In the stereo camera calibration code, I'm a bit confused as to what parameters are optimised. If we ignore intrinsic parameters for now, is it:
(a) The left (or equivalently right) extrinsic (chessboard to camera) matrices and 6 parameters for the left-to-right transformation? If so, what are we taking the median of?
(b) The left and right extrinsic matrices, and then we take the median of the implied left-to-right transformation?
Any help would be much appreciated.
Thanks,
Matt
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