Bundle Adjustment with OpenCV data

[Julius Saretzki]

Hi,

As part of a much bigger project on android, which is using OpenCV, I have the task to implement a bundle adjustment part for Structure from Motion.

The problem here is that all data I have as input and all data I will return has to be in OpenCV datatypes. 

As the implementation of OpenCV for Java (not Android NDK) does not include any way of BundleAdjustment, I have to use something different and convert the data form OpenCV to BoofCV and later back to OpenCV.

It there a fast and effizient way to convert the following things to BoofCV:

 - Camera Intrinsics

 - Camera Matrix (Position and Orientation of the camera)

 - A list of Vec3f (own class) which contains the 3D Points obtained from some sort of triangulation

 - The good matches between the images used for triangulation

As far as I've read I need those things for bundle Adjustment. Runtime is no problem, if it takes time  it is okay (for now).

The idea is to use BoofCV for the BundleAdjustment part as it seems to be a nice library. 

Thanks

[Peter A]

Currently there isn't any built in functions for integrating OpenCV and BoofCV together.

 - Camera Intrinsics

OpenCV supports tangental distortion terms which BoofCV doesn't yet support.  So if you estimate tangental (which can be configured) then you can't convert it to BoofCV.  But you can always go from BoofCV to OpenCV.

 - Camera Matrix (Position and Orientation of the camera)

 - A list of Vec3f (own class) which contains the 3D Points obtained from some sort of triangulation

 - The good matches between the images used for triangulation

These should all be straight forward to convert.  To convert them quickly predeclare all data and work off the object parameters directly.  The computer vision algorithms should be the bottle neck and not the conversion.

BundleAdjustment in BoofCV is the slower variant.  I would recommend against using it on large datasets. Hopefully sparse bundle adjustment will be added.  I also have adding an example for bundle adjustment on my to-do list.

- Peter

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