14
In this*
version of Tsai’s algorithm,
• The real-valued (u,v)
are computed from their pixel
positions (r,c):
u = g dx (c-u0) v =
-dy (r - v0)
where
- (u0,v0) is the center
of the image
- dx and dy are the center-to-center (real) distances
between pixels and come from the
camera’s specs
- g is a scale factor
learned from previous trials
*
This version is for single-plane calibration.