steps_for_ccal 13-feb-2014 steps to compute camera calibration 1. obtain .zip file with matlab scripts and sample data files (pba_sc.m, collin.m, gencof.m, gndx.m, int_leq2.m, cam.dat, cam_fix.dat, cam_free.dat, cp.dat, delta.dat, pho.dat, phofiles.dat,sig.dat). copy into a working folder. 2. copy your 8 measurement files (*****.txt) into the working folder. each measurement file should have 9 x 3 = 27 lines with one point per line. 3. edit your 8 filenames into the file phofiles.dat (see sample later) something like notepad works for this editing, do not make any formatting as might be found in wordpad or MS word. the camera station name will be the file name without the extension. 4. edit the position and attitude values in the file pho.dat (see sample later). for the usual camera stations, the positions will be the same as the default values. get the attitude data (omega, phi, kappa) from the angle table, depending on how you held the camera (landscape, portrait, etc.). edit the photo station names also into this file, pho.dat. 5. edit the file cam_fix.dat by editing your focal length in pixel units into the proper field of the file. copy this file into filename cam.dat withing the working directory. 6. the file cp.dat describes the needed control points, no editing needed. 7. run the program pba_sc (photogrammetric bundle adjustment, self-calibration) use the diary command to capture the screen output. observation RMS values should be in the range 2 - 5 pixels. look through the residual listing, there should be no outliers. if there are outliers, try reobserving those points and replacing those observations. if it does not converge, check your initial approximations for position and attitude of the camera stations. 8. if results above are satisfactory, then edit your initial focal length estimate into the file cam_free.dat. then copy that file into filename cam.dat. 9 re-run the program pba_sc. now your residuals should be much smaller, RMS ~ 0.1 or 0.2 pixels, again with no outliers. 10. if those results are satisfactory, then the estimated calibration parameters can be found at the end of the listing. again, when satisfied with results, run again and use the diary command to capture screen output, for turning in. 11. if there are mixups in file names, point ID's, initial approximations, focal length approximations, etc. it is possible that the nonlinear estimation will not converge. there is no magic way to fix this other than to go back through the preparation steps to make sure they are correct. if you run out of ideas about how to fix a non-converging result, then send me a .zip file with your measurement data, your cam_fix.dat, your phofiles.dat and your pho.dat files. 12. if you want to add more photos into the estimation, see me about how to do this. i have a file that you can bring up in arcmap to read off approximate XY coordinates within mackey arena.

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(4) 484.5, 1024.0, 17.8

(1) 494.7, 972.1, 17.8

y

x Note, target point 5A has coordinates X=500, Y=1000, Z=10

(3) 513.8, 1024.9, 17.8

7

4

1

8

5

2

9

6

3

N (2) 514.0, 975.6, 17.8

parameter

0.000 0.000 4359.0 0.000 0.000 0.000 0.000 0.000 2 3456 2304

paramater order xo (pix) sigma yo (pix) f (pix) K1 0.001 K2 0.001 0.001 K3 0.0001 0.0001 P1 0.0001 0.0001 P2 0.0001 code for coord. order

cam_fix.dat

sensor width pixels sensor height pixels

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format same as cam_fix.dat, only difference is the size of the sigmas, indicating that they are free to be adjusted, rather than fixed (unified LS) cam_free.dat 0.0 0.0 4359.00 0.00000 0.00000 0.00000 0.00000 0.00000 2 3456 2304

1000 1000 1000 100 100 100 100 100

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control point file - for minimally constrained adjustment (seven coordinate components fixed)

cp.dat 5a 500.0 0.0001 2a 508.5344 0.0001 4a 500.0 1e+08

1000.0 0.0001

10.0 0.0001

1000.0 0.0001

10.0 0.0001

1007.62 1e+08

10.0 0.0001

point name X,Y,Z sigmas, small = fixed, large = unknown

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phofiles.dat img_8146L.txt img_8147L.txt img_8148L.txt img_8149L.txt img_8150L.txt img_8151L.txt img_8152L.txt img_8153L.txt

just a list of the measurement files that you plan to use. the camera station name is taken from the file name minus the extension.

