More information about camera focal lengths and offsets of the principal point

Hi Holger,

Could you please provide the details about the camera which was used for capturing the Nuscenes data. I need focal lengths and offsets of the principal point from the top-left corner of the image frame.

And also, I would like to understand how the calibrated_sensor (rotation and translation) data is captured.

Thanks,
Lakshmi

Hi. That’s exactly what the calibrated sensor table is about (see https://github.com/nutonomy/nuscenes-devkit/blob/master/schema.md). Rotation and translation are the extrinsics. camera_intrinsic is the intrinsics for the camera. From these you can retrieve focal lengths and principal point.
For the calibration procedure, see https://www.nuscenes.org/data-collection.