From: Camera calibration with coplanar conics: a unified explanation and ambiguity analysis
Method
f u
f v
u 0
v 0
Calibration toolbox
887.2
893.3
512.0
416.4
Ours using { E1, E2}
883.3
875.3
519.7
388.6
Ours using { E1, P1}
891.8
884.0
520.8
396.9