Trucco & Verri Method (basic)
  (Ox,Oy): 248.763603 197.545755
R =

    9.9987e-01    1.1363e-02    1.1587e-02
   -1.0989e-02    9.9994e-01    5.8128e-04
   -1.1580e-02   -7.0854e-04    9.9993e-01

T =

    559.87
    514.20
  -1759.57

  (fx,fy): 2505.914321 2501.733018
  (k1): 0.000000

Hartley & Zisserman Method (basic)
  (ox,oy): 248.763596 197.545755
Q =

    9.9986e-01    1.1896e-02    1.1588e-02
   -1.1903e-02    9.9993e-01    5.7068e-04
   -1.1580e-02   -7.0854e-04    9.9993e-01

T =

    545.52
    506.50
  -1766.30

  (fx,fy): 2505.913966 2501.731972
  (k1): 0.000000

Trucco & Verri Method (noisy)
  (Ox,Oy): 260.844591 224.494595
R =

   0.9999064   0.0115804   0.0072893
  -0.0101678   0.9998978  -0.0100511
  -0.0074050   0.0099760   0.9999228

T =

    568.59
    533.56
  -1756.07

  (fx,fy): 2513.438075 2511.156192
  (k1): 0.000000

Hartley & Zisserman Method (noisy)
  (ox,oy): 260.843665 224.494604
Q =

   0.9999140   0.0108939   0.0072966
  -0.0108203   0.9998909  -0.0100558
  -0.0074053   0.0099760   0.9999228

T =

    561.54
    545.01
  -1754.82

  (fx,fy): 2513.437579 2511.155656
  (k1): 0.000000

Trucco & Verri Method (normalized -- incomplete)
  (Ox,Oy): 202.599573 113.006973
R =

   0.77930  -0.62492   0.04652
   0.00000   0.00000  -0.00000
  -0.59252  -0.75900  -0.26989

T =

   -4.3642e+02
   -1.2409e+11
   -2.7259e+03

  (fx,fy): 211.125433 0.000001
  (k1): 0.000000

Hartley & Zisserman Method (normalized -- incomplete)
  (ox,oy): 88.568673 113.006973
Q =

   0.32674  -0.88205   0.33946
   0.25508  -0.26354  -0.93031
   0.91004   0.39056   0.13888

T =

   4890.6
  -2012.3
  -2953.9

  (fx,fy): -31.199794 -4.208401
  (k1): 0.000000