ecal.log

相机标定的源程序

Script started on Sat Oct 28 15:15:45 1995
janus.Tsai-method-v3.0b3> source ecal.run ; exit
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   cp/cc data file: cc_cpcc.dat
   cd data file:    cc_cd.dat   (100 data points, coplanar in Z)

   new camera parameters:

       f = 257.133427  [mm]

       kappa1 = -5.954120e-04  [1/mm^2]

       Tx = 149.904067,  Ty = -74.849173,  Tz = 6283.326360  [mm]

       Rx = 20.019119,  Ry = 5.026207,  Rz = 88.003901  [deg]

       R
        0.034698  -0.937964   0.344993
        0.995550   0.062701   0.070344
       -0.087611   0.341017   0.935966

       sx = 1.000000
       Cx = 262.156687,  Cy = 211.703998  [pixels]

       Tz / f = 24.436054

       distorted image plane error:
         mean = 0.096748,  stddev = 0.052969,  max = 0.280023  [pix],  sse = 1.213784  [pix^2]

       undistorted image plane error:
         mean = 0.094670,  stddev = 0.051735,  max = 0.273391  [pix],  sse = 1.161219  [pix^2]

       object space error:
         mean = 0.053411,  stddev = 0.029162,  max = 0.153834  [mm],  sse = 0.369467  [mm^2]

       normalized calibration error:  0.231894

----------------------------------------------------------------------------------------------

   cp/cc data file: ncc_cpcc.dat
   cd data file:    ncc_cd.dat   (300 data points, noncoplanar in Z)

   new camera parameters:

       f = 69.974574  [mm]

       kappa1 = -6.067097e-04  [1/mm^2]

       Tx = -100.268864,  Ty = -85.323289,  Tz = 1999.762463  [mm]

       Rx = 29.993662,  Ry = 1.001946,  Rz = 2.005369  [deg]

       R
        0.999235  -0.021571   0.032629
        0.034988   0.865856  -0.499068
       -0.017486   0.499828   0.865948

       sx = 1.000175
       Cx = 262.410939,  Cy = 212.453329  [pixels]

       Tz / f = 28.578416

       distorted image plane error:
         mean = 0.079655,  stddev = 0.040797,  max = 0.251716  [pix],  sse = 2.401150  [pix^2]

       undistorted image plane error:
         mean = 0.079022,  stddev = 0.040517,  max = 0.247585  [pix],  sse = 2.364180  [pix^2]

       object space error:
         mean = 0.053609,  stddev = 0.027408,  max = 0.163751  [mm],  sse = 1.086801  [mm^2]

       normalized calibration error:  0.193564

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janus.Tsai-method-v3.0b3> 
script done on Sat Oct 28 15:15:55 1995