Main Content

fisheyeIntrinsics

Object for storing intrinsic fisheye camera parameters

expand all in page

Description

ThefisheyeIntrinsicsobject stores the camera intrinsics for a fisheye camera. SeefisheyeParametersfor details on other fisheye parameters.

Creation

Syntax

内在s = fisheyeIntrinsics(mappingCoeffs,imageSize,distortionCenter)
内在s = fisheyeIntrinsics(___,stretchMatrix)

Description

example

内在s= fisheyeIntrinsics(mappingCoeffs,imageSize,distortionCenter)返回一个fisheyeIntrinsicsobject 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. SeefisheyeParametersfor more details.

内在s= fisheyeIntrinsics(___,stretchMatrix)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.

Properties

expand all

This property is read-only.

多项式系数投影功能n described by Scaramuzza's Taylor model, specified as an[a0 a2 a3 a4]vector.

This property is read-only.

Center of distortion in pixels, specified as a[cx cy]vector.

This property is read-only.

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.

This property is read-only.

Image size, specified as an[mrows ncols]vector.

Examples

collapse all

Open Live Script

Specify the mapping coefficients, image size, and distortion center parameters of afisheyeIntrinsicsobject. Ignore optical axis misalignment.

mappingCoeffs = [880 -3e-4 0 0];% mapping polynomial coefficientsimageSize = [1500 2000];% in [mrows ncols]distortionCenter = [1000 750];% in pixels内在s = fisheyeIntrinsics(mappingCoeffs,imageSize,distortionCenter);

References

[1] 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.

[2] Urban, S., J. Leitloff, and S. Hinz. "Improved Wide-Angle, Fisheye and Omnidirectional Camera Calibration."ISPRS Journal of Photogrammetry and Remove Sensing. Vol. 108, 2015, pp.72–79.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

See Also

Functions

Objects

Topics

Introduced in R2017b

Computer Vision Toolbox Documentation

金宝app

Introducing Deep Learning with MATLAB

Introducing Deep Learning with MATLAB

Download ebook