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I am trying to solve the same problem but I do not know the camera sensor width (W) nor height (H). The camera I am using is the built-in back camera of the Samsung Galaxy A5 (2015). The only information I found are the focal length (3.69 mm), the focal length 35mm (28mm) and the image resolution is 2448x3264. Is there any way to transform the intrinsic matrix from pixel to world unit using these info? Extracting the ratios W/w and H/h by doing W/w = Fx/fx seems odd to me because I am assuming that Fx=Fy=3.69mm.