Table 2.

The internal calibration parameters for both sensors.

Parameter		Fx (Pixels)	Fy (Pixels)	Cx (Pixels)	Cy (Pixels)	K1	K2	K3	P1	P2
Sensor 1	RGB Camera	592.59 ± 2.23	590.48 ± 2.04	305.69 ± 1.84	235.92 ± 1.30	0.019 ± 0.012	1.144 ± 0.091	−3.580 ± 0.291	−0.004 ± 0.001	−0.015 ± 0.002
	IR Camera	592.49 ± 2.17	591.22 ± 2.02	301.02 ± 1.76	239.9 ± 1.26	−0.13 ± 0.013	1.219 ± 0.131	−3.305 ± 0.476	0.000 ± 0.000	−0.014 ± 0.001
Sensor 2	RGB Camera	579.23 ± 2.22	580.29 ± 2.18	330.41 ± 1.43	242.63 ± 1.15	0.061 ± 0.014	0.744 ± 0.15	−3.607 ± 0.512	0.005 ± 0.001	0.006 ± 0.001
	IR Camera	568.57 ± 2.15	570.35 ± 2.11	323.83 ± 1.37	247.41 ± 1.16	−0.05 ± 0.018	0.343 ± 0.248	−0.982 ± 0.993	0.003 ± 0.001	0.003 ± 0.001