The extrinsic parameters are:
- Rotation: the rotation matrix (3x3) from the origin of the world (usually the inner corner of the chessboard when you specify (0,0,0) for the first 3D points during the calibration process)
- Translation: the translation from the first inner corner of the chessboard.
The intrinsic parameters are:
- The focal (in pixels) on the diagonal (fx, fy)
- the center point of projection (cx,cy) on the last column
- a coefficient of distortion (k)
[ fx k cx
0 fy cy
0 0 1 ]