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one record for each camera station camera station name pho.dat img_8146L 1.3115 1.00e+08 486.4 1.00e+08 img_8147L 1.3115 1.00e+08 486.4 1.00e+08 img_8148L 1.3115 1.00e+08 514.0 1.00e+08 img_8149L 1.3115 1.00e+08 514.0 1.00e+08 img_8150L -1.3115 1.00e+08 514.0 1.00e+08 img_8151L -1.3115 1.00e+08 514.0 1.00e+08 img_8152L -1.3115 1.00e+08 486.4 1.00e+08 img_8153L -1.3115 1.00e+08 486.4 1.00e+08

omega, phi, kappa (rad.) approximations

-0.5004 1.00e+08 976.0 1.00e+08

-0.9120 1.00e+08 16.4 1.00e+08

-0.5004 1.00e+08 976.0 1.00e+08

0.6588 1.00e+08 16.4 1.00e+08

camera station position X,Y,Z

0.5004 1.00e+08 976.0 1.00e+08

-0.6588 1.00e+08 16.4 1.00e+08

a priori sigmas, large = unknown

0.5004 1.00e+08 976.0 1.00e+08

0.9120 1.00e+08 16.4 1.00e+08

0.5004 1.00e+08 1024.2 1.00e+08

2.2296 1.00e+08 16.4 1.00e+08

0.5004 1.00e+08 1024.2 1.00e+08

-2.2296 1.00e+08 16.4 1.00e+08

-0.5004 1.00e+08 1024.2 1.00e+08

2.2296 1.00e+08 16.4 1.00e+08

-0.5004 1.00e+08 1024.2 1.00e+08

-2.2296 1.00e+08 16.4 1.00e+08

a priori sigmas, large = unknown

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pos angle omega phi kappa (radians) -----------------------------------------1 -45 1.3115 -0.5004 -0.9120 1 45 1.3115 -0.5004 0.6588 2 -45 1.3115 0.5004 -0.6588 2 45 1.3115 0.5004 0.9120 3 -45 -1.3115 0.5004 2.2296 3 45 -1.3115 0.5004 -2.4828 4 -45 -1.3115 -0.5004 2.4828 4 45 -1.3115 -0.5004 -2.2296 1 0 1.3115 -0.5004 -0.1266 1 90 1.3115 -0.5004 1.4442 1 -90 1.3115 -0.5004 -1.6974 2 0 1.3115 0.5004 0.1266 2 90 1.3115 0.5004 1.6974 2 -90 1.3115 0.5004 -1.4442 3 0 -1.3115 0.5004 3.0150 3 90 -1.3115 0.5004 -1.6974 3 -90 -1.3115 0.5004 1.4442 4 0 -1.3115 -0.5004 -3.0150 4 90 -1.3115 -0.5004 -1.4442 4 -90 -1.3115 -0.5004 1.6974 5 0 1.3439 0.0000 -0.0000 5 90 1.3439 0.0000 1.5708 5 -90 1.3439 0.0000 -1.5708 6 0 -1.3439 0.0000 3.1416 6 90 -1.3439 0.0000 -1.5708 6 -90 -1.3439 0.0000 1.5708 7 0 0.1867 -1.3398 -1.3791 7 90 0.1867 -1.3398 0.1917 7 -90 0.1867 -1.3398 -2.9499 8 0 -0.1867 1.3398 1.7625 8 90 -0.1867 1.3398 -2.9499 8 -90 -0.1867 1.3398 0.1917

Angle = 0, “landscape” Angle = +45

Angle = -45

Angle = +90, “portrait” #1

Angle = -90, “portrait” #2

adj_fixed pba_sc iter 1 position iter 2 position iter 3 position iter 4 position iter 5 position iter 6 position iter 7 position we have converged

corrections: corrections: corrections: corrections: corrections: corrections: corrections:

