text: '''
  Matrix formats
  
  K (intrensic camera_matrix)=
  [fx   0   cx]
  [0    fy  cy]
  [0    0   1 ]
  
  D (distortion coeffs)= [k1,k2,p1,p2,k2,...,kn]
  
  R (rotation matrix)=
  [nx  ox  ax]
  [ny  oy  ay]
  [nz  oz  az]
  
  P (projection matrix)=
  [f   0   cx'   T*f]
  [0   f   cy   0  ]
  [0   0   1    0  ]
  
  Q (reprojection matrix)*=
  [1   0   0      -cx       ]
  [0   1   0      -cy       ]
  [0   0   0       f        ]
  [0   0   -1/T   (cx-cx')/T]
  
  *: use princeple camera values typacly left
  *: term Q44 can be replaced as a simplification with 0 by assuming cx=cx'
  
  '''
  import numpy as np
  
  CAMERA_HEIGHT=
  CAMERA_WIDTH=
  
  
  f=
  cx=
  cx_prim=
  cy=
  T=   #T = P14/f
  
  Q =np.array([
  [1,   0,   0,      -cx       ],
  [0,   1,   0,      -cy       ],
  [0,   0,   0,       f        ],
  [0,   0,   -1/T,   (cx-cx_prim)/T]])
  
  
  # Left Camera
  KL =
  
  DL =
  
  RL =
  
  PL =
  
  # Right Camera
  KR =
  
  DR =
  
  RR =
  
  PR =
  