Camera intrinsics as additional feature vector?

Looking for papers on this topic.

For example let’s say you’re building a model to differentiate squares and circles. At a small focal length (wide angle lens) a square’s edges start to look curved and could be mistaken for a circle. By providing the model with the focal length it should in theory be able to avoid that problem, right?

That’s just a simplistic example, there are a lot of other things that could be used beyond the pixels, which …

building computervision example feature look small square squares theory vector