I am following the steps at Martin Peris's blog
http://blog.martinperis.com/2012/01/3d-reconstruction-with-opencv-and-point.html#comment-form
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?