Simulation 3D Fisheye Camera
Fisheye camera sensor model in 3D simulation environment
- Library:
Automated Driving Toolbox / Simulation 3D
Description
The Simulation 3D Fisheye Camera block provides an interface to a camera with a fisheye lens in a 3D simulation environment. This environment is rendered using the Unreal Engine® from Epic Games®. The sensor is based on the fisheye camera model proposed by Scaramuzza [1]. The block outputs an image with the specified camera distortion and size. You can also output the location and orientation of the camera in the world coordinate system of the scene.
If you set Sample time to -1, the block uses the
sample time specified in the Simulation 3D Scene Configuration block. To use
this sensor, you must include a Simulation 3D Scene Configuration block in your
model.
Note
The Simulation 3D Scene Configuration block must execute before the Simulation 3D Fisheye Camera block. That way, the Unreal Engine 3D visualization environment prepares the data before the Simulation 3D Fisheye Camera block receives it. To check the block execution order, right-click the blocks and select Properties. On the General tab, confirm these Priority settings:
Simulation 3D Scene Configuration —
0Simulation 3D Fisheye Camera —
1
For more information about execution order, see How 3D Simulation for Automated Driving Works.
Ports
Output
Parameters
Mounting
Sensor identifier — Unique sensor identifier
1 (default) | positive integer
Unique sensor identifier, specified as a positive integer. In a multisensor system, the sensor identifier distinguishes between sensors. When you add a new sensor block to your model, the Sensor identifier of that block is N + 1. N is the highest Sensor identifier value among existing sensor blocks in the model.
Example: 2
Parent name — Name of parent to which sensor is mounted
Scene Origin (default) | vehicle name
Name of the parent to which the sensor is mounted, specified as Scene
Origin or as the name of a vehicle in your model. The vehicle
names that you can select correspond to the Name parameters of
the Simulation 3D
Vehicle with Ground Following blocks in your model. If you select
Scene Origin, the block places a sensor at the scene
origin.
Example: SimulinkVehicle1
Mounting location — Sensor mounting location
Origin (default) | Front bumper | Rear bumper | Right mirror | Left mirror | Rearview mirror | Hood center | Roof center
Sensor mounting location.
When Parent name is
Scene Origin, the block mounts the sensor to the origin of the scene, and Mounting location can be set toOriginonly. During simulation, the sensor remains stationary.When Parent name is the name of a vehicle (for example,
SimulinkVehicle1) the block mounts the sensor to one of the predefined mounting locations described in the table. During simulation, the sensor travels with the vehicle.
| Vehicle Mounting Location | Description | Orientation Relative to Vehicle Origin [Roll, Pitch, Yaw] (deg) |
|---|---|---|
Origin | Forward-facing sensor mounted to the vehicle origin, which is on the ground, at the geometric center of the vehicle (see Coordinate Systems for 3D Simulation in Automated Driving Toolbox)
| [0, 0, 0] |
Front bumper | Forward-facing sensor mounted to the front bumper
| [0, 0, 0] |
Rear bumper | Backward-facing sensor mounted to the rear bumper
| [0, 0, 180] |
Right mirror | Downward-facing sensor mounted to the right side-view mirror
| [0, –90, 0] |
Left mirror | Downward-facing sensor mounted to the left side-view mirror
| [0, –90, 0] |
Rearview mirror | Forward-facing sensor mounted to the rearview mirror, inside the vehicle
| [0, 0, 0] |
Hood center | Forward-facing sensor mounted to the center of the hood
| [0, 0, 0] |
Roof center | Forward-facing sensor mounted to the center of the roof
| [0, 0, 0] |
The (X, Y, Z) location of the sensor relative to the vehicle depends on the vehicle type. To specify the vehicle type, use the Type parameter of the Simulation 3D Vehicle with Ground Following block to which you are mounting. The tables show the X, Y, and Z locations of sensors in the vehicle coordinate system. In this coordinate system:
The X-axis points forward from the vehicle.
The Y-axis points to the left of the vehicle, as viewed when facing forward.
The Z-axis points up from the ground.
