structure-from-motion

This is an experimental project for 3D reconstruction. I follow the structure from motion project from [1], and reimplement the orignial prject from object oriented programming style to procedure programming style for easily analysing the code and learning the algorithm procedure.

Overview

Spare 3D point cloud is produced from multiple images, the General steps of this method including:

1. Extract dense key points and key points matching by optical flow;
2. 3D reconstruction from two view(cameras matrix estimation and triangulation )
3. 3D reconstruction from multiple view by incrementally adding new image(incremental cameras matrix estimation, triangulation and Bundle Adjustment (BA))

Installation Dependencies

1. OpenCV v2.3 or higher(http://opencv.org/)
2. SSBA v3.0 or higher
3. The Point Clouds Library (PCL,v1.6 or higher) from "http://pointclouds.org/" for visualization

Installation

1. install the dependence liabraies from the above section using CMake and MS Visual Studio 2013
2. Edit the property sheet opencv2413_ssba_pcl.props at the main directory
3. Make a new project, add the property sheet and the code in the source folder

example

The input 8 images:

Example of corresponding points estimated from two images:

Constructed sparse 3D point cloud

To be continued

1. Dense 3D point cloud reconstruction (example:http://www.di.ens.fr/pmvs/)

References

[1] Baggio, Daniel Lélis. Mastering OpenCV with practical computer vision projects. Packt Publishing Ltd, 2012.

Disclaimer

This work is highly based on the following repos:

1. [MasteringOpenCV/code] (https://github.com/MasteringOpenCV/code)