title: How to visualize intrinsic/extrinsic camera parameters in OpenCV?
body: <p>I'm working with OpenCV stereo vision and my calibration module is acting up. For debugging purposes, I'd like to visualize the camera parameters calibration is calculating, and I'm hoping to find some built in functionality to help with this. I'm looking for something akin to Matlab's <a href="http://www.mathworks.com/help/vision/ref/showextrinsics.html" rel="nofollow">showExtrinsics()</a>. Any suggestions/pointers to writing my own visualization? I was unable to find anything helpful in OpenCV docs.</p>
  
  <p>My intrinsics matrix:</p>
  
  <pre><code>%YAML:1.0
  M1: !!opencv-matrix
     rows: 3
     cols: 3
     dt: d
     data: [ 4.6716183686593592e+02, 0., 3.4685206899619874e+02, 0.,
         4.6716183686593592e+02, 2.6460277614179995e+02, 0., 0., 1. ]
  D1: !!opencv-matrix
     rows: 1
     cols: 5
     dt: d
     data: [ 1.3545958543110964e-01, -2.0383389968255977e-01, 0., 0., 0. ]
  M2: !!opencv-matrix
     rows: 3
     cols: 3
     dt: d
     data: [ 4.6716183686593592e+02, 0., 3.1321301298488936e+02, 0.,
         4.6716183686593592e+02, 2.7674405764548516e+02, 0., 0., 1. ]
  D2: !!opencv-matrix
     rows: 1
     cols: 5
     dt: d
     data: [ 6.8017486649835202e-02, -1.2178761345435389e-01, 0., 0., 0. ]
  </code></pre>
  
  <p>My extrinsics matrix:</p>
  
  <pre><code>%YAML:1.0
  R: !!opencv-matrix
     rows: 3
     cols: 3
     dt: d
     data: [ 9.9771868227118155e-01, -7.5673210589346316e-03,
         6.7083281814831405e-02, 8.9579410266375625e-03,
         9.9975067896491787e-01, -2.0453244284196821e-02,
         -6.6911780275377294e-02, 2.1007512017769996e-02,
         9.9753771763237242e-01 ]
  T: !!opencv-matrix
     rows: 3
     cols: 1
     dt: d
     data: [ -3.7118950200284830e+00, 2.0057520035877928e-02,
         -1.1958455121942886e-01 ]
  R1: !!opencv-matrix
     rows: 3
     cols: 3
     dt: d
     data: [ 9.9498387348418538e-01, -1.2286209661821963e-02,
         9.9278097073585744e-02, 1.3314580062505074e-02,
         9.9986428207583911e-01, -9.7025453735457880e-03,
         -9.9145415749623558e-02, 1.0975722350366061e-02,
         9.9501242206050977e-01 ]
  R2: !!opencv-matrix
     rows: 3
     cols: 3
     dt: d
     data: [ 9.9946687339085338e-01, -5.4006987617013216e-03,
         3.2199401348428379e-02, 5.0670326515128601e-03,
         9.9993271463178834e-01, 1.0435103699094591e-02,
         -3.2253591651478383e-02, -1.0266385049651746e-02,
         9.9942698941122865e-01 ]
  P1: !!opencv-matrix
     rows: 3
     cols: 4
     dt: d
     data: [ 4.2226276527153402e+02, 0., 2.8740816497802734e+02, 0., 0.,
         4.2226276527153402e+02, 2.7487768363952637e+02, 0., 0., 0., 1.,
         0. ]
  P2: !!opencv-matrix
     rows: 3
     cols: 4
     dt: d
     data: [ 4.2226276527153402e+02, 0., 2.8740816497802734e+02,
         -1.5682311212949173e+03, 0., 4.2226276527153402e+02,
         2.7487768363952637e+02, 0., 0., 0., 1., 0. ]
  Q: !!opencv-matrix
     rows: 4
     cols: 4
     dt: d
     data: [ 1., 0., 0., -2.8740816497802734e+02, 0., 1., 0.,
         -2.7487768363952637e+02, 0., 0., 0., 4.2226276527153402e+02, 0.,
         0., -2.6926054427670321e-01, 0. ]
  </code></pre>