Why sfm::reconstruct return empty points3d_estimated if I set only two images?

asked 2016-12-18 11:04:47 -0600

I_cool
6 ●1

I try use sfm::reconstruct with video images. steps through which I passed

detect keypoint and descriptors for two images (SIFT)
chose only good key point
build the following structure data (vector<vector<mat<double>>>)
- frame1 frame2 frameN
track1 | (x11,y11) | -> | (x12,y12) | -> | (x1N,y1N) |
track2 | (x21,y11) | -> | (x22,y22) | -> | (x2N,y2N) |
trackN | (xN1,yN1) | -> | (xN2,yN2) | -> | (xNN,yNN) |

and put this arrayofarrays on function sfm::reconstruct, but I get empty points3d_estimated((

It may be necessary for at least 3 images?

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answered 2016-12-18 14:26:32 -0600

LBerger
9317 ●2 ●20 ●88 http://www.traimaocv.fr

I think problem is here :

image description

Shape and Motion from Image Streams under Orthography: a Factorization Method

International Journal of Computer Vision, 9:2, 137-154 (1992) Carlo Tomasi, Takeo Kanade

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I changed detector keypoint to DAISY, because sfm::reconstruct uses it. How to find three identical points between three keyPoint vectors? maybe there is a standard function for this? Thank you for your help!!