A Decoupled Calibration Method for Camera Intrinsic Parameters and Distortion Coefficients

Table 1

Comparative result of intrinsic parameters and distortion coefficients.

Method
Zhang	839.50	838.56	507.89	367.02
Before-optimization	839.79	838.87	506.17	367.14
After-optimization	838.23	837.27	505.99	366.21
Method
Zhang	−0.42 mm-2	0.20 mm-4	—	—
Before-optimization	pixel-2	pixel-4	507.20	367.59
After-optimization	pixel-2	pixel-4	507.20	367.59