Download DLR CalDe and DLR CalLab

Feel free to download the compiled IDL programs as well as some sample files. We kindly draw your attention to the copyright clauses at the end of the document.

1. About

The camera calibration suite consists of two separated programs, that is DLR CalDe (camera Calibration Detection tool) and DLR CalLab (camera Calibration Lab). CalDe aims at the measurement of the salient points of a specific calibration object. The measured points are read and processed by DLR CalLab which finally provides the intrinsic camera parameters as well as the extrinsic parameters for stereo cameras and/or eye-in-hand cameras.

2. Installation

First, download and unpack DLR CalDe

and DLR CalLab

into a directory of your choice, hereafter named ${CALLAB}.

Second, download and install the free IDL virtual machine (*) from into a directory, hereafter named ${IDL}. DLR CalDe and DLR CalLab work at least under Sun Solaris, Linux (32-bit), Mac OS X, and Microsoft Windows (NT, 32-bit).

* NOTE: As of 2010 (IDL version 8.0), EXELIS VIS seems to have broken this tradition and no new virtual machine is available anymore. The (registered) user can however download and install the full IDL package. ${IDL}/bin/idl will now take ${IDL}/bin/idlvm's place. Registration is not immediate and might take up some time.

Sample files are also available ( or sample.tar.gz ).

In addition, Wolfgang offers the following Mathematica notebook: . It contains I/O, projection, distortion, and undistortion functions. Further examples in the Brief Tutorials section.

3. Execution

Run CalDe via
${IDL}/bin/idlvm -vm=${CALLAB}/calde/calde.sav

Run CalLab via
${IDL}/bin/idlvm -vm=${CALLAB}/callab/callab.sav

4. Newsletter

Our newsletter informs on new versions of DLR CalLab and DLR CalDe. To receive mail please subscribe by sending an e-mail with the subject "subscribe" to rm-callab AT from the desired e-mail delivery address.

5. BibTeX entry

You can use the following entry to cite this work:

author = {K. H. {S}trobl and W. {S}epp and S. {F}uchs and C. {P}aredes and M. {S}misek and K. {A}rbter},
title = {{D}{L}{R} {C}al{D}e and {D}{L}{R} {C}al{L}ab},
organization = {Institute of Robotics and Mechatronics, German Aerospace Center (DLR)},
address = {Oberpfaffenhofen, Germany},
url = {}

6. Copyright

DLR CalDe has been developed at the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen (Germany) by Wolfgang Sepp, Stefan Fuchs, Klaus Arbter, Klaus Strobl, and Michal Smisek.

DLR CalLab has been developed at the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), Oberpfaffenhofen (Germany) by Klaus Strobl, Cristian Paredes, and Michal Smisek.

These program are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY. You are free to use and redistribute this software as long as
a) the software is used for non-commercial purposes only,
b) the software is not modified,
c) the credits to authors and the license terms are made clear to the user.

Any of these conditions can be waived if you get permission from the copyright holder.

Klaus Strobl
German Aerospace Center

Institute of Robotics and Mechatronics
, Perception and Cognition
Tel: +49 8153 28-2482

Fax: +49 8153 28-1134

URL for this article