Fisheye distortion model

Aug 9, 2021 · Tangential distortion, as characterized by the Brown-Conrady model, is often simplified into the following x and y components. Below are some examples of this fisheye lens type: Canon EF f = 15 mm f/2. This method overcomes the limitation of traditional correction methods that rely heavily on imaging model or camera calibration, benefits from the learning features of neural networks, and has better 2. You can use the fisheye model with cameras up to a field of view (FOV) of 195 degrees. A pinhole camera is a simple camera without a lens and with a single small aperture. 2. Distortion model Overview. The authors found that five terms of an odd power polynomial were sufficient to describe typical Finally, the fisheye image is corrected by extracting the distortion features and estimating the distortion parameters. To add a camera model with distortion: Create a model Fisheye Projection. With uncorrected barrel distortion (at 26mm) Barrel distortion corrected with software (this is the ENIAC computer) Radial distortion, whilst primarily dominated by low-order radial components, can be corrected using Brown's distortion model, also known as the Brown–Conrady model based on earlier work by Conrady. Nov 13, 2014 · Panasonic Develops New Method That Corrects Fisheye Distortion in Photos 7 Reasons Why Fisheye Lenses Are Awesome AstrHori 12mm f/2. Support for fisheye type of camera introduced in melodic. This generic camera model is a third-order polynomial function corresponding to the Taylor series expansion of the trigonometric function in the fisheye camera. Straight lines have to be straight: automatic calibration and removal of distortion from scenes of structured enviroments. May 1, 2021 · Abstract. calibrate a stereo pair of cameras. The field-of-view range for general classes of lenses are: Normal lens — 50° - 80°. Wang [ 13 ] and others proposed the sector mapping method on the basis of the spherical projection model, but the amount of calculation is relatively large. example. Commonly there are two types of fisheye Nov 4, 2015 · In conclusion, we designed a new foveated fisheye lens that is successfully achieved our novel angle-variant projection model with more than 52 % (of the entire FOV) is considered as an image foveal region without any significant distortion. (13) reduces to rd ¼ Fish-Eye Transform tanðrd ωÞ ; 2 tan ω2 ð20Þ where ω is the FOV of the camera. You can think of mapping as constructing the undistorted image based on the pixel locations in the undistorted image with the pixel maps, while undistortion is to find undistorted pixel locations using the original pixel location using lens distortion model. Since obtaining ground truth is difficult for real fish-eye images, we follow the common practices in the liter-ature [60, 57, 6, 39, 37, 58] to exploit synthetic data for training. com The calibrated distortion parameters associated with a fisheye camera (e. The proposed method enables us to simultaneously calibrate the geometric distortion parameters and rectify fisheye images. Also Faugeras and Devernay propose another invertible model based on the Field-of-View. 8 Fisheye Available for 5 Full-Frame Mirrorless Mounts Dec 1, 2012 · A simple method is proposed to calibrate the fisheye distortion center, which synthesizes the algorithms of the ellipse fitting and gaussian surface fitting. It is used as a default. 2 days ago · This tutorial will introduce the following parts of omnidirectional camera calibartion module: calibrate a single camera. Apr 20, 2022 · Despite reading here and other places online, I'm still not completely sure about the model. 30 version. Feb 12, 2024 · Fisheye camera is an important sensor in on-board systems and surveillance systems. (2015). September 2022; The first step is to create a fish eye design model that has a field of vision (FOV) of 180 degrees The Computer Vision Toolbox™ contains calibration algorithms for the pinhole camera model and the fisheye camera model. zeros(4)). Hence, in order to better understand the factors influencing a good camera calibration, it is worth delving into camera models. However, you can still use the aberration parameters from the MATLAB fisheye calibration in opencv, and it is recommended generate C/C++ code for them. Oct 7, 2017 · Description. However, the current fisheye image pedestrian detection still exists problems such as large distortions are difficult to detect, sparse datasets, and poor real-time performance. These coefficients may be useful for other purposes so we provide them here in an Since the angle 𝜃 is in radians, the focal length is in pixels per radian. Machine Vision and Applications, Springer Verlag, 2001, 13 (1), pp. where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues (om); call x, y and z the 3 coordinates of Xc: x = Xc1 y = Xc2 z = Xc3. . With such The