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I have two calibrated cameras with known intrinsic and extrinsic parameters. I also have nearly 30 points and their correspondences in the other image plane.

How can I obtain the depth of only these points? Any code or resource will be really helpful.

I'm using Python and OpenCV 3.4 to implement it.

mkocabas
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    I wrote an answer on that the other day, maybe you'll find it helpful: https://stackoverflow.com/questions/52341007/stereo-vision-3d-point-calculation-with-known-intrinsic-and-extrinsic-matrix/52383055#52383055. The tl;dr for you would be https://docs.opencv.org/3.0-beta/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#triangulatepoints – Ash Sep 20 '18 at 15:10
  • shoot rays from camera centers through the image plane in those pixel's coordinates and find where the rays intersect – Micka Sep 20 '18 at 15:22
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    @Ash thanks a lot for the links. I'll try the OpenCV functions. – mkocabas Sep 20 '18 at 20:00

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