Calculating distance from the pixel value of a disparity map

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Why reprojectImageTo3D is not suitable?

There is a good piece of code from: [http://stackoverflow.com/questions/22418846/reprojectimageto3d-in-opencv]

The second piece of code in the question, is the code you need to just get one point's XYZ.

Hey Lassan,

the last line of the documentation for reprojectImageTo3D states "To reproject a sparse set of points {(x,y,d),...} to 3D space, use perspectiveTransform()" perspectiveTransform takes a 3D Point as src, in your case (x,y,disparity(x,y)) which will then be transformed using the Q matrix obtained with stereoRectify() and the result written into dst.

I haven't tested it myself but something like 1) Push all the points you want to transform into a cv::Mat array 2) cv::perspectiveTransform(your_point_array, output_point_array, Qmat) should do the trick for you.

Hope that helped

Greetings Mathias