Intrinsic (focal length, sensor size) parameters for AR drone


i am working on a project with front camera of AR drone and I need to know the intrinsic parameters of the front camera. Especially the focal length. I am unable to find these parameter. i someone know it please tell me. focal length will be vary help full


The same question with ahmad_aneeque. I see in detail of image from Bebop’s camera, focal length = 1,8mm, that is true? I would like to known information about Focal length and resolution(PPI) of three: ARDrone, Bebop and Sumo.
Waiting answer from you,


K_FRONT = $M([[561.999146, 0, 307.433982], [0, 561.782697, 190.144373], [0, 0, 1]]);

this is from


Hi Saif

I’m sorry but I don’t understand how to get focal length or sensor size from the .yml link you’ve posted. Can you please help me?

Thanks in advance


Hi Saif,

I know this a closed question by now.

I wanted to know the units for the camera matrix for the ar drone 2.

I did not find it in the documentation.

Have you come across anything online which talks about the units for the camera matrix ? Is it mm

Thanks in advance.

Appreciate any help or info you can provide