Using the Levenberg Marquardt Algorithm for Camera Calibration without the Analytical Jacobian

Pradit’s memo on implementing camera calibration in MATLAB is a very good way to review the key concepts. As the memo describes, one key issue in implementing an LM optimization is finding an analytical expression for the Jacobian which can be quite complex for the case of camera calibration. For C/C++ users, especially, it involves using MATLAB to find the Jacobian and then using the MATLAB function ccode to get the corresponding C code which is cumbersome. There is an alternative and less complex method that can be used with good results for normal camera calibration and the Homeworks. We use the levmar package for this. It can be downloaded here Note that you can use levmar from Matlab and Python as well. To make maximum use of the various functions in levmar, you need to install the LAPACK or CLAPACK libraries. Instructions to install and use the levmar package in Windows can be found here