InerVis Toolbox for Matlab. IMU CAM calibration. Inertial Measurement Unit and Camera Calibration Toolbox. Toolbox features: Estimates unkown rotation quaternion between Inertial Measurement Unit and Camera. Requires a set of static observations of a vertical chessboard target and sensed gravity. Unit sphere image projection 3D graphic showing vanishing point, gravity and reprojected vertical. Rotation reprojection error plot. If you have rendering errors please run the maltab command ’opengl software’ before launching imucam.m