SFM

This repository implements reconstruction of a 3D scene and simulataneously obtaining the camera poses of a monocular camera w.r.t the scene. The algorithm of the same is:

• Feature Matching and Outlier rejection using RANSAC

• Estimating Fundamental Matrix

• Estimating Essential Matrix from Fundamental Matrix

• Estimate Camera Pose from Essential Matrix

• Check for Cheirality Condition using Triangulation

• Perspective-n-Point

• Bundle Adjustment

Run Instructions

python Wrapper.py --Path PATH_TO_DATA --Filtered False