标签：ann roman points min 函数返回 ros ram col oid
cv::triangulatePoints----Reconstucts points by triangulation
| void cv::trangulatePoints | (InputArray projMatr1, |
| InputArray projMatr2, | |
| InputArray projPoints1, | |
| InputArray projPoints2, | |
| OutputArray points4D ) |
Python
| points4D=cv.triangulatePoints(projMatr1, projMatr2, projPoints1, projPoints2[, points4D]) |
Parameters
| projMatr1 | 3x4 projection matrix of the first camera. |
| projMatr2 | 3x4 projection matrix of the second camera. |
| projPoints1 | 2xN array of feature points in the first image. In case of c++ version it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1. |
| projPoints2 | 2xN array of corresponding points in the second image. In case of c++ version it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1. |
| points4D | 4xN array of reconstructed points in homogeneous coordinates. |
The function reconstructs 3-dimensional points (in homogeneout coordinates) by using their observations with a stereo camera. Projections matrices can be obtained from stereoRectify.
Note
Keep in mind that all input data should be of float type in order for this function to work.
在使用该函数进行三角化计算时，正如其Note所强调的，为了使该函数返回正常数值，所有的输入数据类型应该是float类型，且输出数据的类型也应该被当做float来使用，
实际操作中，在将齐次坐标points4D转换为非齐次坐标的过程中，由于使用double类型来操作，从而导致转换一直出错，该BUG找了好久才被找到，很心累。记录在此。
标签：ann roman points min 函数返回 ros ram col oid
原文地址：https://www.cnblogs.com/buaawang/p/9655724.html
