function sensor = caltechMonoCamera( )
%CALTECHMONOCAMERA : Create a monoCamera sensor object for the caltech
%lanes dataset

% Sensor configuration
focalLength    = [309.4362, 344.2161];
principalPoint = [318.9034, 257.5352];
imageSize      = [480, 640];
height         = 2.1798;    % mounting height in meters from the ground
pitch          = 14;        % pitch of the camera in degrees

camIntrinsics = cameraIntrinsics(focalLength, principalPoint, imageSize);
sensor        = monoCamera(camIntrinsics, height, 'Pitch', pitch);

end

