* First Line: number of cameras (1 number)

* For each camera a line with camera parameters
   - image size (2): [x y]
   - intrinsic parameter matrix (9): [ fx 0 cx; 0 fy cy; 0 0 1 ]
   - distortion coefficients, 2 radial then 2 tangential (4): [k1 k2 p1 p2]
   - rotation matrix (9)
   - translation vector in meters (3) 

* Rectified image quadrangle for camera1 (8)
* Rectified image quadrangle for camera2 (8)

* Transformation Coefficients for camera1 (9)
* Transformation Coefficients for camera2 (9)

Notes: for a stereo config, the number of cameras is two.
       for stefs calib, the left camera is camera1, the right is camera2

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// Number of cameras
2


// Camera 1 - Image size
1360.0000000000 1024.0000000000 

// Camera 1 - Instrinsic parameters [ fx 0 cx; 0 fy cy; 0 0 1 ]
1742.4833984375    0.0000000000     702.2943725586    
0.0000000000       1744.5247802734  505.3277282715    
0.0000000000       0.0000000000     1.0000000000    

// Camera 1 - Distortion parameters [ k1 k2 p1 p2 ] 
0.1640239209    0.6399505734    0.0019153117    0.0084038246   

// Camera 1 - Rotation matrix
-0.9471259117   -0.3171964586   -0.0483626388   
-0.3193612993    0.9173640609    0.2375952154  
-0.0309982132    0.2404777408   -0.9701595306    
 
// Camera 1 - Translation vector 
0.1716919392   -0.0959866196    1.1181910038 






// Camera 2 - Image Size
1360.0000000000 1024.0000000000 

// Camera 2 - Instrinsic parameters [ fx 0 cx; 0 fy cy; 0 0 1 ] 
1739.3259277344    0.0000000000  678.7371215820    
0.0000000000 1740.5989990234  524.8011474609    
0.0000000000    0.0000000000    1.0000000000    

// Camera 2 - Distortion parameters [ k1 k2 p1 p2 ] 
0.1479872018    0.7572427392   -0.0015344607   -0.0037570531  

// Camera 2 - Rotation matrix
-0.9497462511   -0.3011870682   -0.0852552578   
-0.3128538132    0.9222519994    0.2270985991   
 0.0102276700    0.2423584610   -0.9701328874   
  
// Camera 2 - Translation vector 
0.1418329179   -0.0863670856    1.1126987934 





// Camera 1 - coordinates of destination quadrangle after epipolar geometry rectification
-63.7492790222  -17.5878181458 1363.6937255859    0.0580182485 1360.0000000000  983.3759155273  -63.3137931824  990.2045288086 

// Camera 2 - coordinates of destination quadrangle after epipolar geometry rectification
-3.4339661598   35.0206069946 1416.6680908203   25.5735092163 1423.8615722656 1022.9803466797    0.0000000000 1023.4026489258 





// Camera 1 - Transformation coefficients
1.0745683575    0.0002419059  -63.7492790280    0.0129759424    0.9870401045  -17.5878181530    0.0000183164    0.0000028963    1.0000000000 

// Camera 2 - Transformation coefficients
1.0347662652    0.0033534826   -3.4339661738   -0.0071165600    0.9626237039   35.0206069774   -0.0000066539   -0.0000025338    1.0000000000 
