reprojectImageTo3D incorrect results

Tonifds
13 ●1 ●1

system: opencv 4.4.0 operating system: windows 10 Pro - visual studio 2019 PCL 1.11.1 point cloud viewer.

int alg = STEREO_SGBM; int SADWindowSize = 1; int numberOfDisparities =16;

i get incorrect cloud point, any suggestions? image description

Comments

the projection is only valid for a certain camera position, so move around some ...

berak ( 2020-08-29 04:26:37 -0600 )edit

if we move in 3d it's like a cone

Tonifds ( 2020-08-29 10:17:04 -0600 )edit

exactly. and it 'll only look correct, if you look from the tip towards the bottom

berak ( 2020-08-29 14:14:44 -0600 )edit

it's correct to see it like cone, how to see like the 3d shape of the object? i convert it to mesh with pcl converter to .ply, it look the same

Tonifds ( 2020-09-01 02:23:10 -0600 )edit

i convert it to mesh with pcl converter to .ply, it look the same

no wonder, it's stll the same vertices.

berak ( 2020-09-01 09:42:04 -0600 )edit

any ideas how to get a good point cloud similar to reality, instead of cone?

Tonifds ( 2020-09-01 10:14:40 -0600 )edit

please check attached disparity map

Tonifds ( 2020-09-02 01:13:59 -0600 )edit