Computing the 3D Points

Once the two feature points have been identified on the two images, they are fed, along with the calibration matrices for the two corresponding camera stations, to an algorithm which triangulates the resulting lines in the 3D world and returns the 3D coordinates of each point.

Each time you clicked on a feature point, you identified a line in space that the 3D point is on. Since you selected two of these lines for each feature point, the intersection of the two lines gives the actual point in space. The rays and their intersections are drawn from both of the camera stations to the calculated points to show how the points were found.

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