0.245214 0.389626 0.125157 0.013401 0.000616 0.000002 0.000000

1.306320 1.076627 0.150313 0.017203 0.000508 0.000002 0.000000

0.572394 0.423104 0.093207 0.016384 0.000535 0.000001 0.000000

observation residuals photo img_8146L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c

-2.703 -3.351 -2.026 -3.398 -3.394 -2.760 -2.137 -2.336 -1.619 5.390 4.994 5.474 4.258 4.252 4.272 3.888 3.315 3.408 1.744 1.418 1.435 -2.111 -2.796 -3.026 -2.990 -2.952 -3.212

-2.215 -2.234 -2.005 0.255 0.176 0.234 0.818 0.626 0.826 0.962 0.769 1.103 0.473 0.364 0.357 0.726 0.580 0.549 2.184 2.113 2.292 -0.252 -0.761 -0.655 -2.014 -1.917 -2.056

-3.401 -3.481 -2.930 -1.855 -1.624 -1.222 0.684 0.357 0.847 3.006 2.695 2.612 1.649 1.615 1.531 1.372 1.355 1.270 3.423 3.019 2.900 -1.339 -1.561 -1.562 -2.320 -2.263 -2.917

0.722 0.923 0.455 2.463 2.604 2.129 1.326 1.371 1.016 -2.736 -2.582 -2.358 -2.291 -2.358 -2.374 -2.116 -1.976 -1.957 0.161 0.336 0.601 1.223 1.264 1.421 0.668 0.596 0.961

0.073 0.279 -0.049 2.547 2.355 2.280 1.859 1.483 1.636 -6.137 -6.143 -6.248 -2.302 -2.495 -2.712 -2.584 -2.629

0.441 0.786 0.464 1.446 1.393 1.230 0.481 0.321 0.272 -2.744 -2.557 -2.641 -1.586 -1.553 -1.653 -2.069 -2.157

photo img_8147L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c photo img_8148L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b

Page 1

adj_fixed 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c

-2.983 1.434 1.769 2.379 3.234 3.220 3.786 1.069 1.013 1.671

-2.282 -0.470 0.043 0.498 2.036 2.085 2.437 1.668 1.701 2.032

0.245 0.211 -0.167 3.038 2.596 2.194 1.987 1.524 1.466 -6.785 -6.190 -6.365 -2.571 -2.904 -2.974 -3.369 -3.334 -3.417 1.918 1.718 2.080 4.278 4.021 4.494 1.662 1.164 1.755

0.446 0.678 0.536 -0.412 -0.190 -0.241 -0.835 -0.672 -0.723 1.477 1.383 1.553 0.062 0.204 0.350 -0.229 -0.287 -0.195 -1.346 -1.187 -1.238 -0.388 -0.156 -0.230 0.727 1.005 0.854

-1.111 -1.440 -0.913 -1.575 -1.876 -1.366 -1.694 -2.350 -1.278 1.307 1.561 1.490 4.130 4.383 4.212 5.927 5.749 5.875 -2.392 -2.147 -2.678 -2.856 -2.867 -3.405 -0.685 -0.324 -1.093

-0.978 -1.440 -0.963 -1.874 -2.036 -1.592 -0.357 -0.436 0.036 1.671 1.426 1.335 2.610 2.628 2.507 3.489 3.460 3.398 -0.415 -0.461 -0.571 -1.348 -1.607 -1.739 -1.667 -1.763 -2.117

-1.325 -1.503 -1.319 -0.804 -1.039 -0.798 1.142 0.524 1.235 0.271 0.058 0.184 1.513 1.470 1.680 4.310 4.254 4.414

0.475 0.178 0.181 -0.423 -0.234 -0.363 0.505 1.000 0.604 -0.525 -0.454 -0.739 -0.515 -0.574 -0.575 -1.369 -1.385 -1.405

photo img_8149L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c photo img_8150L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c photo img_8151L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c

