2D Coordinate to 3D world coordinate

Question

I want to convert 2D Image coordinates to 3D world coordinates. I am using the ZED camera which is a stereo camera and the sdk shipped with it, provides the disparity map. H

Answer 1

Just stumbled upon this. I am also using the ZED camera.

Just FYI for anyone interesting, the ZED APIs (SDK v. 1.2) provide a nice function for this: you can simply retrieve the XYZ map of all points on the image using

sl::zed::Mat xyz = zed->retrieveMeasure(sl::zed::XYZABGR);

Note sure if this is what you were after or not, but definitely something useful :)