RGB相机

IR相机

内参

[[602.005 0. 333.335]

[0. 600.856 233.002]

[0. 0. 1. ]]

[[584.336 0. 323.739]

[0. 583.84240.568]

[0. 0. 1. ]]

畸变参数

[[0.0230.498 −0.004 −0. −1.483]]

[[−0.1010.376 -0.0020.002 −0.442]]

旋转矩阵R

[0.9980544085026888, −0.0005053133907268852, −0.06234695122237745;

−0.00192747042416588, 0.9992391545866735, −0.03895377772019822;

0.06231919869600642, 0.03899816148599567, 0.9972940694071134]

偏移矩阵T

[−0.003415024268825395;

−0.01214055388563491;

0.02662079621125524]