Stereo calibration parameters after optimization:


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 ]


Note: The numerical errors are approximately three times the standard deviations (for reference)