I have two camera parameters from stereoParams. Which one should I choose for Stereo Visual SLAM application? Or do I just get their mean values?

I'm currently following this documentation: https://www.mathworks.com/help/vision/ug/stereo-visual-simultaneous-localization-mapping.html

I have obtained the stereo camera parameters from the Stereo Camera Calibrator and it contains two parameters called "CameraParameters1" and "CameraParameters2". From the documentation, I have to input the focalLength and principalPoint from which I can obtain from stereoParams. But I'm confused, there are two camera parameters each containing its own focalLength and principalPoint. Which camera should I choose the parameters from? Or do I have to get mean of the parameters from Camera1 and Camera2? Thank you.

Answer 1

[Qu Cao]

Usually, the focal length of the two cameras are the same. You can use either one.

[Rod Matthew Musni]

Thank you so much for the quick response!