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.idea		.idea
pyqtVisualisation		pyqtVisualisation
reconstruction		reconstruction
README.md		README.md

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Simplified SFM

Frame1	Frame2

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

Matplotlib Visualization

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A simple implementation of Structure From Motion in python.

multiple-view-geometry python3 structure-from-motion

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