###前提・実現したいこと「前提」 - OpenCv3の勉強中で2次元点群から3次元復元をcv::triangulatePointsを用いて行いたい。 - ステレオキャリブレーション（校正）はサンプルソースを元に実装している。 - cv::projectPointsのパラメータが不明確。 - 下記URLのソースを参考。 [http://ishidate.my.coocan.jp/opencv_22/opencv_22.htm](http://ishidate.my.coocan.jp/opencv_22/opencv_22.htm) 「実現したいこと」 0. OpenCV3でステレオキャリブレーションを行う。 0. 理想的な３次元点群から画面表示（2次元座標への変換）変換するためのパラメータに校正した結果（カメラマトリクス）を使用する。 0. 変換した２次元座標を３次元点群へ変換変換するためのパラメータに校正した結果（不明確）を使用する。 0. 理想的な３次元点群と（３）で変換した３次元点群がほぼ等しいことを確認する。 ###発生している問題・エラーメッセージ下記のソースコーの標準出力で座標位置（X, Y, Z）以下と、座標位置（X, Y, Z）2以下の出力が異なる。 ###該当のソースコード ``` int main(int argc, char **argv) { // 省略 // 校正 cv::stereoCalibrate(objectPoints, imagePoints, imagePoints, K1, D1, K2, D2, size, R, T, E, F, CV_CALIB_FIX_ASPECT_RATIO | CV_CALIB_ZERO_TANGENT_DIST | CV_CALIB_SAME_FOCAL_LENGTH | CV_CALIB_RATIONAL_MODEL | CV_CALIB_FIX_K3 | CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5); stereoRectify(K1, D1, K2, D2, size, R, T, R1, R2, P1, P2, Q); cv::initUndistortRectifyMap(K1, D1, R1, P1, size, CV_32FC1, mapx[0], mapy[0]); // 理想的な３次元点群 vector points3D; points3D.push_back(Point3f(-100, -100, -100)); points3D.push_back(Point3f(100, -100, -100)); points3D.push_back(Point3f(100, -100, 100)); points3D.push_back(Point3f(-100, -100, 100)); points3D.push_back(Point3f(-100, 100, -100)); points3D.push_back(Point3f(100, 100, -100)); points3D.push_back(Point3f(100, 100, 100)); points3D.push_back(Point3f(-100, 100, 100)); float hbl = 150, distance = 800; // Harf Base Line = 150, 奥行 = 800 Mat cameraMatrix = (Mat_(3, 3) << 320, 0, 160, 0, 320, 120, 0, 0, 1); Mat distCoeffs = (Mat_(5, 1) << 0, 0, 0, 0, 0); // 歪み無し Mat rvec = (Mat_(3, 1) << 0, 0, 0); // 回転無し Mat tvecL = (Mat_(3, 1) << hbl, 0, distance); Mat tvecR = (Mat_(3, 1) << -hbl, 0, distance); // L vector imagePointsL; cv::projectPoints(points3D, rvec, tvecL, cameraMatrix, distCoeffs, imagePointsL); cout << "imagePointsL" << endl; cout << imagePointsL << endl; Mat dst_imageL = Mat(Size(320, 240), CV_8UC3, Scalar::all(255)); for (int i = 0; i < 8; i++) circle(dst_imageL, imagePointsL[i], 2, Scalar::all(0), -1); for (int i = 0; i < 4; i++) { line(dst_imageL, imagePointsL[i], imagePointsL[(i + 1) % 4], Scalar::all(0)); line(dst_imageL, imagePointsL[i + 4], imagePointsL[(i + 1) % 4 + 4], Scalar::all(0)); line(dst_imageL, imagePointsL[i], imagePointsL[i + 4], Scalar::all(0)); } imshow("dst_imageL", dst_imageL); // R vector imagePointsR; cv::projectPoints(points3D, rvec, tvecR, cameraMatrix, distCoeffs, imagePointsR); cout << "imagePointsR" << endl; cout << imagePointsR << endl; Mat dst_imageR = Mat(Size(320, 240), CV_8UC3, Scalar::all(255)); for (int i = 0; i < 8; i++) circle(dst_imageR, imagePointsR[i], 2, Scalar::all(0), -1); for (int i = 0; i < 4; i++) { line(dst_imageR, imagePointsR[i], imagePointsR[(i + 1) % 4], Scalar::all(0)); line(dst_imageR, imagePointsR[i + 4], imagePointsR[(i + 1) % 4 + 4], Scalar::all(0)); line(dst_imageR, imagePointsR[i], imagePointsR[i + 4], Scalar::all(0)); } imshow("dst_imageR", dst_imageR); // camera L vector imagePointsL2; cv::projectPoints(points3D, R1, tvecL, K1, distCoeffs, imagePointsL2); cout << "imagePointsL2" << endl; cout << imagePointsL2 << endl; Mat dst_imageL2 = Mat(Size(1920, 1080), CV_8UC3, Scalar::all(255)); for (int i = 0; i < 8; i++) circle(dst_imageL2, imagePointsL2[i], 2, Scalar::all(0), -1); for (int i = 0; i < 4; i++) { line(dst_imageL2, imagePointsL2[i], imagePointsL2[(i + 1) % 4], Scalar::all(0)); line(dst_imageL2, imagePointsL2[i + 4], imagePointsL2[(i + 1) % 4 + 4], Scalar::all(0)); line(dst_imageL2, imagePointsL2[i], imagePointsL2[i + 4], Scalar::all(0)); } imshow("dst_imageL2", dst_imageL2); // camera R vector imagePointsR2; cv::projectPoints(points3D, R2, tvecR, K2, distCoeffs, imagePointsR2); cout << "imagePointsR2" << endl; cout << imagePointsR2 << endl; Mat dst_imageR2 = Mat(Size(1920, 1080), CV_8UC3, Scalar::all(255)); for (int i = 0; i < 8; i++) circle(dst_imageR, imagePointsR2[i], 2, Scalar::all(0), -1); for (int i = 0; i < 4; i++) { line(dst_imageR2, imagePointsR2[i], imagePointsR2[(i + 1) % 4], Scalar::all(0)); line(dst_imageR2, imagePointsR2[i + 4], imagePointsR2[(i + 1) % 4 + 4], Scalar::all(0)); line(dst_imageR2, imagePointsR2[i], imagePointsR2[i + 4], Scalar::all(0)); } imshow("dst_imageR2", dst_imageR2); // 3次元点群座標を取得する。 Mat projectionMatrixL = (Mat_(3, 4) << // f = 320, cx = 160, cy = 120 320, 0, 160, hbl * 320, 0, 320, 120, 0, 0, 0, 1, 0); Mat projectionMatrixR = (Mat_(3, 4) << 320, 0, 160, -hbl * 320, 0, 320, 120, 0, 0, 0, 1, 0); Mat points4D; vector points3D_result; vector points3D_result_list; cout << "座標位置（X, Y, Z）" << endl; for (int i = 0; i < 8; i++) { triangulatePoints(projectionMatrixL, projectionMatrixR, Mat(imagePointsL[i]), Mat(imagePointsR[i]), points4D); convertPointsFromHomogeneous(points4D.reshape(4, 1), points3D_result); cout << points3D_result << endl; points3D_result_list.push_back(points3D_result[0]); } Mat tvec = (Mat_(3, 1) << 0, 0, distance); vector imagePoints_ret; cv::projectPoints(points3D_result_list, rvec, tvec, cameraMatrix, distCoeffs, imagePoints_ret); cout << "imagePoints_ret" << endl; cout << imagePoints_ret << endl; Mat dst_image = Mat(Size(320, 240), CV_8UC3, Scalar::all(255)); for (int i = 0; i < 8; i++) circle(dst_image, imagePoints_ret[i], 2, Scalar::all(0), -1); for (int i = 0; i < 4; i++) { line(dst_image, imagePoints_ret[i], imagePoints_ret[(i + 1) % 4], Scalar::all(0)); line(dst_image, imagePoints_ret[i + 4], imagePoints_ret[(i + 1) % 4 + 4], Scalar::all(0)); line(dst_image, imagePoints_ret[i], imagePoints_ret[i + 4], Scalar::all(0)); } imshow("dst_image", dst_image); // camera Mat points4D2; vector points3D_result2; vector points3D_result_list2; cout << "座標位置（X, Y, Z）2" << endl; for (int i = 0; i < 8; i++) { // triangulatePointsの第一、二引数不明 triangulatePoints(P1, P2, Mat(imagePointsL2[i]), Mat(imagePointsR2[i]), points4D2); // points4D2の内容が想定外 convertPointsFromHomogeneous(points4D2.reshape(4, 1), points3D_result2); cout << points3D_result2 << endl; points3D_result_list2.push_back(points3D_result2[0]); } Mat tvec2 = (Mat_(3, 1) << 0, 0, distance); vector imagePoints_ret2; cv::projectPoints(points3D_result_list2, rvec, tvec2, K1, distCoeffs, imagePoints_ret2); cout << "imagePoints_ret2" << endl; cout << imagePoints_ret2 << endl; Mat dst_image2 = Mat(Size(1920, 1080), CV_8UC3, Scalar::all(255)); for (int i = 0; i < 8; i++) circle(dst_image2, imagePoints_ret2[i], 2, Scalar::all(0), -1); for (int i = 0; i < 4; i++) { line(dst_image2, imagePoints_ret2[i], imagePoints_ret2[(i + 1) % 4], Scalar::all(0)); line(dst_image2, imagePoints_ret2[i + 4], imagePoints_ret2[(i + 1) % 4 + 4], Scalar::all(0)); line(dst_image2, imagePoints_ret2[i], imagePoints_ret2[i + 4], Scalar::all(0)); } imshow("dst_image2", dst_image2); } ``` ###補足情報(言語/FW/ツール等のバージョンなど) Windows10 x64 Visual Studio 2017 C++ OpenCv3.2

	@@ -1 +1 @@
1	- [OpenCV3]
1	+ [OpenCV3]ステレオカメラの校正結果よりcv::triangulatePointsを使用して３次元点群を取得したい。

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