OpenCV-Calibration 为您提供两个相机的内在矩阵.这些是具有以下样式的 3x3 矩阵:(来自 doc)

The OpenCV-Calibration gives you the intrinsic matrices for both of your cameras. These are 3x3 Matrices with the following style: (from doc)

  fx  0  cx
  0  fy  cy
  0   0   1

cx 和 cy 是你的原则点的坐标.从那里您可以按照您的说明计算 doffs.对于理想的相机，这些参数是图像的中心.但在真实相机中，它们仅在几个像素上有所不同.

cx and cy are the coordiantes of your principle point. From there you can calculate doffs as stated by you. With ideal cameras these parameters are the center of the image. But in real cameras they differ in a few pixels.