To estimate this value, use the Pitch angle between the horizontal plane of the vehicle and the optical For example, to update the yaw angle for This property only stores the unit type and does not affect any a A modified version of this example exists on your system. For example, to update the yaw angle for Any text is valid.You can set this property when you create the object. object, this property is read-only.Create a forward-facing monocular camera sensor mounted on an ego vehicle. scalar in degrees. Any text is valid.You can set this property when you create the object. meters. The height is the perpendicular distance from the ground to the directions when looking in the positive direction of the If you are using R2017b or earlier, to use the correct direction of rotation, object, this property is read-only.Height from the road surface to the camera sensor, specified as a real

Based on your location, we recommend that you select: You can also select a web site from the following list:Select the China site (in Chinese or English) for best site performance. Knowing the camera's intrinsic and extrinsic calibration parameters is critical to accurate conversion between pixel and vehicle coordinates. Web browsers do not support MATLAB commands.Choose a web site to get translated content where available and see local events and offers. update the yaw angle to its negative value. calculations. Create a monoCamera object to model the monocular camera sensor. (The default origin of this coordinate system is on the road surface, directly To estimate this value, use the Location of the center of the camera sensor, specified as a two-element

Position the camera 2.18 meters above the ground with a 14-degree pitch toward the ground. the For more details about the vehicle coordinate system, see The monocular camera sensor uses clockwise positive angle Configuration information includes the camera intrinsics, camera extrinsics such as its orientation (as described by pitch, yaw, and roll), and the camera location within the vehicle.

The Determine the vehicle coordinates of a point that lies on the road surface in the image.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.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 a Create a vision detection generator using the monocular camera configuration.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. focal point of the camera. Other MathWorks country sites are not optimized for visits from your location. To estimate this value, use the Location of the center of the camera sensor, specified as a two-element After you create the

Use these poses to generate detections from the sensor.In the vehicle coordinate system For images captured by the camera, you can use the Intrinsic camera parameters, specified as either a You can set this property when you create the object. vector of the form By default, the camera sensor is located at the

The acfObjectDetectorMonoCamera contains information about an aggregate channel features (ACF) object detector that is configured for use with a monocular camera sensor. Position the second target car 20 meters in front of the ego vehicle but offset to the left by 3 meters.Use a bird's-eye plot to display the vehicle outlines and sensor coverage area.Obtain the poses of the target cars from the perspective of the ego vehicle. Position the first target car 30 meters directly in front of the ego vehicle. below the camera center.

After you create the