structure-from-motion

Reconstructing the 3-D positions of a set of matching points in the images and inferring the camera extrinsic parameters

Steps for SFM Pipeline:

• Keypoint Feature Extraction using SIFT
• Feature Matching using BruteForceMatcher
• Finding Essential Matrix using RANSAC global matching
• Decomposing Essential Matrix into (R, t) components
• Triangulation

Visualization

• The 3D points can be visualized in softwares like Meshlab where you can easily upload the output.obj file that is generated after running python3 sfm.py
• The program outputs the rotation, translation, and projection matrices for each pair of images in the data folder