所有相机在同一 x / y x/y x/y 平面，可以进行联合标定 Here, i ∈ 0 , 1 , 2 , 3 i ∈ {0, 1, 2, 3} i∈0,1,2,3 is the camera index, where 0 represents the left grayscale, 1 the right grayscale, 2 the left color and 3 the righ

来自：http://www.cvlibs.net/publications/Geiger2013IJRR.pdf calib_cam_to_cam.txt： calib_time: 09-Jan-2012 13:57:47corner_dist: 9.950000e-02S_00: 1.392000e+03 5.120000e+02K_00: 9.842439e+02 0.000000e