Table 4.

Calibration results for Primesense Carmine 1.09.

	Burrus		Bouguet		Herrera
	RGB Camera	IR Camera	RGB Camera	IR Camera	RGB Camera	IR Camera
$f_x$	$540.84$	$580.04$	$540.58\pm 0.64$	$575.46\pm 0.68$	$541.67\pm 0.16$	$574.98\pm 0.23$
$f_y$	$539.48$	$576.45$	$538.95\pm 0.62$	$573.98\pm 0.65$	$539.48\pm 0.16$	$570.58\pm 0.31$
$c_x$	$318.38$	307	$318.62\pm 0.99$	$318.79\pm 1.05$	$316.87\pm 0.27$	$323.97\pm 0.23$
$c_y$	$237.82$	$232.75$	$238.32\pm 0.86$	$245.13\pm 0.90$	$235.48\pm 0.24$	$227.71\pm 0.2$
$k_1$	$0.0512$	$-0.0687$	$0.0232\pm 0.0023$	$-0.0401\pm 0.0029$	$0.0578\pm 0.0015$	0
$k_2$	$-0.2236$	$0.2196$	$-0.0939\pm 0.0059$	$0.0304\pm 0.0061$	$-0.2610\pm 0.0069$	0
$k_3$	$0.1785$	$-0.4167$	0	0	$0.2430\pm 0.0098$	0
$p_1$	$0.0010$	$-0.0007$	$0.0012\pm 0.00045$	$0.00011\pm 0.00044$	$0.0003\pm 0.0001$	0
$p_2$	$-0.0009$	$-0.004$	$-0.00064\pm 0.00055$	$-0.00014\pm 0.00054$	$-0.0017\pm 0.0001$	0
$c_0$	−	−	−	−	−	$4.0054\pm 0.0021$
$c_1$	−	−	−	−	−	$-0.0029\pm 1.68\times {10}^{-6}$
${\alpha }_0$	−	−	−	−	−	$1.6229\pm 0.0304$
${\alpha }_1$	−	−	−	−	−	$0.0021\pm 4.06\times {10}^{-5}$
R	$\left[\begin{array}{lll}0.9999& 0.0049& 0.0089\\ -0.005& 9.9992& -0.005\\ -0.0089& -0.0112& 0.9989\end{array}\right]$		$\left[\begin{array}{l}-0.00214\\ 0.00201\\ 0.00429\end{array}\right]$ ± $\left[\begin{array}{c}0.00089\\ 0.00121\\ 0.0001\end{array}\right]$		$\left[\begin{array}{ccc}1& -0.0040\hfill & 0.0086\hfill \\ 0.0042& 0.9998\hfill & -0.0169\hfill \\ -0.0086& 0.0169\hfill & 0.9998\hfill \end{array}\right]$ ± $\left[\begin{array}{c}4.3043\times {10}^{-4}\\ 4.6892\times {10}^{-4}\\ 2.1396\times {10}^{-4}\end{array}\right]$
T	$\left[\begin{array}{l}-0.0257\\ 0.0005\\ 0.0037\end{array}\right]$		$\left[\begin{array}{l}0.0262\\ 0.0001\\ -0.0002\end{array}\right]$ ± $\left[\begin{array}{r}0.00005\\ 0.00005\\ 0.00021]\end{array}\right]$		$\left[\begin{array}{l}0.0265\\ -0.0007\\ -0.0030\end{array}\right]$ ± $\left[\begin{array}{c}1.7632\times {10}^{-4}\\ 1.3328\times {10}^{-4}\\ 2.0493\times {10}^{-4}\end{array}\right]$