reprojected points form cone shape

asked 2015-06-15 06:42:15 -0500

stillNovice gravatar image

I am following the steps at Martin Peris's blog

http://blog.martinperis.com/2012/01/3...

and have calibrated a stereo camera setup and created a depth map. My Q matrix looks like this:

1. 0. 0. -1.6653794479370117e+002 0. 1. 0. -1.9214219284057617e+002
0. 0. 0. 9.5886163747058333e+002 0. 0. 4.1031825219069389e-002
3.3725873827607686e+000

my depth, this:

http://tinypic.com/r/34ovofr/8

When i triangulate, either with the depth map method, or by :

d = pointRightImage.X - pointLeftImage.X;

X = pointLeftImage.X * Q[0, 0] + Q[0, 3]; Y = pointLeftImage.Y * Q[1, 1] + Q[1, 3]; Z = Q[2, 3]; W = d * Q[3, 2] + Q[3, 3];

X = X / W; Y = Y / W; Z = Z / W;

My points come out as this:

http://tinypic.com/r/119rmmq/8

Two strange cone shapes. I have read enough to know that other people have had this problem, but i can't find a solution. Can anyone shed some light on this?

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