相机校准原理点等于零

Question

我正在使用Caltech Tool来校准我的高精度相机。在所有步骤正确完成之后，我得到了输出：

Calibration results (with uncertainties):

Focal Length:          fc = [ 19492.53297   19388.55257 ] � [ 525.74266   512.39590 ]
Principal point:       cc = [ 2148.07762   -224.68443 ] � [ 0.00000   0.00000 ]
Skew:             alpha_c = [ 0.00000 ] � [ 0.00000  ]   => angle of pixel axes = 90.00000 � 0.00000 degrees
Distortion:            kc = [ -0.83041   11.44633   0.01176   -0.01231  0.00000 ] � [ 0.31872   5.17178   0.02315   0.00453  0.00000 ]
Pixel error:          err = [ 1.70741   1.96577 ]

Note: The numerical errors are approximately three times the standard deviations (for reference).

现在我要构建我的K矩阵：

[fx, s, cx]
[0, fy, cy]
[0, 0, 1]

所以在我的情况下是：

def get_camera_intrinsic():
    K = np.zeros((3, 3), dtype='float64')
    K[0, 0], K[0, 2] = 525.74266, 0  
    K[1, 1], K[1, 2] = 512.39590, 0  
    K[2, 2] = 1.
    return K

这对我来说毫无意义，因为主点为0很奇怪：

Principal point:       cc = [ 2148.07762   -224.68443 ] � [ 0.00000   0.00000 ]

有什么想法吗？

编辑：这是我在校准过程中使用的样本图像。由于尺寸问题，我需要一些时间来调整图像的大小，更改其文件类型以将所有图像上传到此处。