Camera Sensor Configuration

Monocular camera sensor calibration, image-to-vehicle coordinate system transforms, bird’s-eye-view image transforms

When developing a visual perception algorithm for a monocular camera sensor, an accurate camera configuration is essential. You can use a monoCamera object to configure such a sensor by defining its intrinsic and extrinsic parameters. To obtain intrinsic parameters, use the Camera Calibrator app. To obtain extrinsic parameters, use the estimateMonoCameraParameters function. You can use the configured monoCamera object to transform locations in image coordinates to locations in vehicle coordinates. These transformations enable you to estimate distances to locations ahead of the ego vehicle. You can also create bird's-eye view images using the monoCamera object, which you can use to verify your camera configuration or as part of a lane detection algorithm.

Apps

Camera Calibrator	Estimate geometric parameters of a single camera
Stereo Camera Calibrator	Estimate geometric parameters of a stereo camera

Functions

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Monocular Camera Sensor Configuration

`monoCamera`	Configure monocular camera sensor
`imageToVehicle`	Convert image coordinates to vehicle coordinates
`vehicleToImage`	Convert vehicle coordinates to image coordinates
`projectedCuboidTo3D`	Compute 3-D cuboid from 2-D projected cuboid
`undistortImage`	Correct image for lens distortion
`estimateCameraParameters`	Calibrate a single or stereo camera
`estimateFisheyeParameters`	Calibrate fisheye camera
`estimateMonoCameraParameters`	Estimate extrinsic monocular camera parameters using checkerboard
`estimateMonoCameraFromScene`	Estimate monocular camera parameters from scene geometry
`cameraIntrinsics`	Object for storing intrinsic camera parameters
`cameraParameters`	Object for storing camera parameters

Bird’s-Eye-View Image Transforms

`birdsEyeView`	Create bird's-eye view using inverse perspective mapping
`transformImage`	Transform image to bird's-eye view
`imageToVehicle`	Convert bird's-eye-view image coordinates to vehicle coordinates
`vehicleToImage`	Convert vehicle coordinates to bird's-eye-view image coordinates

Video Annotation

`insertObjectAnnotation`	Annotate truecolor or grayscale image or video stream
`insertLaneBoundary`	Insert lane boundary into image
`insertMarker`	Insert markers in image or video
`insertShape`	Insert shapes in image or video
`insertText`	Insert text in image or video

Topics

Calibrate a Monocular Camera
Estimate the intrinsic and extrinsic parameters of a monocular camera using a checkerboard pattern.

Featured Examples

Configure Monocular Fisheye Camera

Convert a fisheye camera model to a pinhole model and construct a corresponding monocular camera sensor simulation.

Open Live Script

Annotate Video Using Detections in Vehicle Coordinates

Configure and use a monocular camera object to display information provided in vehicle coordinates on a video display.

Open Live Script

Create 360° Bird's-Eye-View Image Around a Vehicle

Create a 360° bird's-eye-view image around a vehicle for use in a surround view monitoring system. It then shows how to generate code for the same bird's-eye-view image creation algorithm and verify the results.

Open Live Script