Coordinate reprojection in Stereo Vision

I'm struggling to find a solution for this (kind of easy, I worry) problem:

I got a pair of images derived from a stereo vision system all calibrated and stuff.

I now want to take coordinates from one image and use the steroParams to compute the coordinates of these points in the other image.

I figure that the stereoCameraCalibrator must do something similar when calculating reprojection errors so from my limited standpoint it looks very much doable.

One idea I had was using the rotation matrices as well as the translation vectors

stereoParams.CameraParameters1.RotationMatrices 
stereoParams.CameraParameters1.RotationMatrices

To transfer the coordinates into worldspace using

pointsToWorld

and afterwards transfer those points into the space of image 2 using

worldToImage

with the respective matrices/vectors, do that for each matrix and vector there is (one for each pattern which would be 17) and take the mean coordinates afterwards, but this seems incredibly dowdy and I would apreciate any input.

Best regards

Answer 1

[Kritika Bansal]

Hi,

As per my understanding, you have 2 images taken from a stereo camera and you want to project the points of one image onto the other.

You can use the triangulate function of Stereo Camera Calibrator App to fulfil your task. Refer the link below to know about the input and output arguments of this function to get the desired output:

https://in.mathworks.com/help/vision/ref/triangulate.html