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Hello,

I'm trying to write an optical flow application, but I need to compute the relative orientation between images (webcam stream) Writting that from the scratch is out of my math skills, so I thought that there should be any library that performs that. After looking up for the web I didn't find anything, but perhaps anyone here knows a good one. If it is the case I really appreciate any suggestion.

Thanks.

Check OpenCV.

I already checked that (in fact, I'm using it for webcam access and optical flow calculations (later I'll replace that part with a GPU'ized KLT algorithm), but OpenCV lacks of a bundle adjustment method. (what I really need, at the end, are the camera matrices their rotations and translations. 3D features' positions are easy to compute and I already has that part done)

I (almost) understand.
There is some interesting developments detailed here, you need to add stuff to the cvaux.h to have access to these features (still in dev) :
http://opencvlibrary.sourceforge.net/EffortFor3dReconstruction

"All this functions are not declared extern so you can not use them. To make this work you have to put the definitions in the cvaux.h"

EDIT : oh and by the way, I would be very interested too, please tell me if you find anything.

I just stumbled upon this, GPL package for bundle adjustment (I did not test it yet) :
http://www.ifp.uni-stuttgart.de/publications/software/openbundle/index.en.html

I'll test it. If it works will serve me for prototyping, many thanks

Edit: After playing for a while I can see that the lib depends on LAPACK, BLAS and Fortran. Well, I dont like that very much, but will be fine for prototyping, and that's what I was looking for

ZBuffer, are you interested, when I get my first orientation with this library, in the sample application? you pointed me to that lib, so you deserve it

Yes please !

In fact I have a pet project on the backburner right now, it is a small turtle robot with a wide angle camera, controlled via parallel port, and I am toying with doing SLAM only using the monocular vision :
- when moving forward, I track points using OpenCV, estimating distances by measuring relative displacement... Currently the reconstructed world is not really recognizable (euphemism) as I assume "perfectly linear movement with fixed speed" ... The "bundle adjustment" techniques would seem adequate to have more robust results.

I can put some pictures online if you are interested.



EDIT: this guy has some impressive results on 3D slam, but no source code alas : http://www.robots.ox.ac.uk/~gk/

That stuff is really impressive. I really liked the oclussion examples

I work now in a digital photogrametric company. We are developing an application oriented to produce true ortophotos, but the process passes throught the digital reconstruction of the building, so I am familiar with photogrammetry algorithms (RANSAC, KLT(GPU), SWIFT, Bundle Adjustment, etc), but I'm not an expert in that area.

Now, as a personal project (perhaps for gaming, or for marketing) I'm developing an augmented reality system (without oclussions, thats what I liked that part of your link ) that should work with a middle quality webcam. What I want to achieve now is a very-low density 3D reconstruction of an object seen by the camera and the camera's relative positions. My goal is getting a realistic composition of 3D syntetic objects with the video stream.

Now I'm in a prototype phase, where I test algorithms and try to realize its performance and which ones must (and can) be gpu'ized (please OpenCL, come soon...)

So, well, when I have a test project, rightly oriented with this library, I'll send it to you.

P.D: It would be nice see those pictures of your project

I managed to compile dgap in my Debian. It took to me some days because standard Debian lapack packages are broken and have linker errors. Curiously, it compiled perfectly in my Yellow Dog 6 linux (PS3) but for Debian I had to use the Tuned Version of lapack&blas (libatlas3) and change accordingly the Makefile (ah, and the Makefile that comes with dgap was incorrect, I had to fix it)

Now I'll try to create and orientate a project, I'll send you (ZBuffer) my results when I got them.

That would be great, thanks !
And here are some pictures of my toy : http://www.chez.com/dedebuffer/robotics.html

Feel free to comment/ask more.

Of course, having now a really autonomous toddler eager to "slam" prevented me to do much progress in the last months...