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Frame of depth-map? (reprojectImageTo3D)

Hello everyone,

i can't understand in which frame the depth-map is. My setup is composed by two iDS UEye (2 RGB cameras). With the use of the Opencv libraries, I implemented the computation of the disparity map (StereoBM+some filters) and, with the use of the projection matrix (obtained from stereoRectify), a depth-map (reprojectImageTo3D). Now i have to do the segmentation using the left image to filtrate the object's point cloud. So it's crucial to know in which frame is the obtained depth-map.