Table 1.
Intrinsic and extrinsic parameters.
| Camera #1 | Camera #2 | Camera #3 | Camera #4 | |
|---|---|---|---|---|
| Focal Length | X: 400.69 pixels Y: 402.55 pixels |
X: 398.51 pixels Y: 400.44 pixels |
X: 402.00 pixels Y: 405.10 pixels |
X: 398.74 pixels Y: 400.60 pixels |
| Principal Point | X: 131.12 pixels Y: 130.10 pixels |
X: 152.74 pixels Y: 122.79 pixels |
X: 144.77 pixels Y: 118.23 pixels |
X: 136.90 pixels Y: 145.34 pixels |
| Distortion Coefficients |
Kr,x: −0.3494 Kr,y: 0.1511 Kt,x: 0.0032 Kt,y: −0.0030 |
Kr,x: −0.3522 Kr,y: 0.1608 Kt,x: 0.0047 Kt,y: −0.0005 |
Kr,x: −0.3567 Kr,y: 0.0998 Kt,x: −0.0024 Kt,y: 0.0016 |
Kr,x: −0.3522 Kr,y: 0.0885 Kt,x: 0.0024 Kt,y: −0.0002 |
|
Rotation Vector Wrt Inertial Reference Frame |
1.552265 2.255665 −0.635153 |
0.4686021 2.889162 −0.7405382 |
0.6128003 −2.859007 0.7741390 |
1.537200 −2.314144 0.4821106 |
|
Translation Vector wrt Inertial Reference Frame |
729.4870 mm 293.6999 mm 873.3399 mm |
385.2578 mm 625.1560 mm 840.7220 mm |
−61.1933 mm 623.1377 mm 851.9321 mm |
−365.5847 mm 289.6135 mm 848.5442 mm |