Table 3.

Internal parameters and distortion parameters of the binocular camera

Argument	Camera calibration result
	Depth camera	Colour camera
Focal length
$f_{\text{x}}$/pixel	636.174	954.261
$f_y$/pixel	636.174	954.261
Principal point
$C_{\text{x}}$/pixel	640.706	961.077
$C_y$/pixel	356.945	535.417
Rotation matrix	$\left[\begin{array}{ccc}-0.999& -0.013& -0.004\\ 0.013& 0.999& -0.001\\ 0.004& 0.001& 0.999\end{array}\right]$
Translation vector	$[-0.014,-0.0001,-0.0001]$
Distortion	$[1.0171,1.0116,-0.1046,-0.0232]$