Reprojection Matrix Q

Given the disparity D and 2D point (x, y), we can derive the 3D depth using the 4-by-4 reprojection matrix Q as follows:

The reprojection matrix Q is given by:

The parameter CX is the principal point x coordinate in the "left" image, Cy is y coordinate, while CX's is the principal poi NT x coordinate in the right image, F are the focal length in pixels, x T is the x of translation vector between the Meras.

Reprojection Matrix Q