For example, intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize,"RadialDistortion",[0 10]) sets the radial lens distortion property, RadialDistortion, as the vector [0 10].

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The cameraIntrinsics has been updated to support OpenCV pinhole camera model with 6 radial distortion coefficients.

A short focal length offers a wide angle of view allowing to capture large area of the scene under focus. It emphasizes both the subject and the scene background.

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ydistorted = y + [p1 * (r2 + 2*y2) + 2 * p2 * x * y]

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As image points move toward the principal point (negative radial displacement), image magnification increases and a barrel-shaped distortion occurs on the image.

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intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize) returns a camera intrinsics object that contains the focal length and the camera's principal point. The three input arguments set the FocalLength, PrincipalPoint, and ImageSize properties, respectively.

Radial distortion is the displacement of image points along radial lines extending from the principal point.

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Camera axes skew, specified as a numeric scalar. If the x and the y axes are exactly perpendicular, then the skew must be 0.

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Optical center of camera, stored as a two-element vector [cx cy] in pixels. The vector contains the coordinates of the optical center of the camera.

The new K property replaces the old IntrinsicMatrix property. The value of K is the transpose of IntrinsicMatrix.

The coordinates [cx cy] represent the optical center (the principal point), in pixels. When the x and y axis are exactly perpendicular, the skew parameter, s, equals 0.

F is the focal length in world units, typically in millimeters. sx and sy are the number of pixels per world unit in the x and y direction respectively. Thus, fx and fy are in pixels.

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Tangential distortion coefficients, specified as a 2-element vector, [p1 p2]. Tangential distortion occurs when the lens and the image plane are not parallel.

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The camera parameters object calculates the tangential distorted location of a point. You can denote the distorted points as (xdistorted, ydistorted), as follows:

xdistorted = x + [2 * p1 * x * y + p2 * (r2 + 2 * x2)]

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The focal length F influences the angle of view and thus affects the area of the scene that appears focused in an image. For a fixed subject distance:

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A long focal length offers a narrow angle of view, thus reducing the area of the scene under focus. It emphasizes more on the subject and restricts the amount of background from being captured.

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intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize,Name,Value) sets additional properties using one or name-value pairs. Enclose each property name in quotes.

Starting in R2022b, many Computer Vision Toolbox™ functions create and perform geometric transformations using the premultiply convention. Accordingly, a property of the cameraIntrinsics object has changed to support the premultiply convention.

As image points move away from the principal point (positive radial displacement), image magnification decreases and a pincushion-shaped distortion occurs on the image.

The camera parameters object calculates the radial-distorted location of a point, denoted as (xdistorted, ydistorted):