# Procedure for getting 3D coordinates from Stereo?

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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