TensorFlow 2.0 RC is available Learn more

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.