# CameraIntrinsics

Source: https://www.nianticspatial.com/docs/api/swift/NSDK.NSDKFrameData.struct-CameraIntrinsics/

CameraIntrinsics

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## Declaration

struct CameraIntrinsics

## Summary

Camera intrinsic parameters for geometric calibration.
This structure contains the internal geometric properties of the camera,
including focal length, principal point, and resolution. These parameters
are essential for accurate 3D reconstruction and AR tracking.

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## Constructors

### Constructor

init(intrinsics: simd_float3x3, resolution: CGSize)

#### Summary

Creates camera intrinsics from a 3x3 intrinsic matrix and resolution.

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### Overload

init(intrinsics: simd_float3x3, width: UInt32, height: UInt32)

#### Summary

Creates camera intrinsics from a 3x3 intrinsic matrix and dimensions.
The intrinsic matrix should be in the standard computer vision format:
`</code> <br />[fx  0  cx] <br />[ 0 fy  cy] <br />[ 0  0   1] <br /><code>`

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## Properties

| Name | Type | Summary |
| --- | --- | --- |
| var focalLengthX | Float | Focal length in the X direction (in pixels).This represents the camera's focal length scaled by the horizontalpixel density. Used for projecting 3D points to 2D image coordinates. |
| var focalLengthY | Float | Focal length in the Y direction (in pixels).This represents the camera's focal length scaled by the verticalpixel density. May differ from focalLengthX if pixels are not square. |
| var principalPointX | Float | Principal point X coordinate (in pixels).The X coordinate of the principal point, which is the intersectionof the optical axis with the image plane. Ideally at the image center. |
| var principalPointY | Float | Principal point Y coordinate (in pixels).The Y coordinate of the principal point, which is the intersectionof the optical axis with the image plane. Ideally at the image center. |
| var resolutionX | UInt32 | Image width in pixels. |
| var resolutionY | UInt32 | Image height in pixels. |

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## Operators

| Name | Type | Summary |
| --- | --- | --- |
| static func != | Bool | Returns a Boolean value indicating whether two values are not equal.Inequality is the inverse of equality. For any values `a` and `b`, `a != b`implies that `a == b` is `false`.This is the default implementation of the not-equal-to operator (`!=`)for any type that conforms to `Equatable`. |

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## Relationships

conforms to:  Swift.Equatable