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Real World Points [X Y Z] determination (VISION)

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Joep
Joep 2015-2-24
编辑： Joep 2015-2-25
The imagePoints found at stereo calibration i would like to translate to a real world point with a X Y Z location of the checkboard. I tried to use rectify, disparty and reconstructScene but that didn't work. Problem their is disparty. Which should give a Z out but does not do the trick.
My goal is to solve the equation of:
P=projection matrix
T=translation vectors
(X_r,Y_r )= positie camera Right
(X_l,Y_l )= positie camera Left
X_(l→r)=X_l-P1[0][2]/W-T[0][0]/2
X_(r→l)=X_r-P2[0][2]/W-T[0][0]/2
ΔX=X_(r→l)=-X_(l→r)
delta X is the difference from X position calculated from left or right camera.

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