4 (14) 
la (15). 
(15) 
=] , then: 
(16) 
n angle Æ and 
(17) 
own angle Æ, 
(18) 
(19) 
Calculated from 
c parameters of 
on above. 
jector lens, the 
t in the process 
The distortion parameters are added into the collinear equation, 
then: 
  
  
t a-X)r-xsz-z) X 
x Xie ^E 
(20) 
Ya cA =f a )+B(Y-X) *elz-Z) Y 
'a(X-X)&b(Y-YMe(Z-Z) "z 
Ax x pha K dr 
pi? adea Pon: nier My 
    
(21) 
2 4 
Ay - by - x, és kon )+ 
2 2 
Br «2» - x) )«2: Plx- xo» - ») 
where Fr? = (x =n y sa (y x y 
K,, K,-7 Radial Distortion 
P3, P57 Decentering Distortion 
From the formula (21), then: 
A eap Mey M NS A Ar 
AT P à» ox 
hi Da "RA bo 
Foun a NS i n 
exo LT. M ROS AD mj 
a ap (22) 
gy Qv oy ou e o 
EM = AV AT A A Apt AK 
en C qn uq a dw Ok 
Gp plo upd vogue pul cag 
T—— AX4—— AY 4.—— e Air e A deren a Ay 
a TA 
y X X 
X 
ZA AR 
xX So i i 
The formula (22) is the error equation of the whole adjustment 
finally. 
International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part BS. Istanbul 2004 
3. DATA AND EXPERIMANTAL RESULTS 
3.1 Design Data 
The size of the planar grid is 60cm X 60cm and there are 18 X 
18=324 points in the planar grid. The interval of these points is 
the same and is 30mm. Each point has its own serial number 
which is exclusive. The size of the target grid slide designed is 
1024 pixels X 768 pixels and there are also 18 X 18=324 points 
in the slide grid. The interval of these points is also the same 
and is 40 pixels. Every point has its own only serial number, 
too. 
3.2 Image Sequences Data 
When the positions of the camera and the projector are adjusted 
well and fixed relatively, both of them need to be focused 
respectively. Then the camera is used to take an image of the 
planar grid without the projector illuminating. Following the 
planar grid is covered by a white paper and projector 
illuminates the target grid onto the paper. The camera is used to 
take another image of the target grid. Then the planar grid is 
rotated and the camera and the projector are changed to a 
different orientation. Taking two images is done by the same 
step above. There are 4 sets of the two images as shown Figure 
1. The size of each image is 1300pixels X 1030pixels. The 
distance between the digital camera and the planar grid is about 
0.5 meters. The distance between the projector and the planar 
grid is about 1.5 meters.