XMP Explanation
Hello. I have several questions regarding the xmp file.
1. As I understand, <xcr:Rotation>0.999811792614337 0.00100285362546639 0.0193745615151305 0.00177414685562712 0.999204755639683 0.0398335123979577 0.0193192068220253 0.0398603887541268 0.999018477134495</xcr:Rotation> field contains matrix R, and <xcr:Position>0.980365554895145 4.89698322439555 126.933955988057</xcr:Position> field contains camera position in the world coordinates C, which can be found by the following formula C = R^1 * T, where T is the position of the origin of the world coordinate system expressed in coordinates of the cameracentered coordinate system. Is it correct?
2. How can I get a focal length in pixels? After looking this up I think I can find the focal length in pixels by the formula below, assuming f35 is the focal length 35 mm, "Y" is the vertical resolution in pixel of the image and f is the unknown focal length in pixel it should just be: f = X(f35)/24, where X  is horizontal resolution in pixel of the image Is this formula correct? If not which one is it?
3. What is the unit of measurement of the xcr:PrincipalPointU="0.0141569807137509"and xcr:PrincipalPointV="0.00217809935867262" fields and how I can convert it to pixels?

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