相机内参数矩阵:
[1611.467325043243, 0, 679.1315756922314;
0, 1611.289291762707, 516.8525018357199;
0, 0, 1]
畸变系数:
[-0.1571064948840454, 0.7341060325215034, 0.0008793338982216563, 0.002459895067041647, -2.411658341106171]
每幅图像的标定误差:
第1幅图像的平均误差:0.0955308像素
第2幅图像的平均误差:0.0624914像素
第3幅图像的平均误差:0.0662781像素
第4幅图像的平均误差:0.0971321像素
第5幅图像的平均误差:0.108221像素
第6幅图像的平均误差:0.0638371像素
第7幅图像的平均误差:0.0977092像素
第8幅图像的平均误差:0.113253像素
第9幅图像的平均误差:0.101148像素
第10幅图像的平均误差:0.0799288像素
总体平均误差:0.088553像素
第1幅图像的旋转向量:
[-2.216201170887435;
-2.226529188081659;
0.01381155337193473]
第1幅图像的旋转矩阵:
[-0.004668613455877657, 0.9999695583023337, -0.006251921067577423;
0.9999701653649503, 0.004629958283453917, -0.006183192240861561;
-0.006154057880258423, -0.006280601478289978, -0.9999613400610432]
第1幅图像的平移向量:
[-53.06292112098069;
-34.4970972073575;
188.4773636958395]
第2幅图像的旋转向量:
[2.166409829606227;
2.119781365664465;
0.1285268825913337]
第2幅图像的旋转矩阵:
[0.02277056349995654, 0.990505017212843, 0.1355776984392341;
0.9996295044530169, -0.02053497054588282, -0.01786529629464321;
-0.01491158156970984, 0.1359342703694149, -0.9906056323654862]
第2幅图像的平移向量:
[-50.46413682225918;
-32.39988163778277;
172.50103149617]
第3幅图像的旋转向量:
[2.000181268201023;
2.016186912804333;
0.3890641204914262]
第3幅图像的旋转矩阵:
[-0.006958204135077417, 0.9262393880336887, 0.3768715689066934;
0.9999624167245388, 0.008394268424227747, -0.002168270288053054;
-0.005171898455560486, 0.3768423175714214, -0.9262629859568855]
第3幅图像的平移向量:
[-43.18042190283132;
-35.22454400167927;
145.034155421189]
第4幅图像的旋转向量:
[-2.100461737387619;
-2.138695669959157;
0.2511956564686588]
第4幅图像的旋转矩阵:
[-0.02032952840977231, 0.9773442440736669, -0.21067733350009;
0.9995617967010119, 0.01533371032660003, -0.02531979272159171;
-0.02151568847331499, -0.2110997534429915, -0.9772276957013792]
第4幅图像的平移向量:
[-54.05274192843333;
-35.39158809205544;
185.9479276212504]
第5幅图像的旋转向量:
[-2.005428672919278;
-2.064806248917304;
0.3948427884823439]
第5幅图像的旋转矩阵:
[-0.03255907315327644, 0.9356798839192434, -0.3513446478662662;
0.9992953982803784, 0.02390872327231275, -0.02893233359318842;
-0.01867120057894459, -0.3520390997891554, -0.9357990481340435]
第5幅图像的平移向量:
[-55.14259351244296;
-35.11159986265435;
184.0891085906387]
第6幅图像的旋转向量:
[2.103108125185724;
2.130392689219383;
-0.2266745938683955]
第6幅图像的旋转矩阵:
[-0.01357489779841059, 0.9998857138863215, -0.006654420771475725;
0.9788998668445512, 0.01193238184540357, -0.2039918355111682;
-0.2038891189874603, -0.009283179925899485, -0.9789499730471322]
第6幅图像的平移向量:
[-53.06357622617968;
-36.19365759960299;
185.9402481164321]
第7幅图像的旋转向量:
[1.978369755090357;
2.013311146884819;
-0.41726093954657]
第7幅图像的旋转矩阵:
[-0.01709112363368104, 0.9998519537470507, 0.00199100003624067;
0.9167047868881737, 0.01646481099488117, -0.399225805397411;
-0.3991994829521286, -0.004998058333886779, -0.9168504742997324]
第7幅图像的平移向量:
[-51.83475355463798;
-37.03908178153524;
183.1290753470018]
第8幅图像的旋转向量:
[2.217435158238516;
2.225321683848319;
-0.0200803738148358]
第8幅图像的旋转矩阵:
[-0.003590983660898051, 0.9999529706039619, -0.009008963128971072;
0.9999527144452655, 0.003509273077741959, -0.00906939226251445;
-0.009037350822707044, -0.009041105174580899, -0.9999182890153222]
第8幅图像的平移向量:
[-55.42399115252327;
-46.11939502170493;
188.8306242852169]
第9幅图像的旋转向量:
[-2.125241571513729;
-2.119224976990069;
-0.1978714036190556]
第9幅图像的旋转矩阵:
[0.002969495577237025, 0.999994569761496, -0.001429175824645884;
0.9824449743052546, -0.002650790851993712, 0.1865337657642906;
0.1865289643952515, -0.001957997798764294, -0.9824475109064378]
第9幅图像的平移向量:
[-52.21346994777392;
-34.10564765396602;
172.1154381778755]
第10幅图像的旋转向量:
[-2.01482849923123;
-1.999402040352951;
-0.3878542531340334]
第10幅图像的旋转矩阵:
[0.00844148006882206, 0.9999569353502863, -0.003856015963440707;
0.9259871982222304, -0.006361325332016055, 0.3775013142607102;
0.3774605279268163, -0.006757291238572743, -0.9260010199089017]
第10幅图像的平移向量:
[-54.14671090121025;
-29.65719958268313;
156.7050583385008]