The epipolar error of the 3D chessboard dots projected into the left and right image, indicating the accuracy of the stereo rectification. The error is computed as L2-norm of the individual point deviations in y in both images.

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Let (Lpi,x,Lpi,y) and (Rpi,x,Rpi,y) be the 2D positions of the ith chessboard dot in the left and right images and (Lp'i,x,Lp'i,y) and (Rp'i,x,Rp'i,y) the coordinates of the projection of the ith chessboard dot from the PatternPose into the left and right images. The epipolar error Eepi is then computed as:

Eepi = sqrt(∑[(Lpi,y' - Lp'i,y)2 + (Rpi,y' - Rp'i,y)2])