# tfg.rendering.camera.perspective.matrix_from_intrinsics

Builds calibration matrix from intrinsic parameters.

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


Defined in rendering/camera/perspective.py.

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.