distortion is modelled by means of a single-parameter division model. However, the fisheye camera suffers from significant distortion compared to pinhole cameras, resulting in distorted images of captured objects. For details on camera calibration using the fisheye model, see Fisheye Calibration Basics. Conventionally, the pinhole model is adopted with a further extension for lens distortion. With the purpose of correcting the severe distortion in fisheye images captured by fisheye lens, an ellipsoid function model for fisheye lens correction is proposed. This paper introduces a novel framework for enhancing model-free distortion rectification by addressing the limitations of existing methods. Apr 9, 2024 · Hence, fisheye cameras require a different camera projection model, and it is non-trivial to extend standard state-of-the-art works on pinhole cameras to fisheye cameras. Jul 1, 2021 · Wei [12] proposed a dual-longitude model, which improved the horizontal distortion of the latitude and longitude mapping model, but the model complexity increased. Furthermore, we propose a loss function that alleviates the bias of the magnitude of errors for four extrinsic and intrinsic camera parameters. The mapping used for distortion correction is VPI_FISHEYE_EQUIDISTANT, which maps straight lines in This has the caveat that the final image (especially at the corners) has a narrower field of view than a real camera lens with barrel distortion. undistortPoints() to remove the distortion effect. 0 fisheye undistortion method is based on a pin-hole camera model. This degradation is caused by mismatching between the actual projection and expected projection. Our camera model consists a pinhole model, radial distortion, and a generic noise model that can learn arbitrary Feb 26, 2018 · OpenCV 3. If the fisheye image was undistorted correctly, these two Jun 17, 2017 · This paper introduces several projection models for wide angle cameras, and chooses the most commonly used equidistant projection, combined with the lens distortion model, to establish a calibration model for fish-eye camera, which can reach the ideal calibration precision with 0. Nov 1, 2017 · Fish-eye camera should be calibrated before being used, and in this paper, we first introduce several projection models for wide angle cameras, and choose the most commonly used equidistant projection, combined with the lens distortion model, to establish a calibration model for fish-eye camera. It relies on a mathematical model that describes the radial distortion present in fish-eye images. In a fisheye projection the distance from the centre of the image to a point is close to proportional to the true angle of separation. For example, a focal length of 300 indicates that a light ray forming an angle of 1 radian with the Z axis appears at a distance of 300 pixels from the fisheye center. reconstruct 3D from two stereo images, with large filed of view. This paper classifies them into spherical structural distortion Apr 9, 2024 · Hence, fisheye cameras require a different camera projection model, and it is non-trivial to extend standard state-of-the-art works on pinhole cameras to fisheye cameras. Summary: Generic Wood (1905), [1] Bond (1922), [2] and Hill (1924) [3] Construction. A new distortion correction algorithm for fisheye lens with equidistant mapping function is considered in the present study. The first function makes sense to me, it returns the same value as imgpoints. Continuing to assume for now that the origin of the equidistant image plane coordinates is located at the distortion centre, the projection of the 3D point P onto the equidistant image plane is given by p ′ = [p u ′, p v ′] ⊤. The camera model is at the heart of any calibration routine. Firstly, an Mar 1, 2010 · Fig. Several authors have developed models of fish-eye lenses that of a fisheye model, commonly denoted as 𝑓(∙), is required. In Matlab, there is the Computer Vision Toolbox which includes calibration procedures for the pinhole camera model and the fisheye camera model. However, a fisheye image contains large distortion, resulting in that many scholars have investigated its accuracy of orthorectification, i. 5 mm f/2. To add a camera model with distortion: Create a model Mar 6, 2021 · Fisheye images with a far larger Field of View (FOV) have severe radial distortion, with the result that the associated image feature matching process cannot achieve the best performance if the traditional feature descriptors are used. 4 docs. Fisheye cameras have been widely used in many applications including close range visual navigation and observation and cyber city reconstruction because its field of view is much larger than that of a common pinhole camera Mar 25, 2020 · To better train and evaluate the proposed model, we create a synthetic line-rich fisheye (SLF) dataset that contains the distortion parameters and well-annotated distorted straight lines of fisheye images. Brown3 Is the most popular distortion model worldwide. The output images can be cropped to a rectangle and resized. Jun 15, 2020 · 06/15/20 on SLAM. zeros(4)) is not equal to cv. Creating a camera with distortion. Fisheye distortion: θ d = θ ( 1 + k 1 θ 2 + k 2 θ 4 + k 3 θ 6 + k 4 θ 8) The distorted point coordinates are [x'; y'] where. , generation of digital orthophoto map (DOM). This deviation is treated as distortion, which is always estimated along with other parameters when calibrating a camera. Jun 10, 2010 · Intrinsic parameter calibration procedure for a (high-distortion) fish-eye lens camera with distortion model and accuracy estimation** 1. Mar 25, 2020 · To better train and evaluate the proposed model, we create a synthetic line-rich fisheye (SLF) dataset that contains the distortion parameters and well-annotated distorted straight lines of fisheye images. The mapping used for distortion correction is VPI_FISHEYE_EQUIDISTANT, which maps straight lines in A Comprehensive Overview of Fish-Eye Camera Distortion Correction Methods 3. Apr 12, 2023 · First, we transform an object point in world space into the camera coordinate frame: [ X c Y c Z c] = Γ object c a m e r a ⋅ [ X o Y o Z o] A term we call r f describes a 3D point’s euclidean distance from a camera’s optical axis: r f = X c 2 + Y c 2. Fisheye Model and Dataset We first introduce the distortion model for fisheye im-ages. The algorithm is much more data lossless and accurate than such a classical approach like Brown –Conrady model. A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses. 3 describes the principles of equidistant projection for a simple model of an equidistant camera system. Fish-eye camera has been widely used in computer vision, mobile robots, photogrammetry and other fields Jun 1, 2014 · A fisheye distortion correction ASIC by [14] is composed of a. However, most optical systems will introduce undesirable effects. The algorithm is much more data lossless and accurate than such a classical approach like Brown-Conrady model. eye(3), np. Brandt. Jan 26, 2022 · The matlab fisheye camera model uses the "Scaramuzza fisheye model", which is different from OpenCV. The distortion model has room for improvement when it comes to wide angle or fisheye lenses with severe distortion. A. But the 2nd 3. Barrel distortion. for fisheye,fix the principal point at the image center--fisheye-k-coefficients=NUM_COEFFS. Mar 1, 2010 · Fig. Brown4 is able to cover different distortion in the middle and borders of Dec 31, 2023 · The fisheye camera, with its unique wide field of view and other characteristics, has found extensive applications in various fields. for fisheye, number of radial distortion coefficients to use fixing to zero the rest (up to 4, default 4)--fisheye-check-conditions Dec 11, 2020 · Camera modeling and calibration are essential tasks in modern optics. Different distortion models significantly affect distortion correction. Mar 19, 2010 · R_u = f*tan(theta) and the projection by common fisheye lens cameras (that is, distorted) is modeled by. , radial polynomial coefficients in the OpenCV model or the WoodScape model) define not how to undistort it to an ideal pinhole camera model, but rather how to undistort it to an ideal fisheye camera model. An improved algorithm will be designed as follows. The fisheye distortion is the same as detailed in OpenCV 4. We propose an adversarial pedestrian detection model based on virtual fisheye image training. This has the caveat that the final image (especially at the corners) has a narrower field of view than a real camera lens with barrel distortion. This sample application performs a fisheye lens calibration using input images taken with the same camera/lens. Firstly, an Sep 1, 2022 · Correction of radial distortion for fish eye lens camera model using code V. In this paper, we First, the fisheye imaging model with the interior Orientation parameters (IOPs)—principal point (u0,v0), focal length f, aspect ratio λ and radial distortion coefficients (k1, k2), is established. By using Equation (6) as an intermediate equation, the relationship between the fisheye image and the ortho-image can be established. The input image can have some level of distortion caused by the camera lens. Several models described the radially symmetric distortion of fisheye lenses. undistortPoints(imgpoints, np. Then, upon the fisheye imaging model and the parameter dependency between f and (k1, k2), the radial distortion projection ellipse constraint (RDPEC) for space lines in fisheye image is Dec 1, 2015 · Abstract. Answer to Q2: The mapping and undistortion are different. Although the perspective projection model is chosen in most existing distortion estimation methods, it can't be used to describe a fish-eye imaging system. Then, by the linearization of the model, the Nov 27, 2019 · I understand that you should use cv. The fisheye variation works with cameras that have a field of view (FOV) of up to 195 degrees. , 2007) suggests a calibration method with the automatic selection of the distortion model. Fish-eye lenses are convenient in such applications where a very wide angle of view is needed, but their use for measurement purposes has been limited by the lack of an accurate Abstract: A new distortion correction algorithm for fisheye lens with equidistant mapping function is considered in the present study. fisheye. 3 pixels. This is a polynomial model of radial distortion with 3 modelling parameters. For example, the Western European countries (purple) are densely clustered in the original chart, making them difficult to compare; with distortion, you can easily differentiate individual countries while retaining global Feb 4, 2010 · Overview. x ′ = ( θ d / r) a y ′ = ( θ d / r) b. The Pinhole Model A camera model is relating points in 3d to their projections on a camera image. 8. The distortion coefficient for every pixel in the fisheye image based on the distortion model will help to process this pixel. New in melodic. By far the most common model is the pinhole camera model, which makes the fundamental assumption that rays of Jun 13, 2023 · Images taken with a fisheye camera can also be distortion-free. Sep 27, 2022 · After trying, matlab distortion model coefficients (Scaramuzza fisheye model) is too complex, recommend matlab to distort the function directly generate C code to use, rather than their direct coefficient conversion,for example,This "undistortFisheyeImage" function support C/C++ code generation. Article. At present cameras with fisheye lens are spread very much. The geometric fisheye models can also be used to convert parts of a hemispherical image into a central perspective view to be used in photogrammetric standard software. Field-of-View Model The FOV model, based on a simple optical model of a fish-eye lens, is described as [5] 1 ω rd ¼ arctan 2ru tan : ð19Þ ω 2 The inverse is ru ¼ Through elementary trigonometric properties, Eq. Introduction . 2 Polynomial Distortion Model The polynomial distortion model is one of the most commonly used methods for fish-eye camera distortion correction. g. 14-24, concretely in equations 13 and 14. (2006) and Urban et al. [SLAM] Camera Models and distortion (Perspective, Fisheye, Omni) Visual SLAM, SfM 등 카메라를 이용한 연구를 하기 위해서 가장 기본적으로 알아야 할 부분이 바로 카메라 모델이다. Pincushion distortion. Expand. Our model has two advantages: 1) our model precisely represents standard fisheye camera models with slight errors, and 2) our camera parameter ranges can be determined by lens Nov 25, 2021 · Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. From the experimental results, we find that ellipse fitting May 1, 2021 · The fisheye image has severe distortions, which is not in line with human visual habits and brings inconvenience to its application. Four wide angle fisheye cameras form the basic sensor set in automotive systems for near-field sensing in combination with Ultrasonics sensor [ 19 , 20 ] . [J,camIntrinsics] = undistortFisheyeImage(I,intrinsics) also returns a cameraIntrinsics object, which corresponds to a virtual pinhole camera. Orthorectification Model for Fisheye Image. 3. S. This paper classifies them into spherical structural distortion and optical distortion, and proposes a fisheye image correction method based on 3D control field. IEEE transactions on pattern analysis and machine intelligence, 28(8):1335–1340, 2006. Assume that VPI provides functions that, together with Remap algorithm, perform image rectification. 1 The detection flow of the moving Aug 1, 2021 · Therefore, our unified ULSD model can be applied to detect line segments across pinhole, fisheye, and spherical images without any camera model or distortion priors. May 1, 2009 · Furthermore (Orekhov et al. 4. The fisheye transformation model is Mar 25, 2020 · To better train and evaluate the proposed model, we create a synthetic line-rich fisheye (SLF) dataset that contains the distortion parameters and well-annotated distorted straight lines of fisheye images. groups. Basu. We also contribute the F-Wireframe, F-YorkUrban, and SS360 datasets, which we hope will encourage further research in this important model training regime. We’ll use this term to model the effects of radial and tangential distortion on our Mar 25, 2020 · To better train and evaluate the proposed model, we create a synthetic line-rich fisheye (SLF) dataset that contains the distortion parameters and well-annotated distorted straight lines of fisheye images. One workaround to compensate for this effect is to increase the field of view of the camera sensor in Gazebo. E. Nov 1996; PATTERN RECOGN; Shishir Shah; Jun 1, 2016 · In the particular case of high distortion as in wide-angle and fish-eye lenses, some non polynomial (and invertible) models have been proposed; for example Basu and Licardie introduced the Fish-Eye Transform (FET) in . 3. The polynomial model [30] of a fisheye image is formulated as follows, θ Although distortion can be irregular or follow many patterns, the most commonly encountered distortions are radially symmetric, or approximately so, arising from the symmetry of a photographic lens. Feb 21, 2018 · In fisheye image processing, it is very difficult to detect the object at the edge in fisheye image because of the distortion. The fisheye transformation model is Aug 1, 2006 · A generic camera model is proposed, which is suitable for fish-eye lens cameras as well as for conventional and wide-angle lens cameras, and a calibration method for estimating the parameters of the model is presented. This actually derives from an even-power series much like For pinhole type cameras this package names the distortion model as plumb_bob or rational_polynomial, depending on number of parameters used. These radial distortions can usually be classified as either barrel distortions or pincushion distortions. However, pinhole and distortion models are mutually dependent; thus, the standard approach induces systematic camera calibration errors. C. pixel Nov 25, 2021 · Simultaneously to recover rotation and fisheye distortion, we propose a learning-based calibration method that uses the camera model. Wide angle lens — 80° - 120°. The mapping is defined by the following matrix equation: To rectify fisheye distortion from a single image, we advance self-supervised learning strategies and propose a unique deep learning model of Fisheye GAN (FE-GAN). J = undistortFisheyeImage(I,intrinsics) removes lens distortion for image I and returns the result as image J. To address this problem, we propose a generic camera model that has the potential to address various types of Generates a mapping that corrects image distortions caused by fisheye lenses. Finally, conversion into pixel coordinates: The final pixel coordinates vector [u; v] where: u = f x ( x ′ + α y ′) + c x v = f y y ′ + c y. In comparison to the stereographic lens, this one does compress the margins. A follow up question, is it possible to use a different distortion model on opencv? I'm using 4. [ ___] = undistortFisheyeImage( ___,interp) specifies the Aug 7, 2022 · However, OpenCV fisheye distortion model looks different. KANNALA-BRANDT MODEL Kannala-Brandt's model [10] for lenses with radially symmetric distortion is implemented in OpenCV and many less popular libraries. We present these here first as they are probably what most are familiar with: δ x t = p 1 ( r 2 + 2 x 2) + 2 p 2 x y. But I don't undersetand why cv. Our FE-GAN learns pixel-level distortion flow from sets of fisheye distorted images and distortion-free ones (but not requiring such correspondences), with unique cross-rotation and intra-warping consistency introduced. In this work, we propose a camera self-calibration algorithm for generic cameras with arbitrary non-linear distortions. Then it uses Remap and the calibration data to correct fisheye lens distortion of these images and save the result to disk. δ y t = p 2 ( r 2 + 2 y 2) + 2 p 1 x y. First, the spherical transformation Oct 19, 2020 · Fisheye lens distortion correction. We also have an angle between the direction to an undistorted point of this object and the camera optical axis. To address this challenge, this paper reports a novel distorted Binary Robust Independent Elementary Feature (BRIEF) descriptor for fisheye images based on a We would like to show you a description here but the site won’t allow us. transformation and additional logic to copy and interpolate. The end result is an undistorted image that can optionally be reprojected into a second camera to allow, for instance, realignment of input camera's optical axis. 8 (1971) Nikkor f = 10. rectify images so that large distoration is removed. We have an angle between the optical axis of the camera and the ray of light from some object. In the equidistant fisheye model, the distance between a pixel VPI provides functions that, together with Remap algorithm, perform image rectification. This is a class of projections for mapping a portion of the surface of a sphere to a flat image, typically a camera's film or detector plane. Given camera intrinsic and extrinsic parameters, and fisheye lens distortion model, generates a VPIWarpMap suitable to be used by Remap to undistort images captured by cameras equipped with fisheye lens. Pinhole Camera Model. New in noetic Mar 18, 2024 · The resulting image looks like a reflective surface of a sphere. k0 has to be equal to zero, and k1 has to be equal to one in Blender notation. for fisheye, skew coefficient (alpha) is set to zero and stay zero--fisheye-fix-principal-point. general purpose processing unit used to pre-compute the image. The fisheye image has severe distortions, which is not in line with human visual habits and brings inconvenience to its application. I discovered that it is not sufficient to match the coefficients with corresponding degree. R_d = 2*f*sin(theta/2) You already know R_d and theta and if you knew the camera's focal length (represented by f) then correcting the image would amount to computing R_u in terms of R_d and theta. Fisheye camera model - OpenCV; 魚眼カメラモデル (fisheye camera model) - 参考書庫 Jan 1, 2020 · The distortion correction of the fisheye image corresponds to an operation of converting the fisheye image into an ideal image via a model composed of several distortion parameters. 1. 일반적인 카메라는 대부분 핀홀 (Pin-hole) 카메라 형태로 모델링하여 사용하고 있으며 Definitions: Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X) The coordinate vector of P in the camera reference frame is: Xc = RX + T. Kannala and S. Apr 9, 2024 · Further, we introduce a distortion-aware learnable BEV pooling strategy that is more effective for the fisheye cameras. Image enhancement. Such fisheye distortion model has many important applications, as for an entire hemisphere target Feb 12, 2024 · Fisheye camera is an important sensor in on-board systems and surveillance systems. We jointly learn the geometry of the scene and the accurate camera parameters without any calibration objects. [4] [5] : 145 Fisheye lenses achieve extremely wide angles of view, well beyond any rectilinear lens. Our proposed method incorporates a Cascaded Distortion Model (CDM) inspired by fisheye lenses, which combines multiple reversible distortion models to Apr 28, 2021 · J. In other words, Jun 21, 2012 · Fisheye distortion allows you to zoom into small areas of the chart without losing sense of the overall distribution. elements in Var. Thanks for any help! The Argus project contains a growing database of camera calibration coefficients using the standard pinhole + radial and tangential distortion model as well as the fisheye or omnidirectional model described in Scaramuzza et al. comparison with fisheye model in opencv/calib3d/. e. As mentioned in the docs, the distortion is characterized by 4 parameters, [k1, k2, k3, k4], which are passed via the config file or command line arguments. This is a common type of fisheye lens. FishEyeRecNet: A Multi-Context Collaborative Deep Network for Fisheye Image Rectification. Aug 25, 2022 · The fisheye camera, with its large viewing angle, can acquire more spatial information in one shot and is widely used in many fields. --fisheye-fix-skew. A fisheye lens is an ultra wide-angle lens that produces strong visual distortion intended to create a wide panoramic or hemispherical image. Because of the extreme distortion a fisheye lens produces, the pinhole model cannot model a fisheye camera. Jan 29, 2024 · Model-free rectification methods are limited by poor rectification quality and low generalization. This paper proposes an end-to-end multi-context collaborative deep network for removing distortions from single fisheye images and shows that the proposed model significantly outperforms current state of the art methods. We extend the model with an occlusion reasoning module, which is critical for estimating in BEV space. This research presents a unifying distorted pinhole camera model that includes a telecentric Dec 1, 2015 · Abstract. This paper presents an orthorectification method, which first determines The majority of computer vision applications assumes that the camera adheres to the pinhole camera model. The imaging geometry of a real imaging system always deviates from the ideal projection models. It works for optics with less than 180°. By far, the most evident of these effects is radial lensing, which is particularly noticeable in fish-eye camera systems, where the effect is relatively extreme. 8 (1988) Minolta f = 16 mm f/2. See documentation. The existing ROI support in CameraInfo was not adequately thought out, limiting its usefulness in practice. This script applies a fisheye distortion to rendered images. For fisheye type cameras this package uses equidistant distortion model but names it as fisheye. Fish-eye camera distortion is a common issue in digital image processing, requiring effective correction techniques to The distortion of fisheye images can be effectively removed according to the proposed approach that combines the physical spherical model and the digital distortion model. Typically, this model Aug 2, 2017 · I want to undistort it using the FoV model explained in Frederic Devernay, Olivier Faugeras. Through analyzing the imaging projection of the equidistant fisheye lens, the calibration principle is introduced in detail. See full list on mathworks. Var. Qualitative performance of DaF-BEVSeg is showcased in the video at this https URL. qa hf ec ms ft ky fz te sg se