Object for storing intrinsic fisheye camera parameters
fisheyeIntrinsics object stores the camera
intrinsics for a fisheye camera. See
fisheyeParameters for details on other fisheye parameters.
intrinsics = fisheyeIntrinsics(mappingCoeffs,imageSize,distortionCenter)
intrinsics = fisheyeIntrinsics(___,stretchMatrix)
intrinsics = fisheyeIntrinsics(
fisheyeIntrinsics object with the specified
[a0 a2 a3 a4] polynomial coefficients, image size,
and center of distortion. These input arguments are assigned directly to the
corresponding properties of the object. See
fisheyeParameters for more details.
additionally specifies a 2-by-2 transformation matrix that describes the
alignment between the sensor plane and the image plane. The default value is
an identity matrix.
intrinsics = fisheyeIntrinsics(___,
MappingCoeffecients— Polynomial coefficients for projection function
[a0 a2 a3 a4]vector
Polynomial coefficients for the projection function described by
Scaramuzza's Taylor model, specified as an
[a0 a2 a3 a4]
DistortionCenter— Center of distortion in pixels
Center of distortion in pixels, specified as a
Stretchmatrix— Transformation from sensor plane to pixel in camera image plane
Transformation from the sensor plane to a pixel in the camera image plane, specified as a 2-by-2 transformation matrix. This misalignment is caused by the lens not being parallel to the sensor and by the digitization process.
ImageSize— Image size
Image size, specified as an
Specify the mapping coefficients, image size, and distortion center parameters of a
fisheyeIntrinsics object. Ignore optical axis misalignment.
mappingCoeffs = [880 -3e-4 0 0]; % mapping polynomial coefficients imageSize = [1500 2000]; % in [mrows ncols] distortionCenter = [1000 750]; % in pixels intrinsics = fisheyeIntrinsics(mappingCoeffs,imageSize,distortionCenter);
 Scaramuzza, D., A. Martinelli, and R. Siegwart. "A Toolbox for Easy Calibrating Omindirectional Cameras." Proceedings to IEEE International Conference on Intelligent Robots and Systems (IROS 2006). Beijing, China, October 7–15, 2006.
 Urban, S., J. Leitloff, and S. Hinz. "Improved Wide-Angle, Fisheye and Omnidirecitonal Camera Calibration." ISPRS Journal of Photogrammetry and Remove Sensing. Vol. 108, 2015, pp.72–79.