7) 
8) 
0) 
1) 
2) 
Therefore, assuming that in the orientation calibration the principal distance 
c is considered as unknown, that is to say that the solution is not deprived 
of the possibility of computing a Ac-correction in each iteration, we may 
present the remaining distortion by; 
sx 32 5 T Y ts 
A'- KG K^ exa (15) 
and correspondingly with formulas (69) and (73) and Fig. 8: 
2 
x, S + (K, à + Ka + K,a + 22203 - x) (74) 
. 2 X 6 ; 
Ya "X, (d + Kd + Kd Le) Tr) 
Xp 7 b. + VY 
From formulas (12) and with (75) 
Ya * 4, + Vy 
and formulas (7h) the observation equations are: 
. em 2 à 6 | 
by hv, = a (1 + Kid £X «4 kd toe) Xo Fi 
(16) 
cn 2 4 6 
DL. +v = É (1 à m 
y tos (1 + Kd" exa 4 Kd + eae )t $5 E, 
where 
à = € (m 4n2y9 
q 
m = (X)A, + (Y)B, + (z)c, 
n = (X)A, + (Y)B, + (2)6,, 
Considering K,, K, and E; as & sufficient number of distortion parametera 
we obtain from the Taylor expansion for the right-hand side of the above 
equation &ccording to formulas (15), neglecting terms of second and higher order, 
D. oF, OF) oF, ¥L 
vr SM t rng. "3a tret NA cS t Sc 94, + M. ; 
T7 
oF F, 9F, OF, OF 
Vy DV, + oye = SK A treet FE 1% St m5, 
51