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I have a stack of know object. My problem is to find the World Coordinates(X,Y,Z) of the object using the stereo pair. I have done the following steps.

  1. Stereo camera calibration, Got intrinsic and extrinsic parameters.
  2. Un-Distort the image pair.
  3. Stereo rectification to get the images in epipolar line.
  4. I have segmented the object region from the image(I know the Object region in the image)

I know the formula z = (bF) / (ds) to calculate the depth.

Is there any function to find X,Y,Z in opencv. My working distance is around 260mm, will i be able to get the depth accuracy of 1mm using triangulation method ?

I have also referred to these question which didnt answer my problem Stereo vision: Depth estimation 3D stereo, bad 3D coordinates

SPG
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  • http://docs.opencv.org/trunk/dd/d53/tutorial_py_depthmap.html – Timothy Groote Aug 03 '17 at 07:20
  • @TimothyGroote Thanks for your response, I have the disparity map computed using SGBM. My problem is to find the 3D world coordinate using the Disparity map. – SPG Aug 03 '17 at 07:23
  • right, then you're after `reprojectImageTo3D`. http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#reprojectimageto3d – Timothy Groote Aug 03 '17 at 07:25

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