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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.


Camera CalibratorEstimate geometric parameters of a single camera
Stereo Camera CalibratorEstimate geometric parameters of a stereo camera


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monoCameraConfigure monocular camera sensor
imageToVehicleConvert image coordinates to vehicle coordinates
vehicleToImageConvert vehicle coordinates to image coordinates
projectedCuboidTo3DCompute 3-D cuboid from 2-D projected cuboid (Since R2022b)
undistortImageCorrect image for lens distortion
estimateCameraParametersCalibrate a single or stereo camera
estimateFisheyeParametersCalibrate fisheye camera
estimateMonoCameraParametersEstimate extrinsic monocular camera parameters using calibration pattern
estimateMonoCameraFromSceneEstimate monocular camera parameters from scene geometry (Since R2022b)
cameraIntrinsicsObject for storing intrinsic camera parameters
cameraParametersObject for storing camera parameters
birdsEyeViewCreate bird's-eye view using inverse perspective mapping
transformImageTransform image to bird's-eye view
imageToVehicleConvert bird's-eye-view image coordinates to vehicle coordinates
vehicleToImageConvert vehicle coordinates to bird's-eye-view image coordinates
insertObjectAnnotationAnnotate truecolor or grayscale image or video
insertLaneBoundaryInsert lane boundary into image
insertMarkerInsert markers in image or video
insertShapeInsert shapes in image or video
insertTextInsert text in image or video