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3D point extraction

asked 2017-11-18 07:12:28 -0500

carl777 gravatar image

I want to measure a depth of an object which is placed at 4 meters from the camera. Therefore I increased the baseline distance (1.5 meters distance between two cameras) to get good depth accuracy. In this case, stereo rectification is not working properly, so I am using the triangulation function in order to extract the 3D point. For that, I have calculated the projection matric by following: P0 = K1[I|0] and P1=K2[R|T], where K1 and K2 are the camera matrix, R and T are the rotation and translation of the second camera respect to the first camera. In the next step, I passed all this value to the triangulation function, and it is providing a 3D point.

My question is: Am I doing correctly? If I am correct than the obtained 3D point would be respect to the P0 camera?

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answered 2017-11-18 08:53:09 -0500

Tetragramm gravatar image

Asssuming your R and T are correct, as well as your camera matrices, then yes.

The 3D Point is with respect to the origin of the coordinate system, which is where you have your P0 camera, so you can pretend it is with respect to your P0 camera.

If you move the P0 camera, and change the P0 matrix to match, then it would not be.

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Asked: 2017-11-18 07:12:28 -0500

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Last updated: Nov 18 '17