Triangulating points - systematic error?

2019 3 22
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更新时间：2019 3 22
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Has somebody any idea, where such a systematic error might come from? The calibration at approx. the same distance, reprojection error of ~0.4 pixels, and stereoParams for rectification- and triangulate-function. The error-width seems fine, but there is a tendency that is going way off the target.
I'd really appreciate some help.

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John D'Errico
John D'Errico 2019-3-22
If you show no code, only a plot, it is very difficult to say more than "Possible coding error".
Sebastian Schneeberger
编辑：Sebastian Schneeberger 2019-3-22
well actually there is not much of code. And in xy_L and xy_R i have my picture coordinates stored which i got from my (manually gathered points) pictures, of the left and right camera, after the were rectified. That is the weird part - i don't get how this tendency can happen.
stP = stereoParams;
for n = 1:size(xy_L,1)
[XYZ(n,:), reprojFehler(n)] = triangulate( [xy_L(n,1),xy_L(n,2)], [xy_R(n,1),xy_R(n,2)], stP );
end

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