Structure From Motion

I just tried a GitHub repository for structure from motion using OpenCV including the following steps:

  1. Look for SIFT features from two images of a scene captured from different angles.
  2. Compute local matches and find the closest neighbors.
  3. Filter out bad neighbors by comparing distance.
  4. Draw remaining matches on the image and output it.
  5. Find inlier matches by calculating the essential matrix and mask with RANSAC.
  6. Find rotation and translation matrices of one image.
  7. Compute the 3D point cloud and plot the graph.
Demo

References