Datasets:
What are the camera intrinsic parameters for this dataset?
I’m currently working with this dataset and noticed that the metadata CSV file includes columns such as:
timestamp, img_index, drone_pose_x, drone_pose_y, drone_pose_z,
drone_orientation_w, drone_orientation_x, drone_orientation_y, drone_orientation_z,
camera_pose_x, camera_pose_y, camera_pose_z,
linear_velocity_x, linear_velocity_y, linear_velocity_z,
linear_acceleration_x, linear_acceleration_y, linear_acceleration_z,
angular_velocity_x, angular_velocity_y, angular_velocity_z,
angular_acceleration_x, angular_acceleration_y, angular_acceleration_z
However, I couldn’t find any information about the camera intrinsic parameters (like focal length, optical center, or distortion coefficients).
Could someone please share:
The intrinsic camera matrix (fx, fy, cx, cy)
Any distortion parameters (k1, k2, p1, p2, k3)
Or a link to the camera calibration/config file if it exists?
This would really help in reconstructing 3D scenes and projecting points correctly.
Thanks in advance!
The dataset was generated using AirSim's default pinhole camera model (no distortion) with 1280×720 resolution and 90° FOV.
Distortion coefficients:
k1 = k2 = p1 = p2 = k3 = 0.0
For the intrinsic parameters (fx, fy, cx, cy), these can be calculated from the FOV and resolution.