This project is a pipeline of Structure from Motion (SfM) which use real datasets.

Author: Rachid LADJOUZI for Wemap SAS
Keywords: Matching, Triangulation, Bundle Adjustment, Homography, Relocalisation

Installation

mySfM requires python 3.6 or 3.7

pip3 install -r requirements.txt

or

python3 Setup.py install

Usage

python3 src/myProgram.py

This command:

• starts the cloud point reconstruction of datasets/Saint_Roch_new/data dataset,
• find pose of new images from datasets/Saint_Roch_new/reloc uses relocalisation.

Use your own dataset

3D point cloud construction

• Modify the path of self.ImageFolder in src/SfM.py with your own path.
• Include a *.yaml file in your dataset folder which contains the camera intrinsic parameters. An example is given in [datasets/Saint_Roch_new/data/camera_Samsung_s7.yaml]

Relocalisation

• Modify the path of self.ImageFolder in src/Reloc.py with your own path.
• Include a *.yaml file in your dataset folder which contains the camera intrinsic parameters. An example is given in [datasets/Saint_Roch_new/data/camera_Samsung_s7.yaml]