stereoRectify doubt

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Hi, I want to use the function stereoRectify to get the Q matrix, but I don't know all the input parameters. How can I calculate the R and T parameters?

This is my calibration data:

Right camera:
camera_matrix: [634.909677387927, 0, 297.560249240374, 0, 634.865463121865, 158.8371760664, 0, 0, 1]

distortion_coefficients: [-0.504454260664395, 0.138609530989189, 0.0203198092295076, 0.00967761579645135, 0]

rectification_matrix: [0.966163280084709, -0.0083550378707894, -0.257795868000506, 0.00163860823321609, 0.999653878808556, -0.0262571427627996, 0.257926018809686, 0.0249462607455643, 0.965842561132921]

projection_matrix:
data: [6304.94671586074, 0, 473.495297431946, 280.518391789843, 0, 6304.94671586074, 167.603784561157, 0, 0, 0, 1, 0]

Left camera:   
camera_matrix: [1356.35752938346, 0, 261.669289951563, 0, 1361.87246183291, 152.711809345378, 0, 0, 1]

distortion_coefficients: [-0.288103120402993, 0.398595604261962, -0.00473618587860346, -0.0097855325627947, 0]

rectification_matrix: [0.968033107464518, -0.00309525870864915, -0.250803353697904, 0.00962260176867882, 0.999646030047709, 0.0248036316908628, 0.250637803189764, -0.0264241174569953, 0.967720237273577]

projection_matrix:[6304.94671586074, 0, 473.495297431946, 0, 0, 6304.94671586074, 167.603784561157, 0, 0, 0, 1, 0]

Thanks.