Create a forward-facing monocular camera sensor mounted on an ego vehicle. Examine an image captured from the camera and determine locations within the image in both vehicle and image coordinates.

Set the intrinsic parameters of the camera. Specify the focal length, the principal point of the image plane, and the output image size. Units are in pixels. Save the intrinsics as acameraIntrinsicsobject.

focalLength = [800 800]; principalPoint = [320 240]; imageSize = [480 640]; intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize);

Specify the position of the camera. Position the camera 2.18 meters above the ground with a 14-degree pitch toward the ground.

height = 2.18; pitch = 14;

Define a monocular camera sensor using the intrinsic camera parameters and the position of the camera. Load an image from the camera.

sensor = monoCamera(intrinsics,height,'Pitch',pitch); Ioriginal = imread('road.png'); figure imshow(Ioriginal) title('Original Image')

Determine the image coordinates of a point 10 meters directly in front of the camera. TheX-axis points forward from the camera and theY-axis points to the left.

xyVehicleLoc1 = [10 0]; xyImageLoc1 = vehicleToImage(sensor,xyVehicleLoc1)

xyImageLoc1 =1×2320.0000 216.2296

Display the point on the image.

IvehicleToImage = insertMarker(Ioriginal,xyImageLoc1); IvehicleToImage = insertText(IvehicleToImage,xyImageLoc1 + 5,'10 meters'); figure imshow(IvehicleToImage) title('Vehicle-to-Image Point')

Determine the vehicle coordinates of a point that lies on the road surface in the image.

xyImageLoc2 = [300 300]; xyVehicleLoc2 = imageToVehicle(sensor,xyImageLoc2)

xyVehicleLoc2 =1×26.5959 0.1732

The point is about 6.6 meters in front of the vehicle and about 0.17 meters to the left of the vehicle center.

Display the vehicle coordinates of the point on the image.

IimageToVehicle = insertMarker(Ioriginal,xyImageLoc2); displayText = sprintf('(%.2f m, %.2f m)',xyVehicleLoc2); IimageToVehicle = insertText(IimageToVehicle,xyImageLoc2 + 5,displayText); figure imshow(IimageToVehicle) title('Image-to-Vehicle Point')

Create a vision sensor by using a monocular camera configuration, and generate detections from that sensor.

Specify the intrinsic parameters of the camera and create amonoCameraobject from these parameters. The camera is mounted on top of an ego vehicle at a height of 1.5 meters above the ground and a pitch of 1 degree toward the ground.

focalLength = [800 800]; principalPoint = [320 240]; imageSize = [480 640]; intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize); height = 1.5; pitch = 1; monoCamConfig = monoCamera(intrinsics,height,'Pitch',pitch);

Create a vision detection generator using the monocular camera configuration.

visionSensor = visionDetectionGenerator (monoCamConfig);

Generate a driving scenario with an ego vehicle and two target cars. Position the first target car 30 meters directly in front of the ego vehicle. Position the second target car 20 meters in front of the ego vehicle but offset to the left by 3 meters.

scenario = drivingScenario; egoVehicle = vehicle(scenario,'ClassID'1);targetCar1 =车辆(scenario,'ClassID',1,'Position',[30 0 0]); targetCar2 = vehicle(scenario,'ClassID',1,'Position',[20 3 0]);

Use a bird's-eye plot to display the vehicle outlines and sensor coverage area.

figure bep = birdsEyePlot('XLim',[0 50],'YLim',[-20 20]); olPlotter = outlinePlotter(bep); [position,yaw,length,width,originOffset,color] = targetOutlines(egoVehicle); plotOutline(olPlotter,position,yaw,length,width); caPlotter = coverageAreaPlotter(bep,'DisplayName','Coverage area','FaceColor','blue'); plotCoverageArea(caPlotter,visionSensor.SensorLocation,visionSensor.MaxRange,...visionSensor.Yaw,visionSensor.FieldOfView(1))

Obtain the poses of the target cars from the perspective of the ego vehicle. Use these poses to generate detections from the sensor.

poses = targetPoses(egoVehicle); [dets,numValidDets] = visionSensor(poses,scenario.SimulationTime);

Display the (X,Y) positions of the valid detections. For each detection, the (X,Y) positions are the first two values of theMeasurementfield.

fori = 1:numValidDets XY = dets{i}.Measurement(1:2); detXY = sprintf('Detection %d: X = %.2f meters, Y = %.2f meters',i,XY); disp(detXY)end

Detection 1: X = 19.09 meters, Y = 2.79 meters Detection 2: X = 27.81 meters, Y = 0.08 meters