# 3D reconstruction from a depth map (with camera parameters)

## General introduction:

I have images A and B taken with the same camera (from which I know the internal parameters of K). Then I tried to find the matrix F and from it the essential matrix. From this I have reconstructed the full matrices of the P and P 'cameras.

Then I straightened out the two images and computed the depth map like the following:

## My question

Now I would like to perform a dense 3D reconstruction using a depth map. What's not entirely clear is what the camera matrix should use to reprogram points, P or P '?

Or another transformation? P and P 'were camera matrices for A and B, but now I am considering a depth map created using straightened versions of A and B

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