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. 2022 Dec 28;13(1):126. doi: 10.3390/ani13010126

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© 2022 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).

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Camera calibration. $O^{C_{1}} - X^{C_{1}} Y^{C_{1}} Z^{C_{1}}$ , $O^{C_{2}} - X^{C_{2}} Y^{C_{2}} Z^{C_{2}}$ and $O^{T_{1}} - X^{T_{1}} Y^{T_{1}} Z^{T_{1}}$ refer to the camera coordinate systems of RGB camera $C_{1}$ , RGB camera $C_{2}$ and thermal camera $T_{1}$ , respectively. “R” means the rotation matrix between two camera coordinate systems. “t” means the translation vector between two camera coordinate systems.