camera calibration - What are the focal lengths and the principal point in KITTI stereo dataset? -


i using kitti stereo dataset 2012 , 2015 in research.

but need values didn't find:

  1. focal lengths x , y direction.
  2. the principal point.

there files inside "calib" folder in dataset. content example here (calib/000000.txt):

p0: 7.070912e+02 0.000000e+00 6.018873e+02 0.000000e+00 0.000000e+00 7.070912e+02 1.831104e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00

p1: 7.070912e+02 0.000000e+00 6.018873e+02 -3.798145e+02 0.000000e+00 7.070912e+02 1.831104e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00

p2: 7.070912e+02 0.000000e+00 6.018873e+02 4.688783e+01 0.000000e+00 7.070912e+02 1.831104e+02 1.178601e-01 0.000000e+00 0.000000e+00 1.000000e+00 6.203223e-03

p3: 7.070912e+02 0.000000e+00 6.018873e+02 -3.334597e+02 0.000000e+00 7.070912e+02 1.831104e+02 1.930130e+00 0.000000e+00 0.000000e+00 1.000000e+00 3.318498e-03

following paper (specifically in section iv, b): http://www.mrt.kit.edu/z/publ/download/2013/geigeral2013ijrr.pdf

i got p projection matrix after retification. , ∈ {0, 1, 2, 3} camera index, 0 represents left grayscale, 1 right grayscale, 2 left color , 3 right color camera.

but problem don't know how find focal length , principal point need.

can me?

thank all!


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