# Revision history [back]

### Wrong Point Cloud

Hello, i used two images from the same calibrated camera two obtain a point cloud.

First i rectified these images. The result is looking quite good. It is shown here: (imgur.com/XETnDZB)

Then i caluclated a disparity map from the 2 rectified images. The result is looking quite good.
It is shown here: (imgur.com/nP08XN9)

Then i tried to calculate the point cloud using the reprojectImageTo3d()-function and a self-constructed reprojection matrix Q, but the result is looking bad now. It is shown here: (imgur.com/LNkrf7j) and (imgur.com/bE7Mfk9)

My code snippet to calculate the point cloud is the following:

Mat XYZ(image_disparity.size(), CV_32FC3);

Q = (Mat_<double>(4, 4) <<  1, 0, 0, -1520.69,
0, 1, 0, -1006.81,
0, 0, 0, -2759.48,
0, 0, 1, 0);

reprojectImageTo3D(image_disparity, XYZ, Q);


### Wrong Point Cloud

Hello, i used two images from the same calibrated camera two obtain a point cloud.

First i rectified these images. The result is looking quite good. It is shown here: (imgur.com/XETnDZB)good.

Then i caluclated a disparity map from the 2 rectified images. The result is looking quite good.
It is shown here: (imgur.com/nP08XN9)

Then i tried to calculate the point cloud using the reprojectImageTo3d()-function and a self-constructed reprojection matrix Q, but the result is looking bad now. It is shown here: (imgur.com/LNkrf7j) and (imgur.com/bE7Mfk9)now.

My code snippet to calculate the point cloud is the following:

Mat XYZ(image_disparity.size(), CV_32FC3);

Q = (Mat_<double>(4, 4) <<  1, 0, 0, -1520.69,
0, 1, 0, -1006.81,
0, 0, 0, -2759.48,
0, 0, 1, 0);

reprojectImageTo3D(image_disparity, XYZ, Q);


All the images of the workflow are here: imgur.com/a/sRPyo

### Wrong Point Cloud

Hello, i used two images from the same calibrated camera two obtain a point cloud.

First i rectified these images. The result is looking quite good.

Then i caluclated a disparity map from the 2 rectified images. The result is looking quite good.

Then i tried to calculate the point cloud using the reprojectImageTo3d()-function and a self-constructed reprojection matrix Q, but the result is looking bad now.

My code snippet to calculate the point cloud is the following:

Mat XYZ(image_disparity.size(), CV_32FC3);

Q = (Mat_<double>(4, 4) <<  1, 0, 0, -1520.69,
0, 1, 0, -1006.81,
0, 0, 0, -2759.48,
0, 0, 1, 0);

reprojectImageTo3D(image_disparity, XYZ, Q);


All the images of the workflow are here: imgur.com/a/sRPyohere: