Camera Calibration Matlab

Generic camera model and calibration system in Camera Calibration Matlab

Standard wide angle and fisheye lens with Camera Calibration Matlab

We start this Camera Calibration Matlab article. First, a fish type lens is a particular type of ultra-violent lens. Moreover, it is convenient for applications where you need the wide angle of view. Moreover, it works very well under water. Also, it can focus very close.

For example, they are usually small and light. Also, you can get very close to the broad subjects. Indeed, the angle of view of the fisheye lens is substantial and is about 180 degree. The first auto Camera Calibration Matlab methods for fisheye lens camera have also emerged.

Cal Lab

First of all, DLR Cal Lab emerged in 2005. So its primary purpose is to develop a platform-independent application. For platform independence, it started to create in the Interactive Data Language (IDL). As a result, the DLR Calibration detection toolbox is the camera calibration toolbox. Certainly, it consists of two independent software components. The DLR Cal De detects corner features on Camera Calibration Matlab pattern, and the DLR Cal Lab addresses the optimal estimation of the camera’s parameters. Similarly, the operation is fully automatic in the DLR Calibration Detection Toolbox (DLR Cal De). Also, the calibration needs not to be entirely visible within the images.

Secondly, the DLR Calibration Laboratory (DLR Cal Lab) estimates both the intrinsic and extrinsic parameters of either a single camera or a stereo camera. Moreover, the inherent parameters describe perspective projection, lens and sensor distortion, and the digitization process. Finally, external parameters describe the rigid body transformations between the primary camera and either the world frame or the tool center point frame.

Camera Calibration Matlab Software Features

Furthermore, the software offers the following features:

  • First, choice of different numerical optimization algorithms
  • Second, hands-on histograms and images for the selection of features to remove
  • Third, a variety of estimation techniques
  • Flexibility in the selection of the lens deformity model
  • The release of aspect ratio and absolute scale of the calibration method
  • Finally, the release of full calibration target geometric during intrinsic and extrinsic calibrations

Likewise, it is also possible to perform the complete calibration in one button mode.

Camera Calibration Matlab Toolbox

Other than that of this, the camera calibration tool is the windows application that is used to calibrate the cameras that are attached to your PC quickly. Moreover, the Matlab camera calibration toolbox inspires it. Also, the Camera Calibration Matlab supports the video files and cameras connected to your computer. Currently, the software is in the early stages of development. So they did not develop new functionalities such as the automatic calibration, object detection, hand-eye calibration, camera network calibration, and the self-calibration.

A Multiple Camera Calibration Matlab toolbox uses a feature descriptor based calibration pattern. Moreover, it uses the specially designed model to easily calibrate both the intrinsic and extrinsic parameters of multiple camera systems. Also, the proposed toolbox supports the calibration of a camera system.

The multiple cameras’ calibration toolbox for Matlab is for calibrating various camera system. Besides, this toolbox requires that two neighbor cameras in your system should be able to see some part of the calibration board at the same time. Finally, the toolkit needs the Matlab 2012b or higher version and can you can use on Windows, UNIX, and Linux system.

Get your calibration pattern and take images with Camera Calibration Matlab

First, this tool detects the surf features as correspondence for calibration.

First of all, run the main script to launch the simple command line interface for the calibration Follow these steps.

  • Selects the pattern image file you are using
  • Resize the pattern if needed. The input scale should be less or equal to 1
  • Input the number of cameras
  • Select the camera models. You can select pinhole camera for a standard camera or catadioptric model for catadioptric, fisheye or wide-angle lens camera
  • Load the images you can also load the multiple pictures
  • After this, the calibration will launch automatically

The Omnidirectional camera calibration toolbox extension is the excellent extension for calibrating omnidirectional cameras. It contains C programs for undistorting images and reading the results of calibration. It is the excellent addition to the camera calibration toolbox.

Stereo Camera Calibration

Stereo camera calibration is used to extract 3D information from the 2D images. 3D vision is the process of reconstructing the 3d scene from 2 or more views of the stage. Using the computer vision system toolbox you can.

