Get started here: gettingStarted

This toolbox is a compilation of popular Structure From Motion (SFM) algorithms. As I used more and more SFM over the years, I could never find anything that goes beyond simple SFM (please, prove me wrong and send me links !!). I compiled all my code into a toolbox so that others do not have to reimplement everything. I apologize in advance if you do not find what you need (like algorithms using the L-infinity beauty) but I only implemented what I needed and optimized what I needed most:

• data generation (random rigid/non-rigid scene, popular non-rigid examples, different camera models, random or smooth random camera positions (with circle splines for Sequin), noise addition ...)
• 2D geometry (homography computations ...)
• 3D geometry (quaternion, globally optimal pose estimation, absolute orientation, triangulation ...)
• rigid 3D reconstruction: orthographic (Tomasi-Kanade with or without orthonormality constraints) or projective (eight point, Sturm - Triggs 96, Oliensis - Hartley 07, globally optimal affine/metric upgrades from Chandraker 09 (with bug fixes to the original papers)), bundle adjustment ...
• non-rigid 3D reconstruction: interface to the available Torresani 08, optimized Xiao - Kanade 04 (with bug fixes to the original papers), CSFM from Rabaud 09
• visualization for rigid/non-rigid (sequences , multiple-views at once, comparisons ...)

This toolbox is in development and is maintained by Vincent Rabaud (http://vision.ucsd.edu/~vrabaud/). Thanks to everyone who has given me feedback and suggestions you've helped make this toolbox more useful and easier to use.

If you use this toolbox in a paper, I would be grateful if you could cite it using the following BibTex entry:

@misc{vincentsSFMToolbox,
 Author = {Vincent Rabaud},
 Title = {Vincent's {S}tructure from {M}otion {T}oolbox},
 howpublished = {\url{http://vision.ucsd.edu/~vrabaud/toolbox/}}
}

The previous home for that project was on http://vision.ucsd.edu/~vrabaud/toolbox/doc/