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

`readAprilTag`	Detect and estimate pose for AprilTag in image (Since R2020b)
`detectAprilGridPoints`	Detect keypoints of AprilGrid pattern in images (Since R2024b)
`detectCheckerboardPoints`	Detect checkerboard pattern in image
`generateCheckerboardPoints`	Generate checkerboard corner locations
`detectCircleGridPoints`	Detect circle grid pattern in images (Since R2021b)
`generateCircleGridPoints`	Generate circle grid point locations (Since R2021b)
`readArucoMarker`	Detect and estimate pose for ArUco marker in image (Since R2024a)
`generateArucoMarker`	Generate ArUco marker images (Since R2024a)
`detectCharucoBoardPoints`	Detect ChArUco board pattern in images (Since R2024b)
`generateCharucoBoard`	Generate ChArUco board image (Since R2024b)
`patternWorldPoints`	Generate world point locations of a camera calibration pattern (Since R2024b)
`vision.calibration.PatternDetector`	Interface for defining custom planar pattern detectors (Since R2021b)

Estimate Camera Parameters

Pinhole Camera

`estimateCameraParameters`	Calibrate a single or stereo camera
`estimateCameraProjection`	Estimate camera projection matrix from world-to-image point correspondences (Since R2022b)

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
`cameraIntrinsicsKB`	Intrinsic camera parameters based on Kannala-Brandt model (Since R2024a)
`cameraProjection`	Camera projection matrix (Since R2022b)

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 (Since R2022b)
`extr2pose`	Convert extrinsics to camera pose (Since R2022b)
`pose2extr`	Convert camera pose to extrinsics (Since R2022b)
`estrelpose`	Calculate relative rotation and translation between camera poses (Since R2022b)

Conversions

`rotmat2vec3d`	Convert 3-D rotation matrix to rotation vector (Since R2022b)
`rotvec2mat3d`	Convert 3-D rotation vector to rotation matrix (Since R2022b)
`cameraIntrinsicsToOpenCV`	Convert camera intrinsic parameters from MATLAB to OpenCV (Since R2021b)
`cameraIntrinsicsFromOpenCV`	Convert camera intrinsic parameters from OpenCV to MATLAB (Since R2021b)
`stereoParametersToOpenCV`	Convert stereo camera parameters from MATLAB to OpenCV (Since R2021b)
`stereoParametersFromOpenCV`	Convert stereo camera parameters from OpenCV to MATLAB (Since R2021b)

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
Prepare camera calibration images and estimate camera intrinsic parameters.
Using the Stereo Camera Calibrator App
Calibrate a stereo camera, which you can then use to recover depth from images.
Calibration Patterns
Camera Calibration using a checkerboard, circle grid, or custom detector pattern.
Prepare Camera and Capture Images For Camera Calibration
Set up your camera and capture camera calibration images to use with the calibrator app.
Point Feature Types
Choose functions that return and accept points objects for several types of features.
Coordinate Systems
Specify pixel Indices, spatial coordinates, and 3-D coordinate systems.