This time I’ll discuss a basic implementation of a Structure from Motion method, following the steps Hartley and Zisserman show in “The Bible” book: “Multiple View Geometry”. I will show how simply their linear method can be implemented in OpenCV.
I treat this as a kind of tutorial, or a toy example, of how to perform Structure from Motion in OpenCV.
See related posts on using Qt instead of FLTK, triangulation and decomposing the essential matrix.
Update 2017: For a more in-depth tutorial see the new Mastering OpenCV book, chapter 3. Also see a recent post on upgrading to OpenCV3.
Let’s get down to business…