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Ardrone camera parameters !

Hello guys

I am building an obstacle avoidance node on ROS using tum_simulator. for doing some calculations i need to know the focal length, native resolution of images (for 640x360 ardrone front camera) and size of object on camera lens (following this tutorial https://pastebin.com/nphke1JL).

For now i already found the fx, fy values which is coming to be approx. 562px,

Any help would be highly appreciated.

thanks