How do I specify stereo camera calibration parameters?

When using the vodom utility you can specify the intrinsic matrix for left and right cameras using:

    --calibleft <params> --calibright <params>

There should be 9 values for each camera, corresponding to a 3x3 intrinsic matrix. So for example:

            428.83177 0.0, 155.04793,
                0.0, 426.78930, 124.88956,
                0.0, 0.0, 1.0

becomes:

    --calibleft "428.83177 0.0 155.04793 0.0 426.78930 124.88956 0.0 0.0 1.0"

Note that spaces are used as separators, not commas, and that all values are inside quotes.

Also you will need to specify the extrinsic translations as three values (in metres). For example:

    --translation "-0.575 0 0"