calibration result.txt

有关摄像头定标的C++代码

Coplanar calibration ( full optimization ):
camera type: Photometrics Star I
data file: G:\复件 IMG\Tsai_C++\CC_CD.DAT  (100 points)

       f = 258.203025  [mm]

       kappa1 = -5.948336e-004  [1/mm^2]

       Tx = 150.051264,  Ty = -74.809644,  Tz = 6309.611543  [mm]

       Rx = 20.023000,  Ry = 5.028048,  Rz = 88.004547  [deg]

       R
        0.034686  -0.937941   0.345057
        0.995548   0.062706   0.070374
       -0.087643   0.341080   0.935940

       sx = 1.000000
       Cx = 261.890729,  Cy = 211.632605  [pixels]

       Tz / f = 24.436629

       distorted image plane error:
         mean = 0.096745,  stddev = 0.052967,  max = 0.280333  [pix],  sse = 1.213711  [pix^2]

       undistorted image plane error:
         mean = 0.094665,  stddev = 0.051729,  max = 0.273708  [pix],  sse = 1.161056  [pix^2]

       object space error:
         mean = 0.053409,  stddev = 0.029159,  max = 0.154015  [mm],  sse = 0.369420  [mm^2]

       normalized calibration error:  0.231881