MATLAB: Distance between Cameracenter and Principalpoint

cameracalibrationfocallengthprincipalpoint

I just calibrated my stereo Camera and the focal length for camera 2 has an fx value diffrent from the fy value.
What I want is the distance between my camera center ("the pinhole") and the principal point on my image(-plane). That should be the focal length, right? But now I'm not sure how to get that distance from my fx and fy value.

Best Answer

Hi,
The intrinsic parameters fx and fy are given by fx = F*Sx and fy = F*Sy, where F is the actual physical focal length (in mm) and Sx (in pixels) and Sy (in pixels) are the number of pixels per world unit in x and y directions respectively.
You might find the following article useful
http://ksimek.github.io/2013/08/13/intrinsic/
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