OpenCV extrinsic camera from feature points

Question

How do I retrieve the rotation matrix, the translation vector and maybe some scaling factors of each camera using OpenCV when I have pictures of an object from the view of e

Answer 1

Are these static cameras which you wish to calibrate for future use as a stereo pair? In this case you would want to use the cv::stereoCalibrate() function. OpenCV contains some sample code, one of which is stereo_calib.cpp which may be worth investigating.