Camera intrinsics for projection matrix

[YuxuanSnow]

Hi!

thanks for releasing the scripts.

I have a question regarding the camera intrinsics. I found the groundtruth unreal camera has following intrinsics:

• focal length: 36.905
• sensor width: 36
• sensor height: 20.25
• hfov: 52

However, when i create the following intrinsics matrix, the unprojected depth point cloud looks like a plane:

K = [[36.905, 0, 36],
     [0, 36.905, 20.5],
     [0, 0, 1]]

Could you refer me a script on how to compute the intrinsics matrix correctly?

Thanks!

[pixelite1201]

Hi, You could refer to following script to generate camera intrinsic matrix.

[tpsmpi]

Sensor width/height is always fixed at 36.0mm/20.25mm (16:9 DSLR sensor). HFOV is not always 52, it can also be 65 or in the case of the zoom subsets vary during a sequence. The dataset ground_truth folder .csv files provide the relevant camera information including HFOV for each image.