The result of triangulated points is then in the coordinate frame of the camera you chose as the origin.

Additionally - as documentation says, stereoCalibrate() returns rotation and translation (R, T) as "rotation/translation between 1st and 2nd camera coordinate system" so I would choose first camera as the origin.triangulate 3d points from a stereo camera and chessboard. your coworkers to find and share information. Stereo image rectification ’ 37 216Oct14’ Lecture 9 & 10 - !!! add a comment | 2 Answers Active Oldest Votes. This will be done as following:Hi! Where developers & technologists share private knowledge with coworkersProgramming & related technical career opportunitiesCan you use a projection matrix to transform your points?Applying a 3D rotation matrix should not cause bending of the points. By clicking “Post Your Answer”, you agree to our To subscribe to this RSS feed, copy and paste this URL into your RSS reader. Should I use:Yes you can use cv::trinagulatePoints(). The issue could either be in the calibration parameters as you suggested, or, it could be in the part that you are using to go from disparity to 3D world coordinates (e.g. A wide variety of 3D stereo vision sensors for simple to complex applications.

Stefano Mattoccia [37] T. Darrell, D. Demirdijan, N. Checka, P. Felzenszwalb, Plan-view trajectory estimation with dense stereo background models, International Conference on Computer Vision (ICCV 2001), 2001 [38] M. Harville, Stereo person tracking with adaptive plan-view templates of height and occupancy statistics Image and Vision Computing 22(2) pp 127-142, February 2004 [39] …

TheFlash TheFlash. Could someone please point me to a stereo camera compatible with OpenCV and Linux?

This process is known as stereo triangulation.
What i need to do now, is write a function that returns the 3d triangulated coordinates of those points, in relation to the camera. Featured on Meta (it is a pre calibrated stereo camera, hard mounted)Basically you take the rotation and translation vector from step 1 and compute the projection matrix out of it. how can i get the camera projection matrix out of calibrateCamera() return values. Please plot the points before applying R and ensure that they are not already non-planar.Since your data doesn't look planar, that makes it difficult to test.I suggest fixing the planarity first. Your expected z direction is arbitrary to the reconstruction method. As an exercise, let's apply the triangulation function on a simple example: let's re-compute the 3D location of the grids points extracted on the first image pair {left01.jpg, right01.jpg}.

cv::Rodrigues converts the rotation vector into a rotation matrix. Fei-Fei Li!

triangulate to 3-D on corresponding 2-D points. Charles. I can give you an example of my rotation and translation vector on friday.EDIT 2: Here is an example of a rotation and translation Vector:Hi, Thanks for guidance about triangulation output.

Triangulation -- depth from disparity f p p’ Baseline B z O O’ P f disparity=u−u"= B⋅f z Disparity is inversely proportional to depth!
Hi, I have a calibrated stereo camera, so i have the extrinsics, intrinsics and dist cooeffs.I get the chessboard points. I am using a stereo system and so I am trying to get world coordinates of some points by triangulation.My cameras present an angle, the Z axis direction (direction of the depth) is not normal to my surface.

The Overflow Blog 94.5k 128 128 gold badges 361 361 silver badges 572 572 bronze badges. And I want the depth from the baseline direction... How I can re-project?A piece of my code with my projective arrays and triangulate function :Thanks scribbleink, so i tried to apply your proposal. asked Dec 23 '11 at 12:45. cv::hconcat appends the translation vector to the matrix. Atleast from my point of view they look correct. Triangulation -- depth from disparity f p p’ Baseline B z O O’ P f disparity=u−u"= B⋅f z Disparity is inversely proportional to depth!