双目标定matlab工具箱,matlab标定工具箱及其简介

我用相机标定工具箱做的标定 结果误差很大 模板是用CAD画的9X9的棋盘格 边长10mm 共20幅 结果如下：

Focal Length:          fc = [ 2780.16177   2781.33287 ] 　[ 296.64132   298.73430 ]

Principal point:       cc = [ 1786.72408   597.54555 ] 　[ 55.25647   61.78959 ]

Skew:             alpha_c = [ 0.00000 ] 　[ 0.00000  ]   => angle of pixel axes = 90.00000 　0.00000 degrees

Distortion:            kc = [ 0.12207   0.13750   -0.02617   0.01784  0.00000 ] 　[ 0.05063   0.24177   0.00635   0.00356  0.00000 ]

Pixel error:          err = [ 1.14026   1.10847 ]

Translation vector: Tc_ext = [ -19.620697          54.279233          241.715752 ]

Rotation vector:   omc_ext = [ 3.052365          0.101163          0.045346 ]

Rotation matrix:    Rc_ext = [ 0.997370          0.064779          0.032502

0.067365          -0.994009          -0.086066

0.026732          0.088029          -0.995759 ]

Pixel error:           err = [ 1.29019          1.02751 ]

Focal Length:          fc = [ 2058.71600   2063.83994 ] 　[ 1182.95981   1188.33824 ]

Principal point:       cc = [ 1761.59164   1005.41604 ] 　[ 140.69404   94.78705 ]

Skew:             alpha_c = [ 0.00000 ] 　[ 0.00000  ]   => angle of pixel axes = 90.00000 　0.00000 degrees

Distortion:            kc = [ 0.11226   -0.06447   -0.00508   0.00039  0.00000 ] 　[ 0.13525   0.16740   0.00638   0.00709  0.00000 ]

Pixel error:          err = [ 1.59108   1.31918 ]

Translation vector: Tc_ext = [ -127.638657          -50.595393          166.092299 ]

Rotation vector:   omc_ext = [ 2.486771          1.853866          -0.082117 ]

Rotation matrix:    Rc_ext = [ 0.284916          0.958359          -0.019255

0.956308          -0.285565          -0.062666

-0.065555          -0.000559          -0.997849 ]

Pixel error:           err = [ 1.65101          1.10829 ]

为什么显示优化后 误差那么大呢？求指教