Table 5.

Calibration results for Microsoft Kinect V2.

	Burrus		Bouguet
	RGB Camera	IR Camera	RGB Camera	IR Camera
$f_x$	$1669.54$	$364.92$	$1057.58\pm 1.83$	$369.15\pm 0.66$
$f_y$	$1588.27$	$364.29$	$1055.33\pm 1.77$	$368.01\pm 0.64$
$c_x$	$345.85$	$256.67$	$971.26\pm 1.71$	$260.68\pm 0.53$
$c_y$	$251.59$	$205.33$	$538.00\pm 1.68$	$205.92\pm 0.60$
$k_1$	$-0.0343$	$0.0934$	$0.0413\pm 0.0023$	$0.0631\pm 0.0034$
$k_2$	$0.0697$	$-0.2748$	$-0.0389\pm 0.0019$	$-0.1758\pm 0.0044$
$k_3$	$-0.0257$	$0.0963$	0	0
$p_1$	$-0.0209$	$-0.0004$	$-0.00107\pm 0.00044$	$-0.00096\pm 0.00037$
$p_2$	$-0.0518$	$0.00004$	$0.00001\pm 0.00049$	$-0.00062\pm 0.00032$
R	$\left[\begin{array}{lll}0.9261& -0.0471& -0.3740\\ -0.0258& 0.9818& -0.1879\\ 0.3761& 0.1837& 0.9081\end{array}\right]$		$\left[\begin{array}{l}0.00156\\ 0.00402\\ -0.00691\end{array}\right]$ ± $\left[\begin{array}{c}0.00087\\ 0.00112\\ 0.00013\end{array}\right]$
T	$\left[\begin{array}{l}-0.0468\\ 0.0080\\ -0.3432\end{array}\right]$		$\left[\begin{array}{l}0.05211\\ -0.00061\\ -0.00319\end{array}\right]$ ± $\left[\begin{array}{c}0.00011\\ 0.00011\\ 0.00040\end{array}\right]$