https://github.com/pavithranp/sfmpython

A simple implementation of Structure From Motion in python.
https://github.com/pavithranp/sfmpython

multiple-view-geometry python3 structure-from-motion

Last synced: 11 months ago
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A simple implementation of Structure From Motion in python.

• Host: GitHub
• URL: https://github.com/pavithranp/sfmpython
• Owner: pavithranp
• Created: 2020-10-08T19:30:21.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2020-11-26T08:27:42.000Z (over 5 years ago)
• Last Synced: 2025-04-03T11:01:59.238Z (about 1 year ago)
• Topics: multiple-view-geometry, python3, structure-from-motion
• Language: Python
• Homepage:
• Size: 14.2 MB
• Stars: 4
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Simplified SFM

| Frame1    | Frame2       |

| -------------- | -------------- |

![frame1](reconstruction/example_data/vlcsnap-2020-10-26-10h32m50s487.png) |   ![frame2](reconstruction/example_data/vlcsnap-2020-10-26-10h32m56s617.png)

##### 1. Keypoints matching: SIFT , Flann based matching

##### 2. Estimate Fundamental matrix, Essential matix

##### 3. Recover Camera pose and triangulate the matched points in world coordinates, camera chirality

##### 4. !!!Missing Bundle Adjustment

### Key points matched

![](reconstruction/example_data/keypointsmatched.png)

### Matplotlib Visualization

![](reconstruction/example_data/triangulation.gif)