Roll, pitch, and yaw are clockwise-positive when looking in the positive direction of the X-axis, Y-axis, and Z-axis, respectively. When looking at a vehicle from the top down, then the yaw angle (that is, the orientation angle) is counterclockwise-positive, because you are looking in the negative direction of the axis.
Box Truck — Sensor Locations Relative to Vehicle Origin
| Mounting Location | X (m) | Y (m) | Z (m) |
|---|---|---|---|
Front bumper | 5.10 | 0 | 0.60 |
Rear bumper | –5 | 0 | 0.60 |
| 2.90 | 1.60 | 2.10 |
| 2.90 | –1.60 | 2.10 |
| 2.60 | 0.20 | 2.60 |
| 3.80 | 0 | 2.10 |
| 1.30 | 0 | 4.20 |
Hatchback — Sensor Locations Relative to Vehicle Origin
| Mounting Location | X (m) | Y (m) | Z (m) |
|---|---|---|---|
Front bumper | 1.93 | 0 | 0.51 |
Rear bumper | –1.93 | 0 | 0.51 |
| 0.43 | –0.84 | 1.01 |
| 0.43 | 0.84 | 1.01 |
| 0.32 | 0 | 1.27 |
| 1.44 | 0 | 1.01 |
| 0 | 0 | 1.57 |
Muscle Car — Sensor Locations Relative to Vehicle Origin
| Mounting Location | X (m) | Y (m) | Z (m) |
|---|---|---|---|
Front bumper | 2.47 | 0 | 0.45 |
Rear bumper | –2.47 | 0 | 0.45 |
| 0.43 | –1.08 | 1.01 |
| 0.43 | 1.08 | 1.01 |
| 0.32 | 0 | 1.20 |
| 1.28 | 0 | 1.14 |
| –0.25 | 0 | 1.58 |
Sedan — Sensor Locations Relative to Vehicle Origin
| Mounting Location | X (m) | Y (m) | Z (m) |
|---|---|---|---|
Front bumper | 2.42 | 0 | 0.51 |
Rear bumper | –2.42 | 0 | 0.51 |
| 0.59 | –0.94 | 1.09 |
| 0.59 | 0.94 | 1.09 |
| 0.43 | 0 | 1.31 |
| 1.46 | 0 | 1.11 |
| –0.45 | 0 | 1.69 |
Small Pickup Truck — Sensor Locations Relative to Vehicle Origin
| Mounting Location | X (m) | Y (m) | Z (m) |
|---|---|---|---|
Front bumper | 3.07 | 0 | 0.51 |
Rear bumper | –3.07 | 0 | 0.51 |
| 1.10 | –1.13 | 1.52 |
| 1.10 | 1.13 | 1.52 |
| 0.85 | 0 | 1.77 |
| 2.22 | 0 | 1.59 |
| 0 | 0 | 2.27 |
Sport Utility Vehicle — Sensor Locations Relative to Vehicle Origin
| Mounting Location | X (m) | Y (m) | Z (m) |
|---|---|---|---|
Front bumper | 2.42 | 0 | 0.51 |
Rear bumper | –2.42 | 0 | 0.51 |
| 0.60 | –1 | 1.35 |
| 0.60 | 1 | 1.35 |
| 0.39 | 0 | 1.55 |
| 1.58 | 0 | 1.39 |
| –0.56 | 0 | 2 |
To determine the location of the sensor in world coordinates, open the sensor block. Then, on the Ground Truth tab, select Output location (m) and orientation (rad) and inspect the data from the Location output port.
Specify offset — Specify offset from mounting location
off (default) | on
Select this parameter to specify an offset from the mounting location by using the Relative translation [X, Y, Z] (m) and Relative rotation [Roll, Pitch, Yaw] (deg) parameters.
Relative translation [X, Y, Z] (m) — Translation offset relative to mounting location
[0, 0, 0] (default) | real-valued 1-by-3 vector
Translation offset relative to the mounting location of the sensor, specified as a real-valued 1-by-3 vector of the form [X, Y, Z]. Units are in meters.
If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the vehicle coordinate system, where:
The X-axis points forward from the vehicle.
