opencv - Reprojection matrix Q from Projection matrices P_left and P_right -

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the reprojection matrix q (4 x 4) , disparity value (i.e pixel shift) typically needed generate point cloud coplanar stereo image pairs, as such. coplanar planes allow disparity search on same epipolar line. how can matrix q obtained or alternative route 3d reconstruction if individual projection matrices p (4 x 3) given ?


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