Beta.scene.intrinsics

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SimpleIntrinsics Objects

@dataclass
class SimpleIntrinsics()

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AdvancedIntrinsics Objects

@dataclass
class AdvancedIntrinsics()

• k - 9-element intrinsic camera matrix (row-major 3x3). Validated to have exactly 9 elements at build time.
• r - 9-element rectification matrix (row-major 3x3). Validated to have exactly 9 elements at build time.
• p - 12-element projection matrix (row-major 3x4). Validated to have exactly 12 elements at build time.
• model - Optional distortion model name.

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intrinsics_simple

def intrinsics_simple(fx: float,
                      fy: float,
                      ox: float,
                      oy: float,
                      *,
                      model: str | None = None,
                      **kwargs: float) -> SimpleIntrinsics

• fx - Focal length along the x-axis (pixels).
• fy - Focal length along the y-axis (pixels).
• ox - Principal-point x offset (pixels).
• oy - Principal-point y offset (pixels).
• model - Optional distortion model name.
• **kwargs - Distortion coefficients and optional extra fields.

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intrinsics_advanced

def intrinsics_advanced(k: Sequence[float] | None = None,
                        r: Sequence[float] | None = None,
                        p: Sequence[float] | None = None,
                        *,
                        model: str | None = None) -> AdvancedIntrinsics

• k - 9-element intrinsic camera matrix (row-major 3x3).
• r - 9-element rectification matrix (row-major 3x3).
• p - 12-element projection matrix (row-major 3x4).
• model - Optional distortion model name.

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intrinsics_pinhole

def intrinsics_pinhole(fx: float, fy: float, ox: float,
                       oy: float) -> SimpleIntrinsics

• fx - Focal length along the x-axis (pixels).
• fy - Focal length along the y-axis (pixels).
• ox - Principal-point x offset (pixels).
• oy - Principal-point y offset (pixels).

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intrinsics_radial

def intrinsics_radial(fx: float, fy: float, ox: float, oy: float, *, k1: float,
                      k2: float, k3: float) -> SimpleIntrinsics

• fx - Focal length along the x-axis (pixels).
• fy - Focal length along the y-axis (pixels).
• ox - Principal-point x offset (pixels).
• oy - Principal-point y offset (pixels).
• k1 - First radial distortion coefficient.
• k2 - Second radial distortion coefficient.
• k3 - Third radial distortion coefficient.

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intrinsics_plumb_bob

def intrinsics_plumb_bob(fx: float, fy: float, ox: float, oy: float, *,
                         k1: float, k2: float, k3: float, t1: float,
                         t2: float) -> SimpleIntrinsics

• fx - Focal length along the x-axis (pixels).
• fy - Focal length along the y-axis (pixels).
• ox - Principal-point x offset (pixels).
• oy - Principal-point y offset (pixels).
• k1 - First radial distortion coefficient.
• k2 - Second radial distortion coefficient.
• k3 - Third radial distortion coefficient.
• t1 - First tangential distortion coefficient.
• t2 - Second tangential distortion coefficient.

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intrinsics_fisheye

def intrinsics_fisheye(fx: float, fy: float, ox: float, oy: float, *,
                       k1: float, k2: float, k3: float,
                       k4: float) -> SimpleIntrinsics

• fx - Focal length along the x-axis (pixels).
• fy - Focal length along the y-axis (pixels).
• ox - Principal-point x offset (pixels).
• oy - Principal-point y offset (pixels).
• k1 - First distortion coefficient.
• k2 - Second distortion coefficient.
• k3 - Third distortion coefficient.
• k4 - Fourth distortion coefficient.

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intrinsics_rational_polynomial

def intrinsics_rational_polynomial(fx: float, fy: float, ox: float, oy: float,
                                   *, k1: float, k2: float, k3: float,
                                   k4: float, k5: float, k6: float, t1: float,
                                   t2: float) -> SimpleIntrinsics

• fx - Focal length along the x-axis (pixels).
• fy - Focal length along the y-axis (pixels).
• ox - Principal-point x offset (pixels).
• oy - Principal-point y offset (pixels).
• k1 - First radial distortion coefficient.
• k2 - Second radial distortion coefficient.
• k3 - Third radial distortion coefficient.
• k4 - Fourth radial distortion coefficient.
• k5 - Fifth radial distortion coefficient.
• k6 - Sixth radial distortion coefficient.
• t1 - First tangential distortion coefficient.
• t2 - Second tangential distortion coefficient.

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intrinsics_cylindrical

def intrinsics_cylindrical(fx: float, fy: float, ox: float,
                           oy: float) -> SimpleIntrinsics

• fx - Focal length along the x-axis (pixels).
• fy - Focal length along the y-axis (pixels).
• ox - Principal-point x offset (pixels).
• oy - Principal-point y offset (pixels).