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    %% Visualize Reprojection Errors for Stereo Pair of Cameras
% Specify the calibration images.

% Copyright 2015 The MathWorks, Inc.

imageDir = fullfile(toolboxdir('vision'),'visiondata','calibration','stereo');
leftImages = imageDatastore(fullfile(imageDir,'left'));
rightImages = imageDatastore(fullfile(imageDir,'right'));
images1 = leftImages.Files;
images2 = rightImages.Files;

%%
% Detect the checkerboard patterns.
[imagePoints, boardSize] = detectCheckerboardPoints(images1,images2);

%%
% Specify the world coordinates of the checkerboard keypoints.
squareSize = 108; % millimeters
worldPoints = generateCheckerboardPoints(boardSize,squareSize);

%%
% Calibrate the stereo camera system.
params = estimateCameraParameters(imagePoints,worldPoints);

%%
% Visualize the calibration accuracy.
showReprojectionErrors(params);