Page 2

adj_fixed 7a 7b 7c 8a 8b 8c 9a 9b 9c

2.333 1.721 1.637 -2.758 -2.889 -3.325 -3.331 -3.438 -3.915

0.057 0.274 0.427 1.410 1.369 1.575 0.324 0.123 0.351

0.423 0.646 0.167 3.800 3.720 3.013 4.121 3.666 3.031 -2.778 -2.918 -2.711 -2.553 -2.870 -3.051 -5.541 -5.790 -6.145 2.285 2.387 2.761 2.411 1.960 2.384 -1.207 -1.584 -1.209

1.721 1.904 1.674 1.485 1.242 1.032 -0.583 -0.834 -0.984 -1.199 -1.042 -0.923 -0.557 -0.608 -0.671 -1.436 -1.520 -1.726 -0.297 -0.215 -0.317 0.450 0.551 0.594 0.695 0.653 0.924

-0.205 0.270 -0.079 3.478 3.466 3.144 2.482 2.401 2.100 -2.408 -2.249 -2.359 -1.028 -1.344 -1.393 -3.325 -3.667 -3.721 1.607 1.399 1.519 1.544 1.076 1.279 -1.110 -1.340 -1.373

1.373 1.487 1.585 -2.023 -2.299 -1.923 -3.741 -3.716 -3.524 1.157 1.200 1.171 1.216 1.522 1.422 2.730 3.047 3.128 -2.010 -2.016 -2.235 -1.280 -0.841 -1.209 2.034 2.089 2.253

photo img_8152L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c photo img_8153L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c

post adjustment statistics & error propagation rms-x,rms-y = 2.826 1.504 total coord rms = 2.263726 number of points = 27 number of control points = 3 number of observations = 432 number of photos = 8 redundancy = 312 post-adj sigma-nought squared = 7.10 exterior orientation data for photos photo img_8146L w,p,k x,y,z

1.304153 494.699

-0.204534 972.144

-0.285865 17.864

-0.189484

0.493083

photo img_8147L w,p,k

1.287734

Page 3

adj_fixed x,y,z

494.653

972.093

17.900

0.503423 975.697

-0.263487 17.742

0.498085 975.681

0.364615 17.763

0.542797 1024.959

2.715477 17.811

0.501562 1024.931

-2.757354 17.831

-0.542895 1023.859

2.886484 17.707

-0.536210 1024.330

-2.468639 17.899

photo img_8148L w,p,k x,y,z

1.268257 513.969

photo img_8149L w,p,k x,y,z

1.266985 513.968

photo img_8150L w,p,k x,y,z

-1.309696 513.825

photo img_8151L w,p,k x,y,z

-1.277021 513.746

photo img_8152L w,p,k x,y,z

-1.259501 484.813

photo img_8153L w,p,k x,y,z

-1.263063 484.068

point coordinates 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c

508.564 508.568 508.229 508.534 508.530 508.192 508.508 508.507 508.170 499.917 499.912 499.568 500.000 499.991 499.643 499.978 499.978 499.632 491.389 491.389 491.048 491.336 491.330 490.992 491.422 491.432 491.095

1007.016 1006.616 1006.616 1000.000 999.594 999.599 994.663 994.258 994.255 1007.091 1006.688 1006.693 1000.000 999.591 999.599 994.605 994.196 994.194 1007.094 1006.690 1006.686 1000.110 999.704 999.714 994.730 994.327 994.328

9.996 9.997 9.994 10.000 9.999 9.999 10.009 10.012 10.008 10.000 10.000 9.999 10.000 9.998 9.998 10.007 10.008 10.007 10.015 10.011 10.014 10.006 10.006 10.007 10.011 10.011 10.011

refined camera parameters x0 -0.000 y0 -0.000 foc 4359.000 k1 0.00010908332 k2 0.00011243893 k3 7.4050879e-05 p1 -2.6100495e-07 p2 -1.201141e-07 cond(N) before Wts cond(N) after Wts

1.8571493e+17 3946666.2

diary off

Page 4

adj_free pba_sc iter 1 position iter 2 position iter 3 position iter 4 position iter 5 position iter 6 position iter 7 position iter 8 position we have converged

corrections: corrections: corrections: corrections: corrections: corrections: corrections: corrections:

