So I am doing sparse 3D reconstruction using stereo camera system. So I stereo calibrated the left and right cameras using Caltech's toolbox. Then stereo rectification. Then feature detection and matching. So far it is similar to this example in MATLAB: http://www.mathworks.com/help/vision/examples/sparse-3-d-reconstruction-from-two-views.html
But since I do not have a checkerboard in the scene, I cannot find the extrinsic camera calibration matrix directly. So I had to estimate fundamental matrix, then essential matrix, then camera matrices and finally the 3D point cloud using triangulation.The whole process is similar to this: http://vgl-ait.org/cvwiki/doku.php?id=matlab:tutorial:3d_reconstruction_with_calibrated_image_sequences
Since I only used intrinsic camera calibration matrix, my point cloud is not in metric. It is in pixels.
Now my question is how can I convert this point cloud from pixels to metric?
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