(self)
return ret
Get intrinsic camera matrix
        :return: 3x3 intrinsic camera matrix
Get intrinsic camera matrix
        :return: 3x3 intrinsic camera matrix
Get intrinsic camera matrix : return : 3x3 intrinsic camera matrix
def getCameraIntrinsics(self):
        """
        Get intrinsic camera matrix
        :return: 3x3 intrinsic camera matrix
        """
        ret = np.zeros((3, 3), np.float32)
        ret[0, 0] = self.fx
        ret[1, 1] = self.fy
        ret[2, 2] = 1.
        ret[0, 2] = self.ux
        ret[1, 2] = self.uy
        return ret
def getCameraIntrinsics ( self ) : ret = np . zeros ( ( 3 , 3 ) , np . float32 ) ret [ 0 , 0 ] = self . fx ret [ 1 , 1 ] = self . fy ret [ 2 , 2 ] = 1. ret [ 0 , 2 ] = self . ux ret [ 1 , 2 ] = self . uy return ret