Table 2.

Calibration parameters used in Eqs (8) to (12) for the smartphone (iPhone 6 plus)

fc	4·15 mm
	1280 pixels/4·8 mm
	960 pixels/3·6 mm
c y	1280 pixels/2
c x	960 pixels/2
T	[0, −152 mm, 0]t
R	, where θ is obtained from the accelerometer in the IMU

IMU, inertial measurement unit.