Reconstructing the scene

Next we look into the matter of recovering the 3D structure of the scene from the information we have acquired so far. As we had done before, we should look at the tools and information we have at hand to achieve this. In the preceding section we obtained two camera matrices from the essential and fundamental matrices; we already discussed how these tools will be useful for obtaining the 3D position of a point in space. Then, we can go back to our matched point pairs to fill in our equations with numerical data. The point pairs will also be useful in calculating the error we get from all our approximate calculations.

This is the time to see how we can perform triangulation using OpenCV. This time we will follow the steps Hartley and Sturm take in their article Triangulation, where they implement and compare a few triangulation methods. We will implement one of their linear methods, as it is very simple to code with OpenCV.

Remember we had two key equations arising...