GitHub - RajatBhageria/Image