This page provides the 15 stereo pairs used for calibrating the stereo camera.  The images were acquired by a VidereDesign monochrome MegaD stereo camera equipped with a pair of 4.8 mm lenses. Intrinsic and extrinsic parameters were estimated using the tools provided by the Camera Calibration Toolbox for MATLAB available here. Result of  the calibration procedure was used for the rectification of the Indoor and Outdoor sequences (see previous page for download and details concerning the two stereo sequences).

                The result of the calibration procedure is:

                Intrinsic parameters of left camera:

                Focal Length:          fc_left = [ 555.80785   557.34962 ] ± [ 1.29926   1.33385 ]
                Principal point:       cc_left = [ 330.17268   244.70437 ] ± [ 2.55054   2.33962 ]
                Skew:             alpha_c_left = [ 0.00000 ] ± [ 0.00000  ]   => angle of pixel axes = 90.00000 ± 0.00000 degrees
                Distortion:            kc_left = [ -0.21713   0.12312   0.00487   0.00163  0.00000 ] ± [ 0.01049   0.03154   0.00069   0.00086  0.00000 ]

                Intrinsic parameters of right camera:

                Focal Length:          fc_right = [ 558.11555   559.49020 ] ± [ 1.29454   1.32911 ]
                Principal point:       cc_right = [ 314.72552   232.64247 ] ± [ 2.65913   2.20475 ]
                Skew:             alpha_c_right = [ 0.00000 ] ± [ 0.00000  ]   => angle of pixel axes = 90.00000 ± 0.00000 degrees
                Distortion:            kc_right = [ -0.22750   0.14968   0.00352   0.00058  0.00000 ] ± [ 0.00938   0.02690   0.00070   0.00081  0.00000 ]

                Extrinsic parameters (position of right camera wrt left camera):

                Rotation vector:             om = [ 0.00189   -0.00040  0.00653 ] ± [ 0.00479   0.00553  0.00041 ]
                Translation vector:           T = [ -89.51204   -0.21901  -0.28905 ] ± [ 0.14881   0.16062  0.78533 ]

The 15 stereo pairs used for calibrating the camera (2 x 640 x 480) are shown below. The entire dataset, in ".bmp" format is available as a single zip file here.