intrinsics

R2026b

Retrieve intrinsic parameters

Since R2026b

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Syntax

intrinsicsTable = intrinsics(multiSensorObj)
sensorIntrinsics = intrinsics(multiSensorObj,name)

Description

intrinsicsTable = intrinsics(multiSensorObj) returns a table containing the intrinsic parameters for one or more sensors.

example

sensorIntrinsics = intrinsics(multiSensorObj,name) returns the intrinsic parameters for one or more sensors as intrinsic parameters objects.

Examples

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This example uses:

Open Live Script

Load a multi-sensor parameters object that contains six cameras and two lidar sensors.

multiSensorObj = load("multiSensorObjPandaSet.mat").multiSensorObj
multiSensorObj = 
  multiSensorParameters with properties:

    ReferenceFrame: "vehicle"
             Count: 8
           Sensors: [8×6 table]

                                 Name              Type               MountingAngles                       MountingLocation                    Intrinsics           SensorInfo 
                         ____________________    ________    ________________________________    ____________________________________    ______________________    ____________
                
                    1    "back_camera"           "camera"      89.916      0.1733     -88.912    -0.69927     0.0013883        1.6532    {1×1 cameraIntrinsics}    {1×1 struct}
                    2    "front_camera"          "camera"     -91.555     -1.0757     -90.711      0.4035    -0.0016662        1.8104    {1×1 cameraIntrinsics}    {1×1 struct}
                    3    "front_gt"              "lidar"      -87.536     0.20817      1.3051     0.95814      0.024137        2.1652    {0×0 double          }    {1×1 struct}
                    4    "front_left_camera"     "camera"     -34.072      0.8383     -90.257      1.0874       0.62237         1.535    {1×1 cameraIntrinsics}    {1×1 struct}
                    5    "front_right_camera"    "camera"     -149.62    -0.19227     -89.611      1.0191      -0.62249        1.6058    {1×1 cameraIntrinsics}    {1×1 struct}
                    6    "left_camera"           "camera"    -0.26917     0.46213     -89.028     0.12172       0.54348         1.581    {1×1 cameraIntrinsics}    {1×1 struct}
                    7    "main_pandar64"         "lidar"           90           0           0        0.36             0          1.85    {0×0 double          }    {1×1 struct}
                    8    "right_camera"          "camera"      179.59    -0.75135     -89.148     0.12018      -0.68784        1.5548    {1×1 cameraIntrinsics}    {1×1 struct}

Get the transformation from the front camera to the front lidar sensor.

tform = transformation(multiSensorObj,"front_camera","front_gt");

Get the camera intrinsic parameters of the front camera.

camIntrinsicsFront = intrinsics(multiSensorObj,"front_camera");

Get the mounting angles and mounting location of the front camera.

[mountingAngles,mountingLocation] = mountingPose(multiSensorObj,"front_camera");

Input Arguments

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Multi-sensor parameters object, specified as a multiSensorParameters object.

Name of the sensor, specified as a string scalar, character vector, M-element string array, or a M-element cell array of character vectors. M is the number of sensors for which to retrieve intrinsic parameters.

Output Arguments

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Sensor names and intrinsic parameters, returned as a table with these columns

.

Intrinsic parameters of the sensor, returned as an M-element array of cameraIntrinsics (Computer Vision Toolbox), fisheyeIntrinsics (Computer Vision Toolbox), factorIMUParameters or an M-element cell array of intrinsic parameter objects. M is the number of objects. If you specify name as an M-element string array or cell array of character vectors, then sensorIntrinsics is an M-element cell array in which each element contains the cameraIntrinsics (Computer Vision Toolbox), fisheyeIntrinsics (Computer Vision Toolbox), or factorIMUParameters object that specifies the intrinsic parameters of the corresponding element of name

Version History

Introduced in R2026b