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reprojectImageTo3D(disp, xyz, Q, true);
xyz *= 1.6;
for (int y = 0; y < xyz.rows; ++y)
{
for (int x = 0; x <xyz.cols; ++x)
{
cv::Point3f point = xyz.at<cv::Point3f>(y, x);
point.y = -point.y;
xyz.at<cv::Point3f>(y, x) = point;
}
}
cv::destroyAllWindows();
cout << endl << "保存点云坐标... " << endl;
saveXYZ(point_cloud_filename, xyz);