Stereo setup - recover left and right camera poses from the estimated stereo pose

[alessandroTorresani]

Hi everybody,
I am trying to figure it out how to convert, in a stereo perspective setup, the estimated poses of the keyframes into the poses of the left and right cameras.

My final goal is to perform dense matching between left and right images starting from the estimated poses of OPEN-V-SLAM. The problem is that the keyframe_trajectory.txt file contains a single pose for each stereo-pair. I need the poses of the two cameras instead.

Thank you in advance!

Alesssandro