Procedure for getting 3D coordinates from Stereo?

asked 2020-04-08 17:59:26 -0500

updated 2020-04-09 02:20:58 -0500

berak gravatar image

This question has been asked in different ways many times, many people approach this problem in different ways. Which is why I am unsure of my methodology, it would be good if someone could tell me if I am doing things correctly.

The steps that I follow are -

  • Set up stereo camera pair.
  • Calibrate both the cameras individually to get their camera matrices, distortion coefficients.
  • Then we calculate R, T, E, F using stereoCalibrate
  • Calculate R1,R2,P1,P2 and Q using stereoRectify
  • Since I want to find the 3D coordinates of a specific point in my scene, I extract the coordinates of that point in both the images, and after that I use triangulatePoints to get the 3D points in homogenous coordinates.

Are the steps that I'm following correct?

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imho, you can skip the single camera calibration (point 2)

berak gravatar imageberak ( 2020-04-09 05:01:34 -0500 )edit