  • Perform a dense 3D reconstruction using the calibrated stereo pair of cameras
  • Reconstruct the scene using the uncalibrated stereo pair of cameras up to known scale
  • Compute a sparse 3D reconstruction from multiple images using the single calibrated camera

Computer systems vision toolbox can also perform the 3D reconstruction, visualization, and conversions. It can convert 3D rotation matrix to rotation vector and can also save 3D rotation vector to the rotation matrix.

The Microsoft easy camera calibration tool is easily used to calibrate a camera without the specialized knowledge of 3D geometry or computer vision. The technique only needs the camera to observe the planar pattern shown at least at two different orientations. Either the camera or planar pattern can be freely moved.

The radial lens distortion is modeled. It advances the 3D computer vision one step from the laboratory environment to the real world use.

Camera calibration is the necessary step in the 3d computer vision to extract metric information from the 2D images.

Photogrammetric Calibration

It is performed by observing a calibration object whose geometry in 3D space is known with excellent precision. The calibration object consists typically of two or three planes orthogonal to each other. This approach requires the self-calibration apparatus and an elaborate step.


This technique does not require any calibration object. If the images are taken with the same camera with the fixed internal parameters, correspondences between these three images are sufficient to recover both the internal and external settings, which allow us to reconstruct a 3D structure up to similarity. This approach is very flexible; while there are many parameters to estimates we cannot always obtain the useful results.

Other techniques are vanishing points from the orthogonal directions, calibration from the simple rotation and desktop vision system.

Tsai Camera Calibration

First, Tsai camera calibration is the most well-known calibration since it deals with both coplanar and non-coplanar points. Also, it offers to calibrate the internal and external parameters separately. Moreover, it gives the possibility to fix the internal settings of the camera. So it is based on the pinhole projection model.

Second, Tclcalib is also the tool for camera calibration. Moreover, it is the collection of the bunch of the smaller tools all wrapped up together to make the internal camera’s calibration easy. Also, it GUI components includes the num row slider (set the number of rows of circle you want to find), num cols slider (set the number of columns of circle you want to find), R, dr pixels slider, threshold pixels slider, spacing sliders, image pane, find dots button and calibrate button.

Finally, EasyCal is also the toolbox for calibrating the clusters of cameras. Besides, it enables you to manage, optimize and automate the calibration process. So the design is to reduce the workload, improve efficiency and provides a platform to create and sustain an effective calibration program. Finally, it automates the calibration run. Moreover, user-friendly features and controls further decrease the calibration times. Users can calibrate and verify various instruments and devices: electrical and electronic, level, pressure and flow, temperature and loop, mechanical and dimensional.

Cornet Extraction Technique

Corner extraction is the technique used in computer vision systems to extract certain kinds of features and infer the content of the image.

The most common camera calibration method is the DLT (Direct Linear Transformation). This method uses a set of control points whose object space or plane coordinates are already known. The control frame is usually fixed to rigid frame known as calibration frame. The DLT method for camera calibration is the most suitable technique for findings linear mappings between any two datasets given a certain number of corresponding data points between the sets.

DLT data normalization improves the accuracy of the results while ensuring that the algorithm will be invariant to arbitrary choices in scale and coordinate frame. Image scale coordinates for each of the cameras is normalized independently as follows.

  • Coordinates are translated so that their centroid is located at the origin.
  • Coordinates are scaled so that the medium distance to the source is the under the root of 2 and thus the average points are equal to (1,1,1).

3D reconstruction using the DLT method

To perform 3D reconstruction using the DLT method, we must know the image space coordinates of a given world point in at least two separate 2D projections. To produce the 2D coordinate matches a search is carried out over the input images. First, we take the points to be reconstructed in the first image and then carry out the pursuit of the second image to find a suitable match.

The various factors such as the image noise or illumination differences can lead to the incorrect matches. It is necessary to constrain the matching process as far as possible. Common matching constraints include the similarity threshold, uniqueness, continuity, ordering, epipolar and relaxation. An efficient search strategy will increase the accuracy of a correlation algorithm for an appropriate match a search strategy is required. A suitable matching strategy will improve both the accuracy and speed of the reconstruction system.

Camera Calibration Toolbox With Matlab

Several authors are proposing different methods for camera calibration with MATLAB.

