nccal.log

tsai经典标定程序 MATLAB语言

Script started on Sat Oct 28 15:08:57 1995
janus.Tsai-method-v3.0b3> source nccal.run ; exit
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Non-coplanar synthetic calibration data generation:

camera type: Photometrics Star I

       f = 70.000000  [mm]

       kappa1 = -6.000000e-04  [1/mm^2]

       Tx = -100.000000,  Ty = -85.000000,  Tz = 2000.000000  [mm]

       Rx = 30.000000,  Ry = 1.000000,  Rz = 2.000000  [deg]

       R
        0.999239  -0.021503   0.032555
        0.034894   0.865802  -0.499168
       -0.017452   0.499924   0.865894

       sx = 1.000000
       Cx = 262.000000,  Cy = 212.000000  [pixels]

       Tz / f = 28.571429

       distorted image plane error:
         mean = 0.080730,  stddev = 0.040857,  max = 0.264077  [pix],  sse = 2.454303  [pix^2]

       undistorted image plane error:
         mean = 0.080096,  stddev = 0.040577,  max = 0.259657  [pix],  sse = 2.416931  [pix^2]

       object space error:
         mean = 0.054327,  stddev = 0.027433,  max = 0.171714  [mm],  sse = 1.110448  [mm^2]

       normalized calibration error:  0.196195

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Non-coplanar calibration (Tz, f, kappa1 optimization) 

camera type: Photometrics Star I

data file: ncc_cd.dat  (300 points)

       f = 68.168628  [mm]

       kappa1 = -6.039083e-04  [1/mm^2]

       Tx = -97.408705,  Ty = -79.794913,  Tz = 1946.629897  [mm]

       Rx = 29.843070,  Ry = 1.103189,  Rz = 2.001919  [deg]

       R
        0.999204  -0.020726   0.034073
        0.034926   0.867197  -0.496739
       -0.019253   0.497534   0.867231

       sx = 1.000158
       Cx = 258.000000,  Cy = 204.000000  [pixels]

       Tz / f = 28.556096

       distorted image plane error:
         mean = 0.096621,  stddev = 0.050889,  max = 0.255376  [pix],  sse = 3.574985  [pix^2]

       undistorted image plane error:
         mean = 0.095676,  stddev = 0.050186,  max = 0.248323  [pix],  sse = 3.499227  [pix^2]

       object space error:
         mean = 0.064924,  stddev = 0.034078,  max = 0.169586  [mm],  sse = 1.611775  [mm^2]

       normalized calibration error:  0.234358

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

Non-coplanar calibration (full optimization) 

camera type: Photometrics Star I

data file: ncc_cd.dat  (300 points)

       f = 69.974574  [mm]

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

       Tx = -100.268888,  Ty = -85.323235,  Tz = 1999.761873  [mm]

       Rx = 29.993684,  Ry = 1.001943,  Rz = 2.005366  [deg]

       R
        0.999235  -0.021571   0.032628
        0.034988   0.865856  -0.499068
       -0.017486   0.499828   0.865948

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

       Tz / f = 28.578407

       distorted image plane error:
         mean = 0.079657,  stddev = 0.040794,  max = 0.251662  [pix],  sse = 2.401149  [pix^2]

       undistorted image plane error:
         mean = 0.079024,  stddev = 0.040513,  max = 0.247532  [pix],  sse = 2.364177  [pix^2]

       object space error:
         mean = 0.053611,  stddev = 0.027406,  max = 0.163716  [mm],  sse = 1.086799  [mm^2]

       normalized calibration error:  0.193568

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janus.Tsai-method-v3.0b3> 
script done on Sat Oct 28 15:09:10 1995