Seven pictures for stereography

Henrik Haggrén
Institute of photogrammetry and remote sensing
Helsinki University of Technology


1 Definition of the object

2 Orientation of the stereo camera

3 Calculation of the rotation matrix

4 Rotation of the object coordinates to a system parallel to the camera coordinate system

5 Shift of the object coordinate system into the camera coordinate system

6 Central projection of the 3-D object to 2-D image plane

7 Presentation of the stereo images




  • Haggrén, Henrik, 2002. MS Excel-application for stereo photography, available at  <>.
  • Kraus, Karl, 1997. Photogrammetry, Volume 2, Advanced Methods and Applications, Dümmler Verlag, Bonn, 1997, 466 p.