Table 2.

The intrinsic and extrinsic parameters of the stereo rig.

Left Camera			Right Camera
Focal Length	Horizontal	α = 848.80271 (pixel)	Focal Length	Horizontal	α = 850.84235 (pixel)
	Vertical	β = 848.42222 (pixel)		Vertical	β = 851.00526 (pixel)
Skew	γ = 0		Skew	γ = 0
Principle Point	u0 = 323.29556 (pixel) v0 = 231.51767 (pixel)		Principle Point	u0 = 320.44027 (pixel) v0 = 254.04592 (pixel)
Distortion (Radial)	κ1 = −0.36358 κ2 = 0.14213		Distortion (Radial)	κ1 = −0.23851 κ2 = 0.04721
Extrinsic Parameters	Rotation		$R=\left[\begin{array}{ccc}1.0000& 0.0008& -0.0046\\ -0.0008& 1& 0.0018\\ 0.0046& -0.0018& 1\end{array}\right]$
	Translation		$T=\left[\begin{array}{ccc}-76.53583& 0.18358& 0.14324\end{array}\right]$ (mm)