camera intrinsics

The parameters describing a camera's own internal geometry -- focal length, principal point, and skew -- independent of where it's placed.

A camera's intrinsics are the parameters of its own internal geometry -- focal length, the principal point (where the optical axis meets the image plane), and pixel skew -- packaged into the $3\times3$ intrinsic matrix $K$ . Intrinsics describe the camera itself and do not change as the camera moves through the world.

Examples

Two photos taken by the same camera from two different locations share the identical intrinsic matrix $K$ , even though their extrinsics differ.