Calculating the Camera Intrinsic after resizing and cropping

Cropping The focal length of the cropped image does not change. The change of principal point cx and cy depends on the following scenarios. The center cx and cy is modified only if the image is cropped from top left part of the image. cx = cx - Δxcy = cy - Δy Note - …

Calculating Intrinsics Parameter using Vanishing Point

Terminologies Focal length = The distance between image plane and projection center on the lens (optical center). Horizon - Parallel lines in 3d coordinates converge in image due to perspective transformation. Horizon is defined as the line connecting two vanishing points. If the horizon is above the center of the image, then the camera is …