本文档提供了相机到相机校准的背景信息与验证方法。在融合图像中，绿色通道来自广角镜头，红蓝通道来自长焦镜头。通过检查50米外场景的对齐情况来验证参数准确性。如果出现粉色或绿色幽灵（位移），则表明参数错误。当误差超过一定范围（如20像素），需重新校准。水平方向上的小位移是正常的，但垂直方向不应受影响。
From BAIDU Apollo
Camera-to-Camera Calibration
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Background Information: In the warp image, the green channel is produced from the wide-angle camera image, and the red and blue channels are produced from the telephoto camera image. Users can compare the alignment result of the warp image to validate the precision of the calibrated extrinsic parameter.
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Validation Method:
In the fusion area of the warp image, judge the alignment of the scene 50 meters away from the vehicle. If the images coincide completely, the extrinsic parameter is satisfactory. However, if a pink or green ghost (displacement) appears, the extrinsic parameter is in error.
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组合的图片--两个摄像头融合后的图片，RGB ,绿色由广角（近焦距）镜头提供， G/B-颜色由长焦镜头提供。如果拼接有问题的，说明标定没做好
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When the error is greater than a certain range (for example, 20 pixels, determined by the actual usage), you need to re-calibrate the extrinsic parameter. Under general circumstances, due to the parallax, some dislocations may occur in the horizontal with close objects, but the vertical direction is not affected. This is a normal phenomenon.
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**Examples: **As shown in the following examples, Figure 2 meets the precision requirements of the extrinsic parameter, and Figure 3 does not.
Figure 2. Good Calibration Result for Camera-to-Camera Calibration
Figure 3. Bad Calibration Result for Camera-to-Camera Calibration
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