public Camera(Matrix intr){
  intrinsics=intr;
  distCoeffs=new Matrix(new double[]{0,0,0,0},1);
  invIntrinsics=intr.inverse();
  cx=intrinsics.get(0,2);
  cy=intrinsics.get(1,2);
  fx=intrinsics.get(0,0);
  fy=intrinsics.get(1,1);
  k1=k2=p1=p2=0;
}

public Camera ( Matrix intr ) { intrinsics = intr ; distCoeffs = new Matrix ( new double [ ] { 0 , 0 , 0 , 0 } , 1 ) ; invIntrinsics = intr . inverse ( ) ; cx = intrinsics . get ( 0 , 2 ) ; cy = intrinsics . get ( 1 , 2 ) ; fx = intrinsics . get ( 0 , 0 ) ; fy = intrinsics . get ( 1 , 1 ) ; k1 = k2 = p1 = p2 = 0 ; }
create a new camera with a given camera matrix and no distortion .
