From: Calibration and rectification of vertically aligned binocular omnistereo vision systems
 | The upper camera | The lower camera |
---|---|---|
Main point position [u 0, v 0]/(pixels) | [673.59, 683.82] | [669.98, 676.12] |
Equivalent focal length [γ 1, γ 2] | [410.44, 411.28] | [412.37, 414.78] |
Mirror parameter ξ | 0.83176 | 0.84279 |
Radial distortion [k 1, k 2] | [-0.08661, 0.00732] | [-0.09310, 0.00961] |
Tangential distortion [k 3, k 4] | [-0.00131, 0.00279] | [0.00445, 0.00387] |
Re-projection error | [0.63084, 0.59738] | [0.99979, 0.95924] |