Camera Intrinsic calibration
PreviousData Collection for Camera intrinsic CalibrationNextData Collection for Lidar-Camera Calibration (Single Target)
Last updated
Last updated
This page lets users view, create, launch, and delete calibration datasets. Admins can manage users’ access to these datasets on this page.
Click on New Calibration to create a new calibration dataset.
Select the Camera Intrinsic Calibration button to create a new dataset.
Upon selecting Camera Intrinsic Calibration, the user is welcomed to the instructions page. Click on Get started to start the calibration setup.
Target configuration = Checkerboard
Enable use EXIF metadata to use of EXIF metadata from images to optimize calibration. Disable this if using an External Lens for the Camera is recommended.
Camera lens model: For wide-angle cameras, use Fish-eye and Standard for the rest
Standard is the Brown-Conrady camera model
Fish-eye is the Kannala-Brandt camera model
Horizontal corners: Number of horizontal inner corners in the checkerboard
Vertical corners: Number of vertical inner corners in the checkerboard
Target configuration = Charuco Board
Enable use EXIF metadata to use of EXIF metadata from images to optimize calibration. Disable this if using an External Lens for the Camera is recommended.
Camera lens model: For wide-angle cameras, use Fish-eye and Standard for the rest
Horizontal corners: Number of chessboard squares in the horizontal direction in charucoboard
Vertical corners: Number of chessboard squares in the vertical direction in charucoboard
Square size: The size of the square in the board in meters
Marker size: The size of the ArUco marker present inside the charucoboard in meters.
Upload the images taken from the camera for which intrinsics need to be calculated.
Alpha is the new scaling parameter in Camera Intrinsic Calibration. Alpha can have values between 0 and 1.
Alpha=0, it returns an undistorted image with minimum unwanted pixels
Alpha=1, all pixels are retained with some extra black pixels.
Default: Includes k1, k2, k3, p1, p2 in distortion coefficients
Extended intrinsics: Includes k1, k2, p1, p2, k3, k4, k5, k6 in distortion coefficients
Minimal(K1,K2): excludes k3 from distortion coefficients and includes only k1, k2, p1, p2
Click the Calibrate button at the bottom to trigger calibration. You can see the intrinsic parameters and error statistics in the right panel upon completion.
The Reprojection error is in pixels. It is the mean of the Euclidean distance between the auto-detected checkerboard corners and reprojected checkerboard corners. The closer the Reprojection error is to zero, the better the intrinsics are.
The uncertainties represent the potential variability in the optimized parameters. They reflect how precisely each parameter is determined during calibration, based on the provided input data.
Lower uncertainty: Indicates higher confidence in the parameter's accuracy and reliability.
Higher uncertainty: Suggests the parameter is less well-determined, which could result from insufficient data, poor data distribution, or sensitivity to noise and errors.
By analyzing these uncertainties, you can assess the quality and robustness of the calibration results.
Users can visualize the Undistorted image to check the quality of the intrinsics.
The side-by-side view can be used to check both the distorted and undistorted images simultaneously
Checkerboard coverage shows the area covered by the checkerboard corners from all uploaded images. The higher the coverage, the better the intrinsic parameters.
0 - 50% is low coverage
51 - 70% is moderate coverage
71 - 100% is Good coverage
Users can see the individual reprojection error of all the checkerboard corner points. A color ramp is used to depict the reprojection error. A light red color shows a lower reprojection error, and a darker red indicates a higher reprojection error.
Camera Intrinsic parameters can be saved to the profile for easier import in other calibrations.
Charucoboard Dictionary: There are multiple types of aruco markers from which the charuco board can be made. Please visit for supported charuco dictionaries.
