This repository implements reconstruction of a 3D scene and simulataneously obtaining the camera poses of a monocular camera w.r.t the scene. The algorithm of the same is:
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Feature Matching and Outlier rejection using RANSAC
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Estimating Fundamental Matrix
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Estimating Essential Matrix from Fundamental Matrix
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Estimate Camera Pose from Essential Matrix
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Check for Cheirality Condition using Triangulation
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Perspective-n-Point
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Bundle Adjustment
python Wrapper.py --Path PATH_TO_DATA --Filtered False