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# intrinsics

A matrix that converts between the 2D camera plane and 3D world coordinate space.

```
var intrinsics: simd_float3x3 { get }
```

## Discussion

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.

![](images/com.apple.arkit/media-2902622@2x.png)

The values `fx` and `fy` are the pixel focal length, and are identical for square pixels. The values `ox` and `oy` are the offsets of the principal point from the top-left corner of the image frame. All values are expressed in pixels.

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