	Correct fisheye image for lens distortion
`undistortFisheyePoints`	Correct point coordinates for fisheye lens distortion
`fisheyeCalibrationErrors`	Object for storing standard errors of estimated fisheye camera parameters
`fisheyeIntrinsics`	Object for storing intrinsic fisheye camera parameters
`fisheyeIntrinsicsEstimationErrors`	Object for storing standard errors of estimated fisheye camera intrinsics
`fisheyeParameters`	Object for storing fisheye camera parameters

3-D Reconstruction

`disparityBM`	Compute disparity map using block matching
`disparitySGM`	Compute disparity map through semi-global matching
`reconstructScene`	Reconstruct 3-D scene from disparity map
`rectifyStereoImages`	Rectify a pair of stereo images
`triangulate`	3-D locations of undistorted matching points in stereo images
`triangulateMultiview`	3-D locations of world points matched across multiple images

Camera Pose Estimation

`extrinsics`	Compute location of calibrated camera
`extrinsicsToCameraPose`	Convert extrinsics to camera pose
`relativeCameraPose`	Compute relative rotation and translation between camera poses

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

Conversions

`rotationMatrixToVector`	Convert 3-D rotation matrix to rotation vector
`rotationVectorToMatrix`	Convert 3-D rotation vector to rotation matrix
`worldToImage`	Project world points into image
`pointsToWorld`	Determine world coordinates of image points

Topics

Fisheye Calibration Basics

Fisheye camera model and calibration in MATLAB

What Is Camera Calibration?

Estimate the parameters of a lens and image sensor of an image or video camera.

Coordinate Systems

Specify pixel Indices, spatial coordinates, and 3-D coordinate systems

Single Camera Calibrator App

Estimate camera intrinsics, extrinsics, and lens distortion parameters.

Documentation