camera

[u₀, v₀] (pixel)

[a_x, a_y]

[k₁, k₂]

reprojection error (pixel)

C1

[1402.58, 891.38]

[7269.72, 7265.03]

[−0.8919, 1.1505]

0.217

C2

[1465.60, 987.16]

[7260.67, 7243.81]

[−0.8231, 0.5826]

0.119