
Focal Length:          fc = [ 854.97854   827.06613 ] ? [ 57.04005   44.54214 ]
Principal point:       cc = [ 577.05718   144.98053 ] ? [ 65.87774   31.91019 ]
Skew:             alpha_c = [ 0.00000 ] ? [ 0.00000  ]   => angle of pixel axes = 90.00000 ? 0.00000 degrees
Distortion:    schwer        kc = [ 0.00695   0.08362   -0.02177   0.07246  0.00000 ] ? [ 0.09210   0.06453   0.01507   0.02623  0.00000 ]
Pixel error:          err = [ 2.96180   2.16437 ]

? =  +-

initialisation without uncertancies
Focal Length:          fc = [ 333.06491   333.06491 ]
Principal point:       cc = [ 319.50000   239.50000 ]
Skew:             alpha_c = [ 0.00000 ]   => angle of pixel = 90.00000 degrees
Distortion:            kc = [ 0.00000   0.00000   0.00000   0.00000   0.00000 ]

The pixel errors are mean re-projection error for extracted grid points, i.e. the actual pixel location and the one by using calculated K matrix.
Initialization of the principal point at the center of the image.

removing picture 11,2,4,3

Calibration results after optimization (with uncertainties):

Focal Length:          fc = [ 802.16252   784.80772 ] ? [ 35.88106   32.30823 ]
Principal point:       cc = [ 409.60542   137.13751 ] ? [ 36.82844   42.37479 ]
Skew:             alpha_c = [ 0.00000 ] ? [ 0.00000  ]   => angle of pixel axes = 90.00000 ? 0.00000 degrees
Distortion:            kc = [ -0.14710   0.14740   -0.01636   0.00052  0.00000 ] ? [ 0.06378   0.16835   0.01201   0.01046  0.00000 ]
Pixel error:          err = [ 1.33896   1.25581 ]

Note: The numerical errors are approximately three times the standard deviations (for reference).


Extrinsic parameters:

Number of squares along the X direction ([]=10) = 8
Number of squares along the Y direction ([]=10) = 7
Size dX of each square along the X direction ([]=30mm) = 54
Size dY of each square along the Y direction ([]=30mm) = 54

Translation vector: Tc_ext = [ -295.157345 	 -340.694769 	 2507.099269 ]
Rotation vector:   omc_ext = [ -2.085621 	 -2.117698 	 -0.327370 ]
Rotation matrix:    Rc_ext = [ -0.021195 	 0.998759 	 0.045077
                               0.965749 	 0.008790 	 0.259330
                               0.258612 	 0.049029 	 -0.964736 ]
Pixel error:           err = [ 1.84321 	 1.20288 ]


------------------------------------------------ 5*6 felder

Calibration parameters after initialization:

Focal Length:          fc = [ 710.77236   710.77236 ]
Principal point:       cc = [ 319.50000   239.50000 ]
Skew:             alpha_c = [ 0.00000 ]   => angle of pixel = 90.00000 degrees
Distortion:            kc = [ 0.00000   0.00000   0.00000   0.00000   0.00000 ]

after optimization

Focal Length:          fc = [ 764.08776   765.38354 ] ? [ 23.27887   25.40916 ]
Principal point:       cc = [ 361.64057   143.47510 ] ? [ 34.24946   40.45983 ]
Skew:             alpha_c = [ 0.00000 ] ? [ 0.00000  ]   => angle of pixel axes = 90.00000 ? 0.00000 degrees
Distortion:            kc = [ -0.05504   -0.17691   -0.01918   0.00475  0.00000 ] ? [ 0.07945   0.20352   0.01081   0.00827  0.00000 ]
Pixel error:          err = [ 0.79394   0.91111 ]
 Remove 11,13,14,15
Focal Length:          fc = [ 732.31403   733.41176 ] ? [ 10.09156   10.61468 ]
Principal point:       cc = [ 324.85841   209.60338 ] ? [ 20.79389   22.07956 ]
Skew:             alpha_c = [ 0.00000 ] ? [ 0.00000  ]   => angle of pixel axes = 90.00000 ? 0.00000 degrees
Distortion:            kc = [ -0.12060   -0.17602   -0.00811   0.00175  0.00000 ] ? [ 0.04433   0.15173   0.00345   0.00525  0.00000 ]
Pixel error:          err = [ 0.39567   0.30326 ]

extrisic
Extrinsic parameters of test:

Translation vector: Tc_ext = [ 552.389076 	 -177.507678 	 2313.405920 ]
Rotation vector:   omc_ext = [ -3.013636 	 -0.012204 	 0.088603 ]
Rotation matrix:    Rc_ext = [ 0.998247 	 0.004348 	 -0.059025
                               0.011771 	 -0.991961 	 0.125999
                               -0.058003 	 -0.126473 	 -0.990273 ]
Pixel error:           err = [ 0.20394 	 0.13048 ]