Revision history [back]

Hi, I have a calibrated stereo camera, so i have the extrinsics, intrinsics and dist cooeffs.

I have a chessboard, and using :

bool findChessboardCornersAndDraw(Mat inputLeft, Mat inputRight) {
    _leftOri = inputLeft;
    _rightOri = inputRight;
    bool foundLeft = false, foundRight = false;
    cvtColor(inputLeft, inputLeft, COLOR_BGR2GRAY);
    cvtColor(inputRight, inputRight, COLOR_BGR2GRAY);
    foundLeft = findChessboardCorners(inputLeft, boardSize, cornersLeft, CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE);
    foundRight = findChessboardCorners(inputRight, boardSize, cornersRight, CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE);
    drawChessboardCorners(_leftOri, boardSize, cornersLeft, foundLeft);
    drawChessboardCorners(_rightOri, boardSize, cornersRight, foundRight);
    _leftOri = displayMode(_leftOri);
    _rightOri = displayMode(_rightOri);
    if (foundLeft && foundRight) {
        return true;
    }
    else {
        return false;
    }
}

I get the chessboard points. What i need to do now, is write a function that returns the 3d triangulated coordinates of those points, in relation to the camera.

Is there a function existing that will do this for me? Should I use:

cv::triangulatePoints(cam0,cam1,cam0pnts,cam1pnts,pnts3D);

Thank you!