A simple structure from motion pipeline for 3D incremental reconstruction

This is a reference implementation of a Structure-from-Motion pipeline in OpenCV, following the work of Roy Shilkrot at SfM-Toy-Library. https://github.com/royshil/SfM-Toy-Library

Note: This is not a complete and robust SfM pipeline implementation. The purpose of this code is to do a 3D reconstruction of a tree and get dendrometry estimation.

---

A simple incremental SFM pipeline for 3D reconstruction of a tree with bundle adjustment.

• Incremental SFM
• Bundle Adjustment - Ceres solver
• Densification process - PMVS2

Example

Resources

• Homepage: http://opencv.org
• Docs: http://docs.opencv.org/master/

Build

To build use CMake minimum required 3.5.1 : https://github.com/Kitware/CMake

Prerequisite

• OpenCV 3.4.1: https://github.com/opencv/opencv/tree/3.4.1
• PCL 1.8.1: https://github.com/PointCloudLibrary/pcl/tree/pcl-1.8.1

Compilation

• Set "YOUR OWN" PCL Build DIR in CMakeList.txt e.g: /opt/pcl-1.8.1/build and save it.
• Set "YOUR OWN" OpenCV Build DIR in CMakeList.txt e.g: /opt/opencv-3.4.1/build and save it.
• Create a "build" folder

in the main folder:

cd /build  
cmake ../
make

Test

cd /build/bin
./iTree3DMap

Note: If OpenCV is not installed (just compiled). please set the path to the current build directory in the CMakeList.txt file.