Camera Model analysis

Angle uncertainty due to Tangential Distortion Coefficients

The mischaracterization of the k parameters of the distortion coefficients (tangential distortion coefficients) can induce both position errors and angle (attitude) errors. By comparing the results of the k parameters from available camera characterization experiments, we can obtain a measure of the expected error in the k parameters. With this value, we can then compute the maximum expected error in the photogrammetry results, considering the average distortion-coefficient-induced varition of reconstructed position and attitude shown above.

Conclusions

For the OpenCV reconstructed roll angle: the estimated error is below 0.1°. 

For the Enhanced OpenCV roll angle (obtained by using the GPS translation vector in the OpenCV SolvePnP algorithm): error is well below 0.1°.