opencv - 3D Triangulation similar to Hawkeye -

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forgive me if question has been asked before, i'd know start achieve stereo vision convert 2d coordinates 3d coordinates. i'm trying track balls hawkeye in 3d. have 2 high speed cameras , i'm able detect ball in each camera. understand need calibrate cameras, synchronize them , run algorithm remove lens distortion etc. however, don't know next step convert 2d coordinates world 3d coordinates.

does know how perform triangulation can assist me this? cameras not parallel each other, @ different angles, somehow, need know location of each camera in terms of 3d coordinates.

any gratefully received.

many thanks

to convert 2d 3d 2 calibrated cameras use these formulas: z = focal*baseline/disparity x = z*u/focal y = z*v/focal

where focal - focal length of camera in pixels u = column-cx, cx~image_width/2 calibration give more precise value v = -row+cy, cy~image_height/2 baseline - horizontal distance between cameras disparity - difference in horizontal position of ball in 2 images

strictly speaking need rectification working dense stereo. sparse stereo need calibration.


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