CameraIntrinsics

CameraIntrinsics is an immutable dataclass holding the pinhole intrinsic calibration matrix K and sensor dimensions in pixels.

Properties

Name
width_px
Type
int
Description
Horizontal sensor resolution in pixels.
Name
height_px
Type
int
Description
Vertical sensor resolution in pixels.
Name
fx
Type
float
Description
Horizontal focal length in pixels.
Name
fy
Type
float
Description
Vertical focal length in pixels.
Name
cx
Type
float
Description
Horizontal principal point offset in pixels.
Name
cy
Type
float
Description
Vertical principal point offset in pixels.
Name
skew
Type
float
Description
Axis skew coefficient. Defaults to 0.0.
Name
fov_horizontal_deg
Type
float
Description
Computed horizontal field of view in degrees.
Name
fov_vertical_deg
Type
float
Description
Computed vertical field of view in degrees.
Name
matrix
Type
np.ndarray
Description
The 3x3 upper-triangular intrinsic calibration matrix K.
Name
inverse_matrix
Type
np.ndarray
Description
The analytical 3x3 inverse intrinsic matrix K^-1.

classmethodCameraIntrinsics.from_fov()

From Field of View

Creates a CameraIntrinsics instance from a desired horizontal field of view in degrees, assuming square pixels (fx == fy).

Keyword Arguments

Name
width_px
Type
int
Description
Image width in pixels.
Name
height_px
Type
int
Description
Image height in pixels.
Name
horizontal_fov_deg
Type
float
Description
Horizontal field of view in degrees ([1.0, 179.0)).
Name
cx
Type
float | None
Description
Principal point X coordinate (defaults to width_px / 2).
Name
cy
Type
float | None
Description
Principal point Y coordinate (defaults to height_px / 2).

Usage

classmethod

from_fov

from padelkit import CameraIntrinsics

intr = CameraIntrinsics.from_fov(
    width_px=1920,
    height_px=1080,
    horizontal_fov_deg=90.0,
)

Output

CameraIntrinsics(
  width_px=1920,
  height_px=1080,
  fx=960.0,
  fy=960.0,
  cx=960.0,
  cy=540.0,
  skew=0.0
)

classmethodCameraIntrinsics.from_sensor()

From Physical Lens & Sensor

Creates a CameraIntrinsics instance directly from physical camera specifications (focal length in millimeters and sensor width/height in millimeters).

Keyword Arguments

Name
width_px
Type
int
Description
Image width in pixels.
Name
height_px
Type
int
Description
Image height in pixels.
Name
focal_length_mm
Type
float
Description
Physical lens focal length in millimeters.
Name
sensor_width_mm
Type
float
Description
Physical sensor width in millimeters (defaults to 36mm full-frame).

Usage

classmethod

from_sensor

from padelkit import CameraIntrinsics

intr = CameraIntrinsics.from_sensor(
    width_px=1920,
    height_px=1080,
    focal_length_mm=18.0,
    sensor_width_mm=36.0,
)