From Fig. 8: 
1/2 
d = | - x, Ty. x 
Assuming that the distortion A can be expressed by 
Az KdrK ex 0 xal 4 ..... 
1 2 3 
and | 
Ax o 5 (x. - x ) = (R +K + 5 a" + x, 850 X ) 
= » p o 1 2 3 ee... x. - x 
Ay 5 Gr i yy) = (K, + k,a^ * ka + k,a$. ene), - y, 
(67) 
(68) 
(69) 
Due to the character of lens distortion, it is immaterial if d is interpreted 
&8 the radial distance with or without distortion. 
From Fig. 9: 
A-A à 
AC € 
or 
As À + Na 
c 
Substituting formula (68) in (70) 
55 uy 7 
à a Kt 
A Kd * Kd * Kd * Kjd + a... 
whereby 
CU A 
| - ee 
Ko x c 
KA is zero if the condition is introduced that 
^o 
Ko * "e 
  
(10) 
(71) 
(72) 
Th 
of 
pr 
an 
whe 
we 
equ