Stereo Calibration & Rectification

Developed a complete stereo camera calibration and validation pipeline for a wide-angle fisheye stereo rig. The process begins with systematic data collection, capturing a checkerboard calibration target across a wide range of positions, distances, and orientations to ensure robust spatial coverage. Intrinsic calibration is then performed per camera using OpenCV's fisheye model, solving for the camera matrix and distortion coefficients that characterise the lens, and producing geometrically corrected images where straight lines are faithfully preserved (rectified). The images compare the original and final rectified image.