左相机内参:[ [678.9886,   -0.6029,  612.6219],
           [       0,  678.9585,  487.1331],
           [       0,         0,         1] ]
右相机内参:[ [678.1696,   -0.5692,  608.9432],
           [       0,  677.7019,  489.0553],
           [       0,         0,         1] ]
左相机畸变系数 :[[-0.0230, 0.0122, 0.00068, -0.00041, -0.0187]]
右相机畸变系数 :[[-0.0206, 0.0042, 0.000975,  -0.000714, -0.0104]]
旋转矩阵 : [[0.9999,  -0.0157, -0.00042],
           [0.0157,  0.9999,  -0.0012],
           [ 0.00044,  0.0012,  1.0000]]
平移矩阵 :[[-115.40], [0.2616], [1.1921]]
焦距 :6.47032884e+02
基线距离 :115.40