The Y-axis points to the left of the vehicle, as viewed when facing forward .
The Z-axis points up.
The origin is the mounting location specified in the Mounting location parameter. This origin is different from the vehicle origin, which is the geometric center of the vehicle.
If you mount the sensor to the scene origin by setting Parent
name to Scene Origin, then
X, Y, and Z are
in the world coordinates of the scene.
For more details about the vehicle and world coordinate systems, see Coordinate Systems for 3D Simulation in Automated Driving Toolbox.
Example: [0,0,0.01]
Dependencies
To enable this parameter, select Specify offset.
Relative rotation [Roll, Pitch, Yaw] (deg) — Rotational offset relative to mounting location
[0, 0, 0] (default) | real-valued 1-by-3 vector
Rotational offset relative to the mounting location of the sensor, specified as a real-valued 1-by-3 vector of the form [Roll, Pitch, Yaw] . Roll, pitch, and yaw are the angles of rotation about the X-, Y-, and Z-axes, respectively. Units are in degrees.
If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the vehicle coordinate system, where:
The X-axis points forward from the vehicle.
The Y-axis points to the left of the vehicle, as viewed when facing forward .
The Z-axis points up.
Roll, pitch, and yaw are clockwise-positive when looking in the forward direction of the X-axis, Y-axis, and Z-axis, respectively. If you view a scene from a 2D top-down perspective, then the yaw angle (also called the orientation angle) is counterclockwise-positive, because you are viewing the scene in the negative direction of the Z-axis.
The origin is the mounting location specified in the Mounting location parameter. This origin is different from the vehicle origin, which is the geometric center of the vehicle.
If you mount the sensor to the scene origin by setting Parent
name to Scene Origin, then
X, Y, and Z are
in the world coordinates of the scene.
For more details about the vehicle and world coordinate systems, see Coordinate Systems for 3D Simulation in Automated Driving Toolbox.
Example: [0,0,10]
Dependencies
To enable this parameter, select Specify offset.
Sample time — Sample time
-1 (default) | positive scalar
Sample time of the block in seconds, specified as a positive scalar. The 3D simulation environment frame rate is the inverse of the sample time.
If you set the sample time to -1, the block inherits its sample
time from the Simulation 3D
Scene Configuration block.
Parameters
These intrinsic camera parameters are equivalent to the properties of a fisheyeIntrinsics
object. To obtain the intrinsic parameters for your camera, use the Camera
Calibrator app.
Distortion center (pixels) — Center of distortion
[640, 360] (default) | real-valued 1-by-2 vector
Center of distortion, specified as real-valued 2-element vector. Units are in pixels.
Image size (pixels) — Image size produced by camera
[720, 1280] (default) | real-valued 1-by-2 vector of positive integers
Image size produced by the camera, specified as a real-valued 1-by-2 vector of positive integers of the form [mrows,ncols]. Units are in pixels.
Mapping coefficients — Polynomial coefficients for projection function
[320, 0, 0, 0] (default) | real-valued 1-by-4 vector
Polynomial coefficients for the projection function described by Scaramuzza's
Taylor model [1], specified as a real-valued
1-by-4 vector of the form [a0 a2 a3 a4].
Example: [1, 1, 0, 0]
Ground Truth
Output location (m) and orientation (rad) — Output location and orientation of sensor
off (default) | on
Select this parameter to output the location and orientation of the sensor at the Location and Orientation ports, respectively.
Tips
To visualize the camera images that are output by the Image port, use a Video Viewer or To Video Display block.
Because the Unreal Engine can take a long time to start up between simulations, consider logging the signals that the sensors output. You can then use this data to develop perception algorithms in MATLAB®. See Configure a Signal for Logging (Simulink).
You can also save image data as a video by using a To Multimedia File block. For an example of this setup, see Design of Lane Marker Detector in 3D Simulation Environment.
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.
See Also
Blocks
- Simulation 3D Camera | Simulation 3D Lidar | Simulation 3D Probabilistic Radar | Simulation 3D Scene Configuration | Simulation 3D Vehicle with Ground Following