  Wide-angle cameras are widely used in photogrammetry and autonomous systems
which rely on the accurate metric measurements derived from images. To find the
geometric relationship between incoming rays and image pixels, geometric camera
calibration (GCC) has been actively developed. Aiming to provide practical
calibration guidelines, this work surveys the existing GCC tools and evaluates
the representative ones for wide-angle cameras. The survey covers camera
models, calibration targets, and algorithms used in these tools, highlighting
their properties and the trends in GCC development. The evaluation compares six
target-based GCC tools, namely, BabelCalib, Basalt, Camodocal, Kalibr, the
MATLAB calibrator, and the OpenCV-based ROS calibrator, with simulated and real
data for wide-angle cameras described by four parametric projection models.
These tests reveal the strengths and weaknesses of these camera models, as well
as the repeatability of these GCC tools. In view of the survey and evaluation,
future research directions of wide-angle GCC are also discussed.
