Reprinted link: https://blog.csdn.net/weixin_40554881/article/details/80605649
A calibration step
1. Call up the calibration kit
In the command line input stereoCameraCalibrator, the following interface:
2. Select the appropriate option
Then on top "Skew", "Tangential Distortion" and "3 Coefficients" other options selected, the "2 Coefficients" option removed as follows:
3. Load Images
Then click the Add image, the following interface:
Camera1 representatives left camera, Camera2 on behalf of right camera, were selected to store the file folder left and right images, require special attention is the long side checkerboard should fill out the actual size of the print, the unit can be selected
Then click OK, the program will automatically detect images collected in the end how much can be used, it can be said MATLAB2015 of this tool is very picky, if the angle is not good, it will not use, so at the time of image acquisition, collecting some of the best and more. (Where calibration procedure for illustrative purposes only, so the use of less image).
4. Calibration
Click the 
button to start the calibration:
5. Calibration
Can be seen from the figure, the average error and the calibration error is large during the calibration of the image pairs.
Click to select not want to accept the error histogram, you can find the corresponding image, right click and choose "Remove and Recalibrate" directly to the left of the image:
The above steps can be repeated until that error satisfies the needs of the calibration so far.
6. Export Parameters
Click to 
select Export camera parameters, and click "OK".
Second, the parameter read
After calibration, the calibration parameters will be as follows:
And about CameraParameters1 CameraParameters2 camera calibration parameters alone.
1. The two parameters of translation and rotation of the camera
stereoParams.TranslationOfCamera2: camera 2 relative to the camera 1 is offset matrix, it can be used directly.
stereoParams.RotationOfCamera2: 2 with respect to the camera 1 to the camera rotation matrix, needs to be used after transposition.
2. Camera matrix of intrinsic
CameraParameters1 and CameraParameters2 contains the following files:
IntrinsicMatrix is stored in the camera's internal control, and only about the internal structure of the camera, you need to transpose re-use.
3. distortion parameters
RadialDistortion: radial distortion, due to the camera so that the imaging characteristics of the optical lens radial distortion exists, by K1, K2, K3 determined.
TangentialDistortion: tangential distortion, since the error between the assembly area, the optical lens and the sensor is not perfectly parallel, thus forming tangential distortion is present, by two parameters P1, P2 determined.
In use, the discharge order of the parameters to be noted that Kl, K2, Pl, P2, K3 . Remember it not made a mistake, otherwise there will be subsequent stereo matching large deviation.