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 offocal, orprincipal_pointis not supported.