Reconstructs points by triangulation

points4D = cv.triangulatePoints(projMatr1, projMatr2, projPoints1, projPoints2)

Input

• projMatr1 3x4 projection matrix of the first camera.
• projMatr2 3x4 projection matrix of the second camera.
• projPoints1 2xN array of feature points in the first image. It can be also a cell array of feature points {[x,y], ...} or two-channel array of size 1xNx2 or Nx1x2.
• projPoints2 2xN array of corresponding points in the second image. It can be also a cell array of feature points {[x,y], ...} or two-channel array of size 1xNx2 or Nx1x2.

Output

• points4D 4xN array of reconstructed points in homogeneous coordinates [[x;y;z;w], ...]

The function reconstructs 3-dimensional points (in homogeneous coordinates) by using their observations with a stereo camera. Projections matrices can be obtained from cv.stereoRectify.

Note

Keep in mind that all input data should be of float type in order for this function to work (single or double).