0.205320 0.686002 0.285659 0.094471 0.005453 0.000230 0.000003 0.000000

1.712748 2.030633 0.571433 0.151167 0.008174 0.000256 0.000011 0.000000

0.695307 0.492896 0.076495 0.039076 0.003424 0.000064 0.000002 0.000000

observation residuals photo img_8146L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c

-0.013 -0.514 0.252 0.165 0.116 0.144 0.028 -0.332 -0.138 0.208 -0.127 0.280 -0.034 0.006 0.077 0.357 -0.129 -0.023 -0.032 0.007 0.160 0.209 -0.344 -0.286 -0.064 -0.072 0.165

-0.031 -0.335 -0.195 0.043 -0.098 -0.108 0.106 -0.090 0.066 0.286 0.070 0.292 0.089 0.012 0.058 0.267 0.039 0.021 -0.022 -0.011 0.035 0.152 -0.189 -0.101 -0.178 -0.098 -0.070

-0.021 -0.222 -0.045 -0.068 0.044 0.070 0.297 -0.270 0.019 0.219 -0.051 -0.282 -0.100 -0.071 -0.086 0.140 0.122 0.074 0.284 0.187 -0.028 0.018 -0.015 0.020 0.109 0.075 -0.436

0.050 -0.037 -0.183 -0.150 0.010 -0.094 -0.115 0.120 0.041 0.035 0.136 0.345 0.197 0.131 0.116 -0.075 -0.042 -0.048 -0.141 -0.161 -0.065 -0.070 -0.001 -0.022 -0.035 -0.087 0.116

0.249 0.121 0.132 -0.074 -0.289 -0.128 0.065 -0.150 0.160 0.189 -0.159 -0.309 0.437 0.174 0.021 0.000

0.011 0.037 -0.042 -0.032 -0.009 0.005 0.084 -0.036 0.006 -0.008 0.039 -0.041 0.060 0.093 -0.005 -0.033

photo img_8147L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c photo img_8148L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a

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adj_free 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c

-0.005 -0.224 -0.158 -0.044 -0.035 -0.147 -0.109 -0.102 -0.095 0.136 0.287

-0.042 -0.131 -0.210 0.026 0.193 -0.149 -0.127 -0.051 -0.018 0.119 0.162

0.497 -0.009 -0.018 0.172 -0.257 -0.388 0.275 -0.043 0.065 -0.322 -0.093 -0.316 0.312 -0.072 -0.087 -0.175 -0.033 0.037 0.467 -0.064 -0.349 0.231 0.023 -0.109 0.138 -0.007 0.039

-0.139 0.032 -0.096 -0.184 0.115 0.085 -0.143 -0.032 -0.088 0.101 0.095 0.298 -0.072 0.113 0.221 0.061 0.045 0.077 -0.154 -0.094 -0.034 -0.225 -0.051 -0.029 -0.086 0.099 -0.003

0.254 -0.199 0.156 0.027 -0.209 -0.144 0.402 -0.301 0.091 -0.089 -0.073 -0.181 0.000 0.147 -0.025 0.202 -0.135 -0.150 -0.027 0.209 0.140 0.050 0.008 -0.005 -0.033 -0.031 -0.181

0.134 -0.062 0.204 0.158 -0.089 0.057 0.098 -0.111 0.032 0.002 -0.259 -0.303 0.007 -0.055 -0.203 -0.060 -0.137 -0.165 0.119 0.056 0.107 0.069 -0.128 0.035 0.164 0.087 0.096

0.079 -0.055 0.108 0.279 -0.048 0.032 0.250 -0.596 -0.074 0.081 -0.151 -0.197 -0.131 -0.326 -0.095 0.302 0.044

0.119 0.099 0.046 -0.070 0.035 -0.046 -0.149 0.337 0.043 -0.284 -0.151 -0.311 0.113 0.062 0.034 -0.257 -0.184

photo img_8149L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c photo img_8150L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c photo img_8151L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b

