ccal.log

做立体视觉时的标定算法

Script started on Sat Oct 28 15:07:58 1995
janus.Tsai-method-v3.0b3> source ccal.run ; exit
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Coplanar synthetic calibration data generation:

camera type: Photometrics Star I

       f = 270.000000  [mm]

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

       Tx = 150.000000,  Ty = -75.000000,  Tz = 6600.000000  [mm]

       Rx = 20.000000,  Ry = 5.000000,  Rz = 88.000000  [deg]

       R
        0.034767  -0.938080   0.344670
        0.995588   0.062586   0.069913
       -0.087156   0.340719   0.936117

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

       Tz / f = 24.444444

       distorted image plane error:
         mean = 0.098131,  stddev = 0.053322,  max = 0.309085  [pix],  sse = 1.244449  [pix^2]

       undistorted image plane error:
         mean = 0.096007,  stddev = 0.052042,  max = 0.301457  [pix],  sse = 1.189865  [pix^2]

       object space error:
         mean = 0.054174,  stddev = 0.029340,  max = 0.169675  [mm],  sse = 0.378711  [mm^2]

       normalized calibration error:  0.235169

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Coplanar calibration (Tz, f, kappa1 optimization) 

camera type: Photometrics Star I

data file: cc_cd.dat  (100 points)

       f = 220.222296  [mm]

       kappa1 = -5.393556e-04  [1/mm^2]

       Tx = 152.194102,  Ty = -70.609515,  Tz = 5375.732834  [mm]

       Rx = 20.059182,  Ry = 5.194842,  Rz = 88.005639  [deg]

       R
        0.034658  -0.937689   0.345743
        0.995289   0.063727   0.073063
       -0.090543   0.341582   0.935481

       sx = 1.000000
       Cx = 258.000000,  Cy = 204.000000  [pixels]

       Tz / f = 24.410484

       distorted image plane error:
         mean = 0.131654,  stddev = 0.071045,  max = 0.370579  [pix],  sse = 2.232979  [pix^2]

       undistorted image plane error:
         mean = 0.128330,  stddev = 0.068395,  max = 0.358776  [pix],  sse = 2.109967  [pix^2]

       object space error:
         mean = 0.072372,  stddev = 0.038545,  max = 0.201685  [mm],  sse = 0.670851  [mm^2]

       normalized calibration error:  0.314343

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

Coplanar calibration (full optimization) 

camera type: Photometrics Star I

data file: cc_cd.dat  (100 points)

       f = 257.133427  [mm]

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

       Tx = 149.904167,  Ty = -74.849168,  Tz = 6283.334305  [mm]

       Rx = 20.018933,  Ry = 5.026203,  Rz = 88.003938  [deg]

       R
        0.034697  -0.937965   0.344990
        0.995550   0.062700   0.070344
       -0.087611   0.341014   0.935967

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

       Tz / f = 24.436085

       distorted image plane error:
         mean = 0.096750,  stddev = 0.052966,  max = 0.280107  [pix],  sse = 1.213781  [pix^2]

       undistorted image plane error:
         mean = 0.094672,  stddev = 0.051731,  max = 0.273468  [pix],  sse = 1.161217  [pix^2]

       object space error:
         mean = 0.053412,  stddev = 0.029160,  max = 0.153878  [mm],  sse = 0.369467  [mm^2]

       normalized calibration error:  0.231899

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janus.Tsai-method-v3.0b3> 
script done on Sat Oct 28 15:08:28 1995