标定相机

R2026a

自动执行单目相机、鱼眼相机、立体相机、多相机和机器人手眼配置的内参和外参标定工作流

相机标定是通过使用包含标定图案的图像来估计相机参数的过程。这些参数包括相机内参、畸变系数和相机外参。使用这些相机参数可以消除图像中的镜头畸变效果，测量平面目标，基于多个相机重建三维场景，以及执行其他计算机视觉应用。

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鱼眼相机标定通过估计鱼眼镜头特有的参数和畸变系数来扩展此过程，这对于校正极端畸变以及在 SLAM、里程计、监控、VR 和图像拼接等应用中将图像点准确映射到真实世界坐标至关重要。多相机标定确保系统中的所有相机对场景几何具有一致的理解，从而支持三维运动捕获、重建和摄影测量等任务，而机器人手眼标定则确定机器人手臂与相机之间的空间关系，以实现精确的视觉伺服和交互。您可以使用相机标定器和相关函数进行单相机内参、外参和畸变标定，使用立体相机标定器和相关函数进行立体参数和相对方向标定，并使用专用的鱼眼标定函数进行畸变消除和精确的广角三维重建。

App

相机标定器	估计单目相机的几何参数
立体相机标定器	估计立体相机的几何参数

函数

全部展开

生成和检测标定图案

棋盘格

detectCheckerboardPoints Detect checkerboard pattern in image

圆点网格

detectCircleGridPoints Detect circle grid pattern in images

ChArUco 标定板

`detectCharucoBoardPoints`	Detect ChArUco board pattern in images (自 R2024b 起)
`generateCharucoBoard`	Generate ChArUco board image (自 R2024b 起)

AprilGrid

detectAprilGridPoints Detect keypoints of AprilGrid pattern in images (自 R2024b 起)

自定义图案

vision.calibration.PatternDetector Interface for defining custom planar pattern detectors

生成世界点

`patternWorldPoints`	Generate world point locations of a camera calibration pattern (自 R2024b 起)
`generateWorldPoints`	Generate world coordinates for keypoints of custom planar pattern

多相机标定图案

`detectPatternPoints`	Detect keypoints of calibration pattern in images from multiple cameras (自 R2025a 起)
`detectMultiPatternPoints`	Detect keypoints of multiple calibration patterns (自 R2026a 起)

AprilTag 与 ArUco 标记

`readAprilTag`	Detect and estimate pose for AprilTag in image
`readArucoMarker`	Detect and estimate pose for ArUco marker in image (自 R2024a 起)
`generateArucoMarker`	Generate ArUco marker images (自 R2024a 起)

估计相机参数

针孔相机

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

鱼眼相机

estimateFisheyeParameters Calibrate fisheye camera

立体相机

estimateStereoBaseline Estimate baseline of stereo camera

多相机

estimateMultiCameraParameters Calibrate extrinsic parameters of multiple cameras with overlapping views (自 R2025a 起)

机器人相机

estimateCameraRobotTransform Estimate pose of camera relative to robot using hand-eye calibration (自 R2025a 起)

存储结果

单目相机

`cameraParameters`	Object for storing camera parameters
`cameraIntrinsics`	Object for storing intrinsic camera parameters
`cameraIntrinsicsKB`	Intrinsic camera parameters based on Kannala-Brandt model (自 R2024a 起)
`cameraProjection`	Camera projection matrix (自 R2022b 起)

多相机

multiCameraParameters Store multi-camera system parameters (自 R2025a 起)

鱼眼相机

`fisheyeIntrinsics`	Object for storing intrinsic fisheye camera parameters
`fisheyeParameters`	Object for storing fisheye camera parameters

立体相机

stereoParameters Object for storing stereo camera system parameters

误差度量

`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

消除畸变

针孔相机

`undistortImage`	Correct image for lens distortion
`undistortPoints`	Correct point coordinates for lens distortion

鱼眼相机

`undistortFisheyeImage`	Correct fisheye image for lens distortion
`undistortFisheyePoints`	Correct point coordinates for fisheye lens distortion

可视化结果

`pcshow`
`plotCamera`	Plot camera in 3-D coordinates
`showExtrinsics`	Visualize extrinsic camera parameters
`showReprojectionErrors`	Visualize calibration errors
`stereoAnaglyph`	Create red-cyan anaglyph from stereo pair of images

估计相机位姿

`estimateExtrinsics`	Calculate location of calibrated camera (自 R2022b 起)
`extr2pose`	Convert extrinsics to camera pose (自 R2022b 起)
`pose2extr`	Convert camera pose to extrinsics (自 R2022b 起)
`estrelpose`	Calculate relative rotation and translation between camera poses (自 R2022b 起)

转换

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

主题

什么是相机标定？
估计图像或视频相机的镜头与图像传感器的参数。
What Is Robot Hand-Eye Calibration?
Understand moving and stationary robot camera configurations for hand-eye calibration.
What Is Multi-Camera Calibration?
Estimate the positions and orientations of cameras in a multi-camera system.
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.
Data Collection Guidelines for Single-Camera Calibration
Set up your camera and capture camera calibration images to use with the calibrator app.
Data Collection Guidelines for Multi-Camera Calibration
Set up your camera, and capture camera calibration images for multi-camera calibration.
Point Feature Types
Choose functions that return and accept points objects for several types of features.
坐标系
指定像素索引、空间坐标和三维坐标系。