Stereo Pose Estimation

[sp7412]

I was working through this example: https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-tracking-mb-generic-stereo.html

I see this line where the pose estimates are returned separately for each camera:

cLeftMo, cRightMo;
tracker.getPose(cLeftMo, cRightMo);

Is this estimating the pose separately for each camera or estimating it from a pair of cameras? If not, can you point me to an example that estimates a single pose using a pair of stereo cameras?

Also, can you point me to some docs that explain how to interpret cMo?

[fspindle]

Estimation is done in a single process considering the pair of cameras (not each camera separately).

cMo is 4-by-4 homogeneous matrix that gives the position/orientation of the object in the camera frame.