Page 2

adj_free 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c

0.252 0.126 -0.040 -0.036 0.063 0.113 0.068 0.102 -0.128 -0.062

-0.116 0.182 0.146 0.163 -0.059 -0.099 -0.069 0.052 0.084 0.109

0.122 0.027 -0.097 -0.132 -0.319 -0.488 0.246 -0.070 -0.069 0.088 -0.106 0.012 0.603 0.391 0.223 0.043 0.079 -0.181 -0.002 -0.027 -0.107 0.021 -0.275 -0.295 0.079 0.077 0.108

0.038 0.065 0.032 -0.017 -0.154 -0.203 0.064 0.064 0.050 -0.170 -0.071 0.003 0.100 0.066 0.011 0.013 0.061 -0.166 -0.055 0.102 -0.031 0.029 0.057 -0.022 -0.081 -0.038 0.065

0.005 -0.029 -0.103 -0.044 -0.097 -0.018 0.006 0.168 0.308 0.182 0.141 -0.135 0.099 -0.160 -0.206 -0.023 -0.059 -0.031 0.142 -0.034 -0.076 0.250 -0.147 -0.169 -0.030 0.075 -0.092

-0.240 0.119 0.120 0.018 -0.088 -0.006 -0.171 -0.086 -0.280 0.050 0.132 0.206 -0.064 0.170 0.078 -0.088 0.068 0.048 -0.238 -0.139 -0.153 -0.051 0.220 0.032 0.103 -0.100 0.115

photo img_8152L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c photo img_8153L 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c

post adjustment statistics & error propagation rms-x,rms-y = 0.186 0.125 total coord rms = 0.158499 number of points = 27 number of control points = 3 number of observations = 432 number of photos = 8 redundancy = 312 post-adj sigma-nought squared = 0.03 exterior orientation data for photos photo img_8146L w,p,k x,y,z

1.311717 494.613

-0.202036 971.615

-0.283298 17.847

photo img_8147L Page 3

adj_free w,p,k x,y,z

1.293209 494.561

-0.186232 971.551

0.495355 17.882

0.502172 975.071

-0.262950 17.854

0.497765 975.053

0.366215 17.874

0.536312 1025.443

2.715825 17.878

0.494189 1025.440

-2.757302 17.893

-0.541672 1024.443

2.884507 17.839

-0.536061 1024.939

-2.468792 18.037

photo img_8148L w,p,k x,y,z

1.273821 514.163

photo img_8149L w,p,k x,y,z

1.270353 514.160

photo img_8150L w,p,k x,y,z

-1.314856 513.949

photo img_8151L w,p,k x,y,z

-1.280603 513.885

photo img_8152L w,p,k x,y,z

-1.264425 484.613

photo img_8153L w,p,k x,y,z

-1.264363 483.848

point coordinates 1a 1b 1c 2a 2b 2c 3a 3b 3c 4a 4b 4c 5a 5b 5c 6a 6b 6c 7a 7b 7c 8a 8b 8c 9a 9b 9c

508.579 508.581 508.236 508.534 508.530 508.187 508.519 508.520 508.177 499.928 499.921 499.581 500.000 499.991 499.647 499.974 499.973 499.629 491.413 491.415 491.070 491.361 491.354 491.010 491.420 491.426 491.084

1007.133 1006.722 1006.719 1000.000 999.589 999.594 994.599 994.188 994.188 1007.124 1006.716 1006.720 1000.000 999.590 999.598 994.586 994.174 994.170 1007.131 1006.719 1006.716 1000.066 999.656 999.664 994.626 994.216 994.212

10.003 10.003 10.000 10.000 9.999 9.998 10.002 10.005 10.000 10.000 10.000 9.999 10.000 9.997 9.997 9.996 9.996 9.995 9.993 9.989 9.991 9.988 9.987 9.987 9.986 9.986 9.985

refined camera parameters x0 -14.103 y0 7.480 foc 4488.748 k1 0.039772269 k2 -0.047411685 k3 0.032820318 p1 -0.080421516 p2 -0.51584645 cond(N) before Wts 3.8733237e+17 cond(N) after Wts 6.9786146e+10

diary off

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