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Structure from Motion

Given a sequence of images, estimates the 3D structure of the scene (sparse point cloud) and the relative motion between each image.

Compile

$ mkdir build && cd build

$ cmake .. 

$ make -j

Use ccmake to further tweak options.

Usage

$ usage: GLOG_logtostderr=1 ./sfm downsample fx fy dataset
                   
  downsample: (int) scaling factor for images (increases performance for values greater than 1)
  fx        : (double) focal length in 'px' 
              -> calculated as image_width(px)*focal_length(mm)/sensor_width(mm)
  fy        : (double) focal length in 'px' 
              -> calculated as image_height(px)*focal_length(mm)/sensor_height(mm)
  dataset   : (string) path to dataset directory

Dependency

  • OpenCV 3.3
  • Eigen 3.3
  • Boost 1.69
  • Ceres 1.14
  • PCL 1.7