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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 ]