Camera Calibration Toolbox for Matlab

A few links related to camera calibration

Camera calibration With OpenCV - The same calibration toolbox as this one, in OpenCV.

A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses - The "undocumented" fisheye model contained in the calibration toolbox follows the equidistance projection model described by equation (3) in this very nice paper. The distortion model follows equation (6), to the exception that k1=1 (otherwise indistinguishable from f).

A Camera Calibration Toolbox from the Institute of Robotics and Mechatronics, Germany - DLR CalDe and DLR CalLab is a very complete tool for camera calibration (including corner extraction). The tool just became freely available for download (for non-commercial purposes only). Authors: Klaus Strobl, Wolfgang Sepp, Stefan Fuchs, Cristian Paredes and Klaus Arbter from the Institute of Robotics and Mechatronics.

A fully automatic camera and hand eye calibration developed by Christian Wengert from the Swiss Federal Institute of Technology (ETHZ). This is two add-ons for this camera calibration toolbox for Matlab. The first part covers a fully automatic calibration procedure and the second covers the calibration of the camera to a robot-arm or an external marker (known as Hand-Eye claibration). The author provides a complete documentation.

A Standalone camera calibration application developed by Danail Stoyanov from the Royal Society/Wolfson Foundation Medical Image Computing Laboratory, Imperial College London, United Kingdom. This application was inspired by this Camera Calibration Toolbox for Matlab. It come with a very nice user interface, and is standalone! A great tool! Thank you Danial for this making this application available to the general community.

Omnidirectional Camera Calibration Toolbox for Matlab - A complete toolbox for calibrating omnidirectional cameras. The author Davide Scaramuzza is at the Swiss Federal Institute of Technology Lausanne (EPFL), Switzerland.

Multiple Camera Calibration Toolbox - A Multiple-Camera System Calibration Toolbox Using A Feature Descriptor-Based Calibration Pattern. Authors: Bo Li, Lionel Heng, Kevin Koeser and Marc Pollefeys, Computer Vision and Geometry Group, ETH Zurich.

Omnidirectional Calibration Toolbox Extension - A great extension toolbox for calibrating omnidirectional cameras. The author Christopher Mei wrote a very complete documentation, with examples. It also contain C programs for undistorting images, and reading the results of calibration. It is a wonderful addition to this Camera Calibration Toolbox. Check it out!

OpenCV and MatLab Camera Calibration Toolboxes Enhancement - A set of matlab and C code that adds an automatic corner detection to the Matlab Calibration Toolbox. The author, Vladimir Vezhnevets, also offers new enhancements to the OpenCV version of the calibration tool (a more robust corner detection). A complete C++ standalone application may also be found at this location. It is a remarkable tool.

Camera calibration toolbox on matlab from the University of Oulu, Finland (Janne Heikkil� and Olli Silven) - A reference in camera calibration. Unfortunately, the code does not include corner extraction. We used their intrinsic camera model in that present implementation.

A Flexible New Technique for Camera Calibration - Zhengyou Zhang - Microsoft Research - Great work on calibration. A must see. Our toolbox has been greatly inspired from this work. The software is available online, however, it does not include corner extraction.

Tsai Camera Calibration Software - A classic! Everyone interested in camera calibration should know about that link. No image corner extraction included.

Reg Willson's Home Page at CMU - A reference page on zoom lens modeling, calibration... Also links to Tsai code that he is maintaining. A very useful link to keep.

Camera calibration toolbox for matlab from Hynek Bakstein and Radim Halir - A quite good camera calibration toolbox for matlab. Unfortunately, the code does not include image corner extraction. This page also contains the thesis of Hynek Bakstein on Camera Calibration.

tclcalib - A tool for camera calibration - A collection of tools all wrapped up together in order to make internal camera calibration easy. Heikkila's internal camera model is the one used in this toolbox. Written by James Davies at Stanford.

The Multi-Camera Self-Calibration Toolbox - This is a complete Matlab toolbox for calibrating multiple cameras. This toolbox is freely available for non-commercial use, and includes our Camera Calibration Toolbox. The author of this very nice tool is Tomas Svoboda from the Center for Machine Perception of the Czech Technical University.

EasyCal: A toolbox for calibrating clusters of cameras - This is a complete Matlab and C toolbox for calibrating a large cluster of cameras without the need to click on multiple images. This toolbox is freely available for non-commercial use, and includes our Camera Calibration Toolbox. The authors of this tool are Joao P. Barreto, Kostas Daniilidis, Nikhil Kelshikar, Rana Molana and Xenophon Zabulis from the Computer and Information Science Department of the University of Pennsylvania.

The Optical Metrology Centre - Among other things, this company based in the UK offers camera calibration sevices and sells a complete camera calibration software. I recommend reading the software brochure and the technical brief where useful information about camera calibration may be found. In addition, a large body of technical publications may also be found on their web site. This company is also mentioned on the reference page.

An algorithm for automatic corner extraction - This page describes an algorithm by Abramo Barbaresi to automatically detect the complete set of corners in a checkerboard image. This tool is useful for automatizing the overall calibration procedure.

Gideon P. Stein's Personal Page at MIT (AI Lab) - Very good work on 3D reconstruction and calibration by Gideon Stein. A very good overview of lens distortion models. A good link to keep.

Rapport de mesure de distorsion geometrique des cameras CIVA-P QM [585Kb PDF, in French], by Nicolas Charvin and Alain Soufflot from the Institut d'Astrophysique Spatiale. This report is a exhaustive analysis of geometrique distortions of a stereo camera system. The authors used the toolbox to run the analysis. An excellent report.

A Method to Solve Interior and Exterior Camera Calibration Parameters for Image Resection - A project done at NASA on iterative method for calibration. Observe that the camera model used in that report is identical to ours, and the iterative method is also identical (based on Newton-Raphson). An interesting report.

TotalCalib software (Sylvain Bougnoux) - Very powerful semi-automatic camera calibration tool based on image point correspondence (also known as self-calibration) - Designed at INRIA. Unfortunately, the software is not freely available (or so it seems).

Links to the DLT method for calibration - A good source of information about the DLT method for camera calibration.

Machine Vision Toolbox for matlab - A large collection of matlab routines for machine vision applications, including camera calibration. I have not tried this toolbox.

Camera Calibration Without Feature Extraction (Luc Robert) - Very interesting research on camera calibration.
Automatic Feature Point Extraction for Light Field Camera Calibration - Project Report - Bennett Wilburn - Stanford - An interesting project on calibration. Take a look.

Semiautomatic Camera Lens Calibration from Partially known structure - A project done at the MIT media labs that uses the same camera model as we are to undistort images.

Kinetic Sciences Inc. (KSI) - Opti-CAL camera calibration package - A complete camera calibration package for Machintosh. Not free!

MVTec HALCON - The Software Solution for Machine Vision Applications - A machine vision package providing a number of tools, including camera calibration. Not free!

MATLAB Functions for Computer Vision and Image Analysis - A very useful collection of great computer vision and image processing function in matlab by Prof. Peter Kovesi from the University of Western Australia.

Very useful set of links on Computer Vision and Machine Learning - This page is maintained by Cristian Dima from CMU.

I try to keep updating this page regularly, as I discover new interesting pages related to the topic of camera calibration. However, the web is large and dynamic, and I rely on elementary search engines to find new links. Therefore, I encourage you to directly contribute with your (or someone else's) link by sending me an email at jbouguet at gmail dot com. Thank you.

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