From: Systematic integration of 2D and 3D sources for the virtual reconstruction of lost heritage artefacts: the equestrian monument of Francesco III d’Este (1774–1796, Modena, Italy)
Root Mean Square (RMS) reprojection error: 0.24 (0.54 pix)
Max. reprojection error: 0.71 (19.75 pix)
Principal point cx: 14.91 pix
Principal point cy: − 32.75 pix
k1: − 0.069748
k2: 0.245727
p1: 0.000241
p2: − 0.002011
b1: 1.4179
b2: − 0.3065