A matrix that converts between the 2D camera plane and 3D world coordinate space.
- iOS 11.0+
The intrinsic matrix (commonly represented in equations as
K) is based on physical characteristics of the device camera and a pinhole camera model. You can use the matrix to transform 3D coordinates to 2D coordinates on an image plane.
fy are the pixel focal length, and are identical for square pixels. The values
oy are the offsets of the principal point from the top-left corner of the image frame. All values are expressed in pixels.