Main reference for Tsai testdata methods to understand the call Ncx, Nfx, Cx, Cy, dx, dy, sx seven parameters can be: Ncx, Nfx, sx Set simple one. Cx, Cy Set pixel center, that is, if the image is 800 × 600, it is set to 400,300. But my example the value is used in other ways out of calibration. Tsai can refer to another paper: Techniques for Calibration of the Scale Factor and Image Center for High Accuracy 3-D Machine Vision Metrology, IEEE Transactions on Pattern Analysis and Machine Intelligence Volume 10, Issue 5 (September 1988) Pages: 713-- 720 dx, dy values could Advisory camera manufacturer.

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