oak-d-s2 参数

RGB Camera Default intrinsics...
[[3104.948486328125, 0.0, 2009.429931640625], [0.0, 3104.948486328125, 1078.74658203125], [0.0, 0.0, 1.0]]
3840
2160
RGB Camera Default intrinsics...
[[3104.948486328125, 0.0, 2009.429931640625], [0.0, 3104.948486328125, 1078.74658203125], [0.0, 0.0, 1.0]]
3840
2160
RGB Camera resized intrinsics... 3840 x 2160 
[[3.10494849e+03 0.00000000e+00 2.00942993e+03]
 [0.00000000e+00 3.10494849e+03 1.07874658e+03]
 [0.00000000e+00 0.00000000e+00 1.00000000e+00]]
RGB Camera resized intrinsics... 4056 x 3040
[[4.36992725e+03 0.00000000e+00 2.15386450e+03]
 [0.00000000e+00 4.36992725e+03 1.51823596e+03]
 [0.00000000e+00 0.00000000e+00 1.00000000e+00]]
LEFT Camera Default intrinsics...
[[803.8224487304688, 0.0, 650.0608520507812], [0.0, 803.8224487304688, 379.0791320800781], [0.0, 0.0, 1.0]]
1280
800
LEFT Camera resized intrinsics...  1280 x 720
[[803.82244873   0.         650.06085205]
 [  0.         803.82244873 339.07913208]
 [  0.           0.           1.        ]]
RIGHT Camera resized intrinsics... 1280 x 720
[[801.04821777   0.         652.48400879]
 [  0.         801.04821777 380.89630127]
 [  0.           0.           1.        ]]
LEFT Distortion Coefficients...
k1: -10.05799674987793
k2: 106.51824951171875
p1: -0.0010614781640470028
p2: 0.001290511223487556
k3: -65.42682647705078
k4: -10.102497100830078
k5: 105.92660522460938
k6: -64.07305908203125
s1: 0.0
s2: 0.0
s3: 0.0
s4: 0.0
τx: 0.0
τy: 0.0
RIGHT Distortion Coefficients...
k1: -8.417776107788086
k2: 97.39027404785156
p1: -0.0007766769849695265
p2: 0.0007791255484335124
k3: -19.5738525390625
k4: -8.46578311920166
k5: 96.642333984375
k6: -18.244686126708984
s1: 0.0
s2: 0.0
s3: 0.0
s4: 0.0
τx: 0.0
τy: 0.0
RGB FOV 68.7938003540039, Mono FOV 71.86000061035156
LEFT Camera stereo rectification matrix...
[[ 1.00161977e+00 -4.84955940e-03 -2.03369030e+00]
 [ 6.36130132e-03  9.95680454e-01  4.05767182e+01]
 [ 7.81091047e-06 -2.26014919e-06  9.95667464e-01]]
RIGHT Camera stereo rectification matrix...
[[ 1.00508863e+00 -4.86635464e-03 -6.51495597e+00]
 [ 6.38333210e-03  9.99128745e-01 -2.40305036e+00]
 [ 7.83796161e-06 -2.26797665e-06  9.95728381e-01]]
Transformation matrix of where left Camera is W.R.T right Camera's optical center
[[ 9.99985039e-01  3.73867108e-03 -3.99580970e-03 -7.53097868e+00]
 [-3.72413849e-03  9.99986470e-01  3.63820442e-03  5.37229776e-02]
 [ 4.00935765e-03 -3.62326903e-03  9.99985397e-01  1.70437898e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]
Transformation matrix of where left Camera is W.R.T RGB Camera's optical center
[[ 0.99985248  0.008799    0.01475094 -3.73740387]
 [-0.00896513  0.99989671  0.01123494 -0.00579632]
 [-0.01465056 -0.01136553  0.9998281  -0.23179476]
 [ 0.          0.          0.          1.        ]]