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Stereo Structure and Motion (SaM / SfM) library

Egomotion

  • Implemented using Ceres Solver, two basic variants with Quaternions and Euler angles
  • Examples in stereo_egomotion/main

Dense stereo

  • Implementation of Semi-global matching in reconstruction/base
  • Examples in reconstruction/main

Feature tracking

  • Monocular and steresopic variants.
  • Implementation in tracker directory

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  • C++ 81.5%
  • Python 6.5%
  • C 5.7%
  • Shell 3.4%
  • CMake 2.5%
  • MATLAB 0.3%
  • Makefile 0.1%