calib.txt

这是著名的Tsai摄像机内外参数标定的源码

Camera parameters:
Ncx :	576.00000000 		 Nfx: 576.00000000	
Cell size (dx,dy):	(0.02300000,0.02300000) 
Image center (Cx,Cy): (258.00000000, 204.00000000) 
sx : 1.00015822  

Calibration results:
Intrinsic parameters:
	68.16292882 		0.00000000		 258.00000000 
	0.00000000 		68.16292882		 204.00000000 
	0.00000000 		0.00000000		 1.00000000 

Extrinsic parameters:
	0.99920441 		-0.02072557		 0.03407333  	 -97.40870499 
	0.03492649 		0.86719690		 -0.49673904  	 -79.79491341 
	-0.01925309 		0.49753390		 0.86723084  	 1946.46205476 

Distortion parameters:
	-0.00060394