Calibration Methods

Transformation

matrix

Step 3

Lens

Distortion

Step 2

Projection

Step 1

World2camera

Transformation

with ?, ?, ?, tx, ty and tz

Projection with f

Radial distortion with k1

Undistorted

Multiple

distortion

k1, g1, g2, g3, g4

Transformation with

u0, v0 , ku and kv

Transformation

with u0, v0 and sx

Transformation

with u0, v0,

ku and kv

Step 4

Camera2image

=

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