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.
|Configure monocular camera sensor|
|Convert image coordinates to vehicle coordinates|
|Convert vehicle coordinates to image coordinates|
|Correct image for lens distortion|
|Calibrate a single or stereo camera|
|Calibrate fisheye camera|
|Estimate extrinsic monocular camera parameters using checkerboard|
|Object for storing intrinsic camera parameters|
|Object for storing camera parameters|
Estimate the intrinsic and extrinsic parameters of a monocular camera using a checkerboard pattern.