Size of	With 8 Camera Parameters rows × cloumns	With 9 Camera Parameters rows × cloumns
$J_{c}^{i j}$	2 × 8	2 × 9
$U_{j}$	8 × 8	9 × 9
A	${((8 \times n u m_{c a m}) + (3 \times n u m_{p t}))}^{2}$	${((9 \times n u m_{c a m}) + (3 \times n u m_{p t}))}^{2}$
δ	$((8 \times n u m_{c a m}) + (3 \times n u m_{p t})) \times 1$	$((9 \times n u m_{c a m}) + (3 \times n u m_{p t})) \times 1$
$ϵ$	$((8 \times n u m_{c a m}) + (3 \times n u m_{p t})) \times 1$	$((9 \times n u m_{c a m}) + (3 \times n u m_{p t})) \times 1$