mjoshi07 / cmsc733-project3

CMSC733-Project3

Buildings built in minutes - An SfM Approach

Introduction

We reconstruct a 3D scene and simultaneously obtained the camera poses with respect to the scene, with a given set of 6 images from a monocular camera and their feature point correspondences. Following are the steps involved:

• Feature detection and finding correspondences
• Estimating Fundamental Matrix
• Essential Matrix and solving for camera poses
• Linear Triangulation and recovering correct pose
• Non Linear Triangulation
• Linear PnP, RANSAC and Non linear optimization
• Bundle Adjustment

How to run the code

• Change the directory to the folder where Wrapper.py is located. Eg.

cd ./Code 

• Run the Wrapper.py file using the following command:

python3 Wrapper.py --InputDir ../Data/input --OutputDir ../Data/output --NumImages 6