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Builds calibration matrix from intrinsic parameters.
tfg.rendering.camera.perspective.matrix_from_intrinsics(
focal, principal_point, name=None
)
Builds the camera calibration matrix as
$$
\mathbf{C} =
\begin{bmatrix}
f_x & 0 & c_x \\
0 & f_y & c_y \\
0 & 0 & 1 \\
\end{bmatrix}
$$
from the focal length \((f_x, f_y)\) and the principal point \((c_x, c_y)\).
Note:
In the following, A1 to An are optional batch dimensions.
Args | |
---|---|
focal
|
A tensor of shape [A1, ..., An, 2] , where the last dimension
represents a camera focal length.
|
principal_point
|
A tensor of shape [A1, ..., An, 2] , where the last
dimension represents a camera principal point.
|
name
|
A name for this op that defaults to "perspective_matrix_from_intrinsics". |
Returns | |
---|---|
A tensor of shape [A1, ..., An, 3, 3] , where the last two dimensions
represent a camera calibration matrix.
|
Raises | |
---|---|
ValueError
|
If the shape of focal , or principal_point is not
supported.
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