Suspicious cvTriangulatePoints (Bug #1575)

Added by Adam Babinec about 13 years ago. Updated almost 13 years ago.

Status:Done Start date:
Priority:Normal Due date:
Assignee:Ilya Lysenkov % Done:

0%
Category:calibration, 3d
Target version:2.4.0
Affected version: Operating System:
Difficulty: HW Platform:
Pull request:

Description

For matrices computed by cv::stereoRectify (P1 and P2) the function cvTriangulatePoints yields totally different results than for reprojection using reprojection matrix Q computed by cv::stereoRectify as well. The point computed using Q matrix is: P = Q*p, where p is vector (x_l, y_l, x_l - x_r, 1). I work on already undistorted/rectified images.

Also I found its implementation very suspicious. The part of the function after comments
"/* We can compute reprojection error if need */"
has no effect for anything outside of the function.

Associated revisions

Revision e1378aad
Added by Ilya Lysenkov almost 13 years ago

Added a check that Q reprojects to the same 3D points as reconstructed by triangulation (#1575)

Revision 29f37fc1
Added by Roman Donchenko over 11 years ago

Merge pull request #1575 from jet47:gpu-buffer-pool

History

#1
Updated by Alexander Shishkov almost 13 years ago

  • Priority changed from High to Normal
  • Target version deleted ()

#2
Updated by Alexander Shishkov almost 13 years ago

  • Assignee deleted (Vadim Pisarevsky)

#3
Updated by Ilya Lysenkov almost 13 years ago

  • Assignee set to Ilya Lysenkov

#4
Updated by Ilya Lysenkov almost 13 years ago

Thank you for the report, you are completely right.

1. Q matrix was computed incorrectly in stereoRectify and it is fixed in r7666.
2. The code after comments "/* We can compute reprojection error if need */" was redundant and it is turned off in r7527.

Now cvTriangulatePoints produces the same 3D points as by using the reprojection matrix Q. Such a check is added in r7669.

  • Status changed from Open to Done

#5
Updated by Alexander Shishkov almost 13 years ago

  • Target version set to 2.4.0

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