title: Steps for 3D Reconstruction?
body: <p>This question has been asked in different ways many times, many people approach this problem in different ways. Which is why I am unsure of my methodology, it would be good if someone could tell me if I am doing things correctly.</p>
  
  <p>The steps that I follow are -</p>
  
  <ol>
  <li>Set up stereo camera pair.</li>
  <li>Calibrate both the cameras individually to get their camera
  matrices, distortion coefficients, using <code>calibrateCamera</code></li>
  <li>Then we calculate R, T, E, F
      using <code>stereoCalibrate</code></li>
  <li>Calculate R1,R2,P1,P2 and Q using <code>stereoRectify</code></li>
  <li>Since I want to find the 3D coordinates of a specific point in my
  scene, I extract the coordinates of that point in both the images,
  and after that I use <code>triangulatePoints</code> to get the 3D points in
  homogenous coordinates.</li>
  </ol>
  
  <p>Are the steps that I'm following correct? I've been having problems with the OpenCV documentation so it took me a while to formulate the steps, digging through the documentation. People have approached this problem in OpenCV in different ways, some have even constructed the Fundamental and Essential Matrices using some of the helper functions in the OpenCV documentation, but I think the <code>stereoCalibrate</code> and <code>stereoRectify</code> use these helper functions themselves. </p>