OpenCV-Triangulation

Posted 2021-01-06 buaawang

cv::triangulatePoints----Reconstucts points by triangulation

void cv::trangulatePoints	(InputArray projMatr1,
	InputArray projMatr2,
	InputArray projPoints1,
	InputArray projPoints2,
	OutputArray points4D )

 

 

 

 

 

Python

points4D=cv.triangulatePoints(projMatr1, projMatr2, projPoints1, projPoints2[, points4D])

 

Parameters

projMatr1	3x4 projection matrix of the first camera.
projMatr2	3x4 projection matrix of the second camera.
projPoints1	2xN array of feature points in the first image. In case of c++ version it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.
projPoints2	2xN array of corresponding points in the second image. In case of c++ version it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.
points4D	4xN array of reconstructed points in homogeneous coordinates.

The function reconstructs 3-dimensional points (in homogeneout coordinates) by using their observations with a stereo camera. Projections matrices can be obtained from stereoRectify.

Note

Keep in mind that all input data should be of float type in order for this function to work.

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在使用该函数进行三角化计算时，正如其Note所强调的，为了使该函数返回正常数值，所有的输入数据类型应该是float类型，且输出数据的类型也应该被当做float来使用，

实际操作中，在将齐次坐标points4D转换为非齐次坐标的过程中，由于使用double类型来操作，从而导致转换一直出错，该BUG找了好久才被找到，很心累。记录在此。