Manual Structure From Motion

Overview

This tool enables user to load a sequence of images and do sparse 3D point cloud reconstruction.

Key Features

1. Break structure from motion workflow into steps which helps inspection/understanding (not offered by most similar softwares).
2. Free to choose images to match but can also auto recommend next pair of images to match.
3. Visualization of reconstructed point cloud and camera poses.
4. Visualization of keypoint matches between pair of images used for reconstructing the 3D scene.
5. Visualization of backprojected 3D points onto images.
6. Visualization of epiplar line.
7. Save and load reconstruction projects.

Build Environment

Ubuntu 18.04 and above (due to the required versions of apt installed libraries).

Build Commands

1. Apt install dependencies

$> sudo apt update
$> sudo apt install build-essential git cmake libvtk6-qt-dev libopencv-dev libceres-dev

2. Create /build folder under /MSFM

$> mkdir build
$> cd build

3. build

$> cmake ..
$> make

Run

Under build folder, type

$> ./src/ManualSFM

Run Tests

Under build folder, type

$> ./tst/ManualSFM_tst