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Fish‐eye cameras are becoming increasingly popular in computer vision, but their use for three‐dimensional measurement is limited partly because of the lack of an accurate, efficient and user‐friendly calibration procedure. For such a purpose, the authors propose a method to calibrate the intrinsic and extrinsic parameters (including radial distortion parameters) of two/multiple fish‐eye cameras simultaneously by using a wand under general motions. Thanks to the generic camera model used, the proposed calibration method is also suitable for two/multiple conventional cameras and mixed cameras (e.g. two conventional cameras and a fish‐eye camera). Simulation and real experiments demonstrate the effectiveness of the proposed method. Moreover, the authors develop the camera calibration toolbox, which is available online.