How to convert a stereo pair to a 3D model?

Question

3D

Interested in programs, textbooks, video tutorials.

Answer 1

I recently did this.
To begin with, you will need the code from OpenCV - StereoBM , which allows you to calculate the disparity - displacement map (??? I'm not very good with Russian terminology). After that, using a fairly simple geometry, you need to calculate the depth from disparity. This is done, for example, like this (information from the website of the stereo camera manufacturer Bumblebee).
If you are interested, you can take pieces of code from my project.
depth_estimator.h
depth_estimator.cpp
You are interested in the functions there, getDisparityand getDepthFromDisparity
when you have the depth of each pixel in your hands, you can easily write them into any 3D model you like.
It is also possible that instead of doing all this by hand, you will find a ready-made solution, for example in PCL , but I don’t know about it :)
I hope this helps.