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Single Camera Calibration

Estimate intrinsic, extrinsic, and lens distortion parameters

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.


Camera CalibratorEstimate geometric parameters of a single camera


cameraMatrixCamera projection matrix
cameraPoseToExtrinsicsConvert camera pose to extrinsics
detectCheckerboardPointsDetect checkerboard pattern in image
estimateCameraParametersCalibrate a single or stereo camera
generateCheckerboardPointsGenerate checkerboard corner locations
undistortImageCorrect image for lens distortion
undistortPointsCorrect point coordinates for lens distortion
cameraIntrinsics Object for storing intrinsic camera parameters
cameraParametersObject for storing camera parameters
cameraCalibrationErrorsObject for storing standard errors of estimated camera parameters
intrinsicsEstimationErrorsObject for storing standard errors of estimated camera intrinsics and distortion coefficients
extrinsicsEstimationErrorsObject for storing standard errors of estimated camera extrinsics
estimateFisheyeParametersCalibrate fisheye camera
undistortFisheyeImageCorrect fisheye image for lens distortion
undistortFisheyePointsCorrect point coordinates for fisheye lens distortion
fisheyeCalibrationErrorsObject for storing standard errors of estimated fisheye camera parameters
fisheyeIntrinsicsObject for storing intrinsic fisheye camera parameters
fisheyeIntrinsicsEstimationErrorsObject for storing standard errors of estimated fisheye camera intrinsics
fisheyeParametersObject for storing fisheye camera parameters
extrinsicsCompute location of calibrated camera
extrinsicsToCameraPoseConvert extrinsics to camera pose
relativeCameraPoseCompute relative rotation and translation between camera poses
plotCameraPlot a camera in 3-D coordinates
showExtrinsicsVisualize extrinsic camera parameters
showReprojectionErrorsVisualize calibration errors
rotationMatrixToVectorConvert 3-D rotation matrix to rotation vector
rotationVectorToMatrixConvert 3-D rotation vector to rotation matrix


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 Calibration App

Estimate camera intrinsics, extrinsics, and lens distortion parameters.

Evaluating the Accuracy of Single Camera Calibration

This example shows how to evaluate the accuracy of camera parameters estimated using the cameraCalibrator app or the estimateCameraParameters function.

Measuring Planar Objects with a Calibrated Camera

This example shows how to measure the diameter of coins in world units using a single calibrated camera.