3

According to this documentation: http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

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I've obtained m', A, and [R|t]. And then I want to find M'. But I have no idea to find s value, which is a scaling factor. I only can measure distance from camera to target object using a ruler.

Please tell me how to find s value using depth information.

Soonmyun Jang
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    m' in your equation is a point in image space - pixel (2d), M' is a world point (3d). Using this equation you can only project the ray from m' and M' can be any point that lays on this ray. The s is the distance between M' and the center of projection. So the depth in given pixel is equivalent to s. – Piotr Siekański Jul 08 '19 at 09:24

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