# estimateMonoCameraFromScene

## Syntax

## Description

`[`

estimates the extrinsic and intrinsic parameters of a monocular camera from scene geometry.
Specify the pixel coordinates for a trapezoid on the scene image, along with the width and
length of the real-world rectangle that corresponds to that trapezoid. The returned
extrinsic parameters define the pitch, yaw, and roll rotation angles between the camera
coordinate system and vehicle coordinate system axes. The function also returns the height
of the camera above the ground, and the intrinsic parameters of the camera
`pitch`

,`yaw`

,`roll`

,`height`

,`intrinsicsOut`

] = estimateMonoCameraFromScene(`trapezoid`

,`rectangleWidth`

,`rectangleLength`

,`imageSize`

)`intrinsicsOut`

. Use these estimates to configure a `monoCamera`

object when a formal calibration with a calibration pattern is not
possible. For more information on coordinate systems see, camera
coordinate system and vehicle coordinate
system.

`[`

specifies the intrinsic parameters of the camera `pitch`

,`yaw`

,`roll`

,`height`

,`intrinsicsOut`

] = estimateMonoCameraFromScene(`trapezoid`

,`rectangleWidth`

,`intrinsicsIn`

)`intrinsicsIn`

instead
of the rectangle length and image size. When the camera intrinsic parameters are available,
use this syntax to improve the estimates of the extrinsic parameters.

## Examples

## Input Arguments

## Output Arguments

## Version History

**Introduced in R2022b**