The reprojection error of the 3D chessboard dots projected into the left and right image. The error is computed as L2-norm of the individual point deviations in x and 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 reprojection error Erep is then computed as:

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