9camsvark.txt

sba, a C/C++ package for generic sparse bundle adjustment is almost invariably used as the last step

# fu, u0, v0, ar, s   quaternion translation
851.57945 330.24755 262.19500 1.00169 0.0  1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
851.57945 330.24755 262.19500 1.00169 0.0  0.999739 -0.000144 -0.008841 -0.021044 0.001274 0.000204 0.000096
851.57945 330.24755 262.19500 1.00169 0.0  0.997181 0.002134 -0.051613 -0.054427 0.002925 0.000169 0.000042
851.57945 330.24755 262.19500 1.00169 0.0  0.993796 -0.001142 -0.082982 -0.074049 0.004890 0.000120 0.000064
851.57945 330.24755 262.19500 1.00169 0.0  0.990729 -0.009177 -0.113200 -0.074551 0.006586 -0.000050 0.000224
851.57945 330.24755 262.19500 1.00169 0.0  0.987449 -0.009521 -0.144790 -0.062364 0.008779 -0.000226 0.000543
851.57945 330.24755 262.19500 1.00169 0.0  0.984098 -0.011573 -0.158249 -0.079846 0.010705 -0.000294 0.000793
851.57945 330.24755 262.19500 1.00169 0.0  0.977446 -0.009396 -0.194416 -0.081932 0.012564 -0.000274 0.001359
851.57945 330.24755 262.19500 1.00169 0.0  0.971700 -0.006940 -0.220800 -0.083653 0.014360 0.000094 0.002026