The structure from motion library, SfMLibrary, contains useful classes for structure from motion applications. The triangulation scheme from our paper, Statistical Angular Error-Based Triangulation for Efficient and Accurate Multi-View Scene Reconstruction, is included in the library. Please cite our WACV 2012 paper if you use this library (The bibtex is here).
The triangulation code can be found under the Triangulation folder which is under the SfMLibrary folder. The triangulation sample code can be found under the examples folder. This directory contains a driver program and two example datasets: Kermit [1] and Dinosaur [2]. Below are the results obtained from a Macbook Pro with an Intel Core i7 and 4GB of RAM using full camera optimization (no statistical sampling). RE is the L2 total reprojection error and the time is recorded in seconds.
| Total linear RE | Total angular RE | Total linear time(s) | Total angular time(s) | |
|---|---|---|---|---|
| Kermit [1] | 880.313 | 865.176 | 0.010282 | 0.257377 |
| Dinosaur [2] | 50991.3 | 50978.2 | 0.0801 | 1.9484 |