Bayesian Statistical Methods

Centre of Excellence in Computational Complex Systems Research


Camera Calibration Toolbox for Generic Lenses

Copyright (C) 2004 Juho Kannala

New site for the toolbox

This page contains first version of the toolbox. The author of the toolbox Juho Kannala has moved to Oulu and the latest version of Camera Calibration Toolbox is now available here.

First version available here is not supported.


This is a camera calibration toolbox for Matlab that can be used to calibrate both conventional cameras and fish-eye lens cameras. The calibration is based on viewing a planar calibration object. The intrinsic and extrinsic camera parameters are estimated from control point correspondences between the calibration plane and calibration images.


This software is distributed under the GNU General Public License (version 2 or later); please refer to the file License.txt, included with the software, for details.



Copy all the m-files into a directory and add it to your MATLABPATH. Matlab version 6.5 or later with the Image Processing Toolbox and Optimization Toolbox is required.


There are two ways of using the toolbox:

  1. Given the point correspondences between the calibration plane and calibration images one may directly compute the camera parameters.
  2. If a calibration pattern with circular control points is used, one may extract the centroids of the projected circles from the calibration images by using an interactive procedure. After this the camera parameters may be computed.

For more instructions see the README file.


  1. Juho Kannala and Sami Brandt (2004). A Generic Camera Calibration Method for Fish-Eye Lenses. 17th International Conference on Pattern Recognition, Cambridge, UK. (PDF)
  2. Juho Kannala (2004). Measuring the Shape of Sewer Pipes from Video. Master's Thesis. Helsinki University of Technology. (PDF)