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Feature points stereo matching?

asked 2013-02-27 10:48:26 -0500

Dawei Jiang gravatar image

updated 2013-03-03 15:27:08 -0500

Hi, All,

I am using good feature function to find feature points in left image. Currently, I am trying to matching the corresponding points in both left and right image, then get the 3D could. I know opencv has stereo matching method based on region,such as BM,HH,Var ect., dose anybody have any idea on easy way to do the stereo matching based on feature point? Especially, how to apply the epipolar line constraint? Thanks a lots!

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answered 2013-02-27 11:03:37 -0500

You can try the samples (python2/stereo_match.py or cpp/stereo_match.cpp) which are computing stereo matching. The python sample also create a 3D points cloud in PLY format. The cpp sample shows all OpenCV methods (BM,SGBM,HH and VAR). They are performing interest points extraction inside, therefore, you don't need to use good features.

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Just a comment, you probably have the concept of ROI in stereo matching wrong. It indicates the region around interesting points, which is then pushed through a descriptor for effective representation if I am not mistaken.

StevenPuttemans gravatar imageStevenPuttemans ( 2013-02-27 11:32:36 -0500 )edit

Thanks you, Mathieu. But I'd like use stereo feature matching for two reasons. One reason is it will reduce the computation greatly. Another is it will helpful for feature tracking between frames. So if you have any good idea, thanks for sharing.

Dawei Jiang gravatar imageDawei Jiang ( 2013-02-27 11:40:37 -0500 )edit
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Dawei there actually are feature matchers in OpenCV. Look at the following link: http://docs.opencv.org/modules/gpu/doc/feature_detection_and_description.html

The bruteforcematching does exactly what you are asking giving two sets of feature points.

StevenPuttemans gravatar imageStevenPuttemans ( 2013-02-27 11:48:11 -0500 )edit

Thank you, Steven. I am wondering whether I can run the GPU function on my laptop without GPU.

Dawei Jiang gravatar imageDawei Jiang ( 2013-02-27 13:53:51 -0500 )edit
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I guess this wasn't too hard to find out yourself by browsing through the online documentation, but go to this link. http://docs.opencv.org/modules/features2d/doc/features2d.html the link shows you the 2D feature functionality computed on CPU, suggesting different descriptors, feature selectors and possible matchers. Now go try some code ;)

StevenPuttemans gravatar imageStevenPuttemans ( 2013-02-27 15:21:21 -0500 )edit
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I know opencv has stereo matching method based on region,such as BM,HH,Var ect., dose anybody have any idea on easy way to do the stereo matching based on feature point? Especially, how to apply the epipolar line constraint? Thanks a lots!

Dawei Jiang gravatar imageDawei Jiang ( 2013-03-03 15:28:05 -0500 )edit

@Dawei Jiang !! have you found any solution to your question? i ran into the same problem today

sumitsk gravatar imagesumitsk ( 2015-05-31 12:35:29 -0500 )edit
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Asked: 2013-02-27 10:48:26 -0500

Seen: 1,797 times

Last updated: Mar 03 '13