/// parameters of the camera used in the dataset collection

principal point (cx, cy)
========================
647.297
484.99

focal lengths in pixel units (fx, fy)
=====================================
917.347
917.271

radial distortion coefficients (k1~k6)
======================================
7.75017
25.6757
4.14361
8.12583
28.6256
12.7099

tangential distortion coefficients (p1, p2)
===========================================
-0.000163367
-1.82517e-005