Hynex Bakstein

Hynek Bakstein proposes with Radim Halir this distribution: Hynek distribution

Here is Hynek’s diploma thesis, on which is the toolbox based and the toolkit: calibr8-0.9.tar

Tomas Svoboda

Svoboda provided several projects:

Barreto and Daniilidis

Barreto and Daniilidis provide the ‘Tele-Immersion: EasyCal.’

The EasyCal Toolbox can be used to calibrate a large cluster of cameras quickly eliminating the need to click tediously on multiple images. The basic idea behind this notion is to propagate the Euclidean calibration obtained using the Camera Calibration Toolbox by Jean-Yves Bouguet from a subset of cameras to a larger number of cameras. A brief mathematical basis is available here.

Camera Calibration Matlab

Camera Calibration Matlab

What is Tele Immersion?

Tele-immersion is a distinct message medium attempting to create the illusion that users at geographically separated areas participate the equivalent physical space likely increased by virtual elements.

Tele-immersion is the ultimate synthesis of computer vision, networking, and graphics. It requires the real-time scanning of a scene, its transmission with minimal latency, and its immersive rendering at a remote site.

The focus of research at the University of Pennsylvania is the study and development of systems that can scan wide-area dynamic scenes and create 3D view-independent representations.

Tele-Immersion enables users at geographically distributed sites to collaborate in real time in a shared, simulated conditions as if they were in the same physical room. It is the ultimate combination of networking and media technologies to enhance collaborative environments.

P. Wunsch and G. Koegel

P. Wunsch and G. Koegel propose a camera calibration toolbox.

The goal of their project was to integrate a variety camera calibration tools that developed at the Institute of Robotics and System Dynamics. Algorithms for subpixel-accurate calibration landmark measurements, nonlinear parameter estimation, and error analysis combined under an intuitive graphical user-interface. The following images give a quick impression of the look-and-feel of their calibration toolbox:

Calibration grid point extraction

First, they fit third order polynomials (red) to model lines. Second, their intersections (green) are for calibration measurements. Furthermore, they determine approximately the orientation of the calibration object by extracting three circular landmarks.


The image formation process uses a function that includes:

  • calibration grid orientation,
  • robot position,
  • camera position relative to the robot’s tool center point (TCP),
  • lens distortion.

The following image displays image residual vectors (yellow) for the initial parameter set. The initial settings are obviously far from being accurate.

Parameter estimation

First, Levenberg/Marquardt minimization is there to solve for the current 58 model parameters. They use +6 parameters for each robot position, where they take a calibration image. Also, computing time for 15 images is about 5 sec on an SGI Onyx (10 iterations). To sum up, the following image shows the residual vectors (magnified by a factor of 10) after parameter estimation.

Estimation evaluation

A variety of tools to evaluate the quality of the resulting parameter set integrated into the toolbox. Among these are:

  • histograms of image residuals,
  • parameter correlation matrix,
  • parameter confidence intervals.

The following image shows an iconic representation of parameter correlation in the Camera Calibration Matlab. The three blocks of that matrix are the setting for calibration grid pose, left camera parameters and right camera parameters, respectively.

Camera Calibration Matlab

The following image shows the distribution of image residuals. Besides, they mark the Mean, median RMS, and standard deviation.

Camera Calibration Matlab

Peter Corke in Camera Calibration Matlab

Peter Corke is Senior Principal Research Scientist with CSIRO ICT Centre Australia and Research Director of Autonomous Systems Laboratory.

His research interests include many things, but:

  • robot control, modeling, and monitoring of machines,
  • high-speed and 3D computer vision,
  • high-performance visual serving, and
  • implementation of large real-world automation systems
  • underwater and aerial robotics
  • wireless sensor networks
  • wireless sensor networks

His Machine Vision Toolbox provides lots of functions that are useful in computer vision, machine vision, and related areas. It is a somewhat eclectic collection reflecting his interest in areas of photometry, photogrammetry, colorimetry, as well as filtering, feature extraction and so on.

It covers functions such as image file reading and writing, filtering, segmentation, feature extraction, camera calibration, camera exterior orientation, display, color space conversion and black body radiators.

The Toolbox, coupled with MATLAB and a modern workstation computer, is a useful and beneficial environment for the investigation of machine vision algorithms.

This toolbox is not a clone of the Mathworks own Image Processing Toolbox. Also, that toolbox has much better support for color images and edge detection.

James Heidel

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