def read_cicp(cicp_path):
    """
    Read PROJECTNAME_pix4d_calibrated_internal_camera_parameters.cam file
    Parameters
    ----------
    cicp_path: str

    Returns
    -------
    cicp_dict: dict
    """
    with open(cicp_path, 'r') as f:
        key_pool = ['F', 'Px', 'Py', 'K1', 'K2', 'K3', 'T1', 'T2']
        cam_dict = {}
        for line in f.readlines():
            sp_list = line.split(' ')
            if len(sp_list) == 2:  # lines with param.name in front
                lead, contents = sp_list[0], sp_list[1]
                if lead in key_pool:
                    cam_dict[lead] = float(contents[:-1])
            elif len(sp_list) == 9:
                # Focal Length mm assuming a sensor width of 12.82x8.55mm\n
                w_h = sp_list[8].split('x')
                cam_dict['w_mm'] = float(w_h[0])  # extract e.g. 12.82
                cam_dict['h_mm'] = float(w_h[1][:-4])  # extract e.g. 8.55
    return cam_dict