Reprojection from pixel coordinates to 3D world coordinates

[AmerSam265]

Hello, I am wondering how can I get the 3D world coordinates from pixel coordinates and ZED camera parameters, I know that we can get them directly using sl.MEASURE.XYZRGBA but I want to know how it is done mathematicaly ? Thank you in advance!

[P-yver]

Hi, the foruma, for a sl::CalibrationParameters::calibration_parameters cam (not sl::CalibrationParameters::calibration_parameters_raw) for a pixel p is : depth = cam.fx cam.baseline / disparity; X = (p.x - cam.cx) depth / cam.fx Y = (p.y - cam.cy) * depth / cam.fy Z = depth

[github-actions[bot]]

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