Instance Property


A matrix relating a camera's internal properties to an ideal pinhole-camera model.


@property(nonatomic, readonly) matrix_float3x3 intrinsicMatrix;


The intrinsic matrix (commonly represented in equations as K) allows you to transform 3D coordinates to 2D coordinates on an image plane using the pinhole camera model.

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.

See Also

Mapping Pixels to Scene Geometry


The image dimensions to which the camera's intrinsic matrix values are relative.


A matrix relating a camera's position and orientation to a world or scene coordinate system.


The size, in millimeters, of one image pixel.