This list includes the transformation matrices (T-Matrices) and the calibration point data for the calibration scene in calib.ic The file names *L.BLD and *R.BLD correspond to the left and right image respectively. The T-matrices can be used to transform world coordinates into image plane coordinates (x, y component means column, row respectively), upper left corner has coordinates (1,1). X_Camera := T_matrix * X_World; The Vector X_Camera has to be scaled by the homogeneous component ========================================================================= Calibration Picture : RCALIB_H_L.BLD Calibration Point File: RCALIB_H_L_BLD.KAL No X-World Y-World Z-World Col Row 1 0.00000E+00 5.00000E+00 0.00000E+00 1.84588E+02 3.92294E+02 2 1.00000E+00 5.00000E+00 0.00000E+00 2.40647E+02 3.91412E+02 3 2.00000E+00 5.00000E+00 0.00000E+00 2.97500E+02 3.90091E+02 4 3.30000E+00 5.00000E+00 0.00000E+00 3.71500E+02 3.89500E+02 5 0.00000E+00 1.00000E+01 0.00000E+00 2.25333E+02 3.40111E+02 6 1.30000E+00 1.00000E+01 0.00000E+00 2.72667E+02 3.38167E+02 7 2.30000E+00 1.00000E+01 0.00000E+00 3.08267E+02 3.37000E+02 8 3.30000E+00 1.00000E+01 0.00000E+00 3.44500E+02 3.36500E+02 9 6.60000E+00 1.00000E+01 0.00000E+00 4.61727E+02 3.34455E+02 10 0.00000E+00 1.50000E+01 0.00000E+00 2.45667E+02 3.14333E+02 11 3.30000E+00 1.50000E+01 0.00000E+00 3.31600E+02 3.12200E+02 12 6.60000E+00 1.50000E+01 0.00000E+00 4.18000E+02 3.11000E+02 13 1.00000E+00 2.00000E+01 0.00000E+00 2.77667E+02 2.98667E+02 14 3.30000E+00 2.00000E+01 0.00000E+00 3.25000E+02 2.98000E+02 15 6.60000E+00 2.00000E+01 0.00000E+00 3.93667E+02 2.98667E+02 16 1.00000E+00 2.50000E+01 0.00000E+00 2.81500E+02 2.90000E+02 17 4.50000E+00 2.50000E+01 0.00000E+00 3.40333E+02 2.89667E+02 18 6.60000E+00 2.50000E+01 0.00000E+00 3.76000E+02 2.89000E+02 T-Matrix is : 4.46191E+02 2.96679E+02 -1.17800E+01 9.24215E+01 -3.05663E+01 2.47162E+02 -4.74573E+02 2.05891E+03 -8.99013E-02 9.95853E-01 -1.39379E-02 3.50089E+00 -8.99013E-02 9.95853E-01 -1.39379E-02 3.50089E+00 Reconstruction with computed T-matrix: No X-World Y-World Z-World Col Row Difference 1 0.00000E+00 5.00000E+00 0.00000E+00 1.85824E+02 3.88521E+02 4.0 2 1.00000E+00 5.00000E+00 0.00000E+00 2.40995E+02 3.89041E+02 2.4 3 2.00000E+00 5.00000E+00 0.00000E+00 2.97361E+02 3.89572E+02 0.5 4 3.30000E+00 5.00000E+00 0.00000E+00 3.72488E+02 3.90280E+02 1.3 5 0.00000E+00 1.00000E+01 0.00000E+00 2.27292E+02 3.36607E+02 4.0 6 1.30000E+00 1.00000E+01 0.00000E+00 2.72756E+02 3.36577E+02 1.6 7 2.30000E+00 1.00000E+01 0.00000E+00 3.08274E+02 3.36554E+02 0.4 8 3.30000E+00 1.00000E+01 0.00000E+00 3.44278E+02 3.36530E+02 0.2 9 6.60000E+00 1.00000E+01 0.00000E+00 4.66659E+02 3.36450E+02 5.3 10 0.00000E+00 1.50000E+01 0.00000E+00 2.46363E+02 3.12731E+02 1.7 11 3.30000E+00 1.50000E+01 0.00000E+00 3.31553E+02 3.12285E+02 0.1 12 6.60000E+00 1.50000E+01 0.00000E+00 4.19576E+02 3.11824E+02 1.8 13 1.00000E+00 2.00000E+01 0.00000E+00 2.77443E+02 2.98850E+02 0.3 14 3.30000E+00 2.00000E+01 0.00000E+00 3.24309E+02 2.98482E+02 0.8 15 6.60000E+00 2.00000E+01 0.00000E+00 3.93035E+02 2.97942E+02 1.0 16 1.00000E+00 2.50000E+01 0.00000E+00 2.81044E+02 2.89939E+02 0.5 17 4.50000E+00 