Definition of Variables in CalibrationResults.mat:

Intrinsics:

KK_left/right : camera intrinsic matrix for left/right cameras
cc_left/right : optical center (x,y) in pixels
fc_left/right : focal lengths in x,y
kc_left/right : distortion coefficients

Extrinsics (stereo rig):

R : rotates a vector from the left camera frame basis to the right camera frame basis
T : vector from the right camera frame origin to the left camera frame origin, expressed in the right camera frame basis


Let Xc_1_left be a 3D point in the left camera frame (vector from left camera origin to a point, expressed in left camera frame basis).

We can obtain the same 3D point vector in the right camera frame (vector from right camera origin to same point, expressed in right camera frame) by the following:

Xc_1_right = R * Xc_1_left + T


Note on camera frames: Each camera frame is aligned with its respective images, i.e. camera X is to the right, Y is down, and Z is along the camera boresight.

0---------------->X
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v
Y