Table 1 Specific internal reference matrices and distortion coefficients.
Calibration method | Internal reference matrix \(\left( {K=\left[ {\begin{array}{*{20}{c}} {{f_x}}&\gamma &{{u_0}} \\ 0&{{f_y}}&{{v_0}} \\ 0&0&1 \end{array}} \right]} \right)\) | Distortion factor \(\left( {[\begin{array}{*{20}l} {{\text{K}}_{1} } \hfill & {{\text{K}}_{2} } \hfill & {{\text{P}}_{1} } \hfill & {{\text{P}}_{2} } \hfill & {{\text{K}}_{3} } \hfill \\ \end{array} ]} \right)\) |
Zhang Zhengyou calibration method | \(\:\left[\begin{array}{ccc}807.71196397&\:0&\:376.52739398\\\:0&\:781.13780687&\:266.67949145\\\:0&\:0&\:1\end{array}\right]\) | K1 = 2.20731750e-01 |
K2=-2.19174158e + 00 | ||
P1=-8.60671605e-04 | ||
P2=-3.00380882e-03 | ||
K3 = 9.07696784e + 00 | ||
OpenCv library calibration | \(\:\left[\begin{array}{ccc}773.23253851&\:0&\:374.38585701\\\:0&\:772.22471747&\:265.77906615\\\:0&\:0&\:1\end{array}\right]\) | K1 = 2.08660901e-01 |
K2=-2.15632537e + 00 | ||
P1=-1.64924406e-03 | ||
P2=-3.18354351e-03 | ||
K3 = 9.27692174e + 00 |
