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

principal point (cx, cy)
========================
649.204
459.739

focal lengths in pixel units (fx, fy)
=====================================
921.315
921.375

radial distortion coefficients (k1~k6)
======================================
0.978811
3.71217
0.638837
1.36651
3.99066
1.93969

tangential distortion coefficients (p1, p2)
===========================================
0.000159566
0.000281263