# Customize CameraLens function for Wide angle (fish eye) cameras

In class CameraLens(), [r = c1*f*fun(theta/c2+c3)], I like to define my own mapping function using theta as input for the function (for example - Polynomial Fish Eye Transform). I like to know what is the better way of doing it.

Some important issues are: 1. I cannot access the value of 'theta' and so I could not define anything on my own. 2. I cannot set the value of 'r' for the above mentioned mapping function. 3. I don't have access to the source code of CameraLens() class? If so, then I could implement something on my own.

How the see the implementation of CameraLens() class?

PS: I already checked this tutorial http://gazebosim.org/tutorials?tut=wi... . I dont want to use any standard models like gnomonical, stereographic, equidistant, equisolid_angle, orthographic.