gaoxiang12 / slambook

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Monocular triangulation 3D point z is negative #286

Open ghost opened 3 years ago

ghost commented 3 years ago

I was running the code in ch7, triangulation.cpp. In the final results, some 3D points had negative z values. Is this normal? The pixels seen in the image were always in front of the camera, so the z values should always be positive.