如第2章所述，RGB-D相机由有两个镜头，镜头之间的外参是已知的。因此

As mentioned in Chapter 2, RGB-D cameras have two lenses, and the external parameters between the lenses are known. Therefore, when performing external reference calibration, any one of these lenses can be used. Here, an RGB camera is used. The camera model can be represented by a pinhole model. A certain point p in space is observed by the camera and lidar at the same time, its coordinate is defined as p in the camera pixel plane, its coordinate is defined as p in the image plane, and its coordinate is defined as p in the camera coordinate system.

As described in Chapter 2, the RGB-D camera consists of two lenses, and the outer parameters between the lenses are known. Therefore, it is possible to use any of these lenses for external parameter timing, and use the RGB camera here. Camera models can be represented by pinhole models. A point in space p is observed by both the camera and lidar, its coordinates are defined as p in the camera pixel plane, its coordinates are defined as p in the image plane, and its coordinates are defined as p under the camera coordinate system.

As mentioned in Chapter 2, rgb-d cameras have two lenses, and the external parameters between the lenses are known. Therefore, any one of the lenses can be used for external reference calibration, and RGB camera is used here. The camera model can be represented by pinhole model. A point P in space is observed by both camera and lidar. Its coordinate is defined as P in the camera pixel plane, P in the image plane, and P in the camera coordinate system.<br>