Fig. 1. Object and image coordinate systems

Fig. 2. The concept of equivalent nodal point

Fig. 3. The flow chart of system optical axis calibration

Fig. 4. Relationship between the coordinate systems

Fig. 5. Schematic diagram of light propagation process before optical axis calibration

Fig. 6. Schematic diagram of light propagation process after changing rotation axis

Fig. 7. Selection of random error points

Fig. 8. Position error analysis of optical axis calibration

Fig. 9. Angle error analysis of optical axis calibration