2.50000E+01 0.00000E+00 3.39991E+02 2.89377E+02 0.4 18 6.60000E+00 2.50000E+01 0.00000E+00 3.76000E+02 2.89033E+02 0.0 Standard Deviation of Differences 2.2 ========================================================================= Calibration Picture : RCALIB_H_R.BLD Calibration Point File: RCALIB_H_R_BLD.KAL No X-World Y-World Z-World Col Row 1 0.00000E+00 5.00000E+00 0.00000E+00 1.07042E+02 3.85375E+02 2 1.00000E+00 5.00000E+00 0.00000E+00 1.62714E+02 3.85500E+02 3 2.00000E+00 5.00000E+00 0.00000E+00 2.18121E+02 3.85455E+02 4 3.30000E+00 5.00000E+00 0.00000E+00 2.91577E+02 3.85731E+02 5 6.60000E+00 5.00000E+00 0.00000E+00 4.72786E+02 3.83786E+02 6 0.00000E+00 1.00000E+01 0.00000E+00 1.56200E+02 3.33533E+02 7 1.30000E+00 1.00000E+01 0.00000E+00 2.02227E+02 3.32364E+02 8 2.30000E+00 1.00000E+01 0.00000E+00 2.37500E+02 3.31950E+02 9 3.30000E+00 1.00000E+01 0.00000E+00 2.73150E+02 3.31950E+02 10 6.60000E+00 1.00000E+01 0.00000E+00 3.89059E+02 3.31118E+02 11 0.00000E+00 1.50000E+01 0.00000E+00 1.80400E+02 3.07800E+02 12 3.30000E+00 1.50000E+01 0.00000E+00 2.65000E+02 3.07500E+02 13 6.60000E+00 1.50000E+01 0.00000E+00 3.50000E+02 3.07500E+02 14 1.00000E+00 2.00000E+01 0.00000E+00 2.14200E+02 2.92600E+02 15 3.30000E+00 2.00000E+01 0.00000E+00 2.60800E+02 2.93200E+02 16 6.60000E+00 2.00000E+01 0.00000E+00 3.27714E+02 2.94429E+02 17 1.00000E+00 2.50000E+01 0.00000E+00 2.18500E+02 2.84000E+02 18 4.50000E+00 2.50000E+01 0.00000E+00 2.77500E+02 2.85000E+02 19 6.60000E+00 2.50000E+01 0.00000E+00 3.12500E+02 2.85000E+02 T-Matrix is : 4.87377E+02 2.42063E+02 -8.18843E+00 -3.05028E+02 5.98448E+00 2.41132E+02 -4.87871E+02 2.09927E+03 2.74784E-02 9.99187E-01 -2.95161E-02 3.55440E+00 2.74784E-02 9.99187E-01 -2.95161E-02 3.55440E+00 Reconstruction with computed T-matrix: No X-World Y-World Z-World Col Row Difference 1 0.00000E+00 5.00000E+00 0.00000E+00 1.05877E+02 3.86527E+02 1.6 2 1.00000E+00 5.00000E+00 0.00000E+00 1.62357E+02 3.85986E+02 0.6 3 2.00000E+00 5.00000E+00 0.00000E+00 2.18475E+02 3.85449E+02 0.4 4 3.30000E+00 5.00000E+00 0.00000E+00 2.90896E+02 3.84756E+02 1.2 5 6.60000E+00 5.00000E+00 0.00000E+00 4.72071E+02 3.83022E+02 1.0 6 0.00000E+00 1.00000E+01 0.00000E+00 1.56176E+02 3.32977E+02 0.6 7 1.30000E+00 1.00000E+01 0.00000E+00 2.02415E+02 3.32674E+02 0.4 8 2.30000E+00 1.00000E+01 0.00000E+00 2.37818E+02 3.32442E+02 0.6 9 3.30000E+00 1.00000E+01 0.00000E+00 2.73078E+02 3.32211E+02 0.3 10 6.60000E+00 1.00000E+01 0.00000E+00 3.88435E+02 3.31455E+02 0.7 11 0.00000E+00 1.50000E+01 0.00000E+00 1.79370E+02 3.08283E+02 1.1 12 3.30000E+00 1.50000E+01 0.00000E+00 2.64815E+02 3.07843E+02 0.4 13 6.60000E+00 1.50000E+01 0.00000E+00 3.49432E+02 3.07407E+02 0.6 14 1.00000E+00 2.00000E+01 0.00000E+00 2.13175E+02 2.93983E+02 1.7 15 3.30000E+00 2.00000E+01 0.00000E+00 2.60046E+02 2.93779E+02 1.0 16 6.60000E+00 2.00000E+01 0.00000E+00 3.26859E+02 2.93489E+02 1.3 17 1.00000E+00 2.50000E+01 0.00000E+00 2.18263E+02 2.84773E+02 0.8 18 4.50000E+00 2.50000E+01 0.00000E+00 2.77054E+02 2.84548E+02 0.6 19 6.60000E+00 2.50000E+01 0.00000E+00 3.12140E+02 2.84414E+02 0.7 Standard Deviation of Differences 0.9 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