color_cam=[
512.72290881261392   0.0    295.83102262524460 ;
0.0    512.25510805858414 253.18138726073803 ;
0.0     0.0    1.0 ;
];

depth_cam=[
591.69172767890291     0.0   310.05534029607247 ;
0.0     590.41914039008043   239.85875111564278 ;
0.0     0.0     1.0 ;
];

RT=[
  0.99998244707373041 -0.0019195815133928344   0.0056054215940874348      0.022640417142367256
0.0019340402318673126  0.99999481406698354  -0.0025751364081650521     -0.0023290015862608743
-0.0056004493405029457    0.0025859323178650771   0.99998097377961748   0.014887795140076971
];

Rot=RT(:,1:3);

Trans=RT(:,4);

k1=1.1863;
k2=2842.5;
k3=0.1236;


w=640;
h=480;
w2=w/2;
h2=h/2;


side_cam=[
     270.56083   0.0         155.57973;
    0.0         267.84161    115.79684;
    0.0          0.0         1.0 ];


Rside=[
    0.9884   -0.0080   -0.1519
    0.0360    0.9826    0.1822
    0.1478   -0.1856    0.9715
    ];

Rside=Rside';

Tside=[ -0.21431 ;  -0.02222 ; -0.00690];

%Tside=-Tside;