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The calibration matrix, as written out by cameracalibrator.py is as follows:

Fx  0  Cx
0   Fy Cy
0   0   1

where Fx and Fy are the x and y focal lengths in pixels, and (Cx, Cy) is the principal point.

The calibration camera matrix, as written out by cameracalibrator.py is as follows:

Fx  0  Cx
0   Fy Cy
0   0   1

where Fx and Fy are the x and y focal lengths in pixels, and (Cx, Cy) is the principal point.