tfg.rendering.camera.perspective.matrix_from_intrinsics

Builds calibration matrix from intrinsic parameters.

tfg.rendering.camera.perspective.matrix_from_intrinsics(
    focal, principal_point, skew=(0.0,), name=None
)

Builds the camera calibration matrix as

$$ \mathbf{C} = \begin{bmatrix} f_x & sc & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \\ \end{bmatrix} $$

from the focal length $(f_x, f_y)$ and the principal point $(c_x, c_y)$.

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.
`skew`	A tensor of shape `[A1, ..., An, 1]`, where the last dimension represents a skew coefficient.
`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.

Args