opencv 函数triangulatePoints（）：Reconstructs points by triangulation.

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本文介绍了如何使用OpenCV库中的triangulatePoints函数从立体图像中重构3D点。该函数利用两台相机的投影矩阵和对应的特征点来计算3D空间中的点。与reprojectImageTo3D不同，此方法不依赖于视差，仅需内外参数即可将像素坐标转换为相机坐标。

C++: void triangulatePoints(InputArray projMatr1, InputArray projMatr2, InputArray projPoints1, InputArray projPoints2, OutputArray points4D)

Python: cv2.triangulatePoints(projMatr1, projMatr2, projPoints1, projPoints2[, points4D]) → points4D

C: void cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMat* projPoints2, CvMat* 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.

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 homogeneous coordinates) by using their observations with a stereo camera. Projections matrices can be obtained from stereoRectify().

与函数 reprojectImageTo3D() 不同，这里不需要视差。 triangulatePoints（）仅需要内参数和外参数，讲匹配点的像素坐标转换到相机坐标（projPoints1 ，projPoints2）。