Notes:
It should be noted that the stereo endoscope suffers from significant radial distortion and thus benefits from a calibration. A calibration tool has been developed that takes a number of checkerboard pattern images as input and gives the distortion pararameters as output such that the images can be undistorted. An example image from the endoscope can be seen to the right before and after undistortion using the found parameters. We can also see the problematics with uneven lighting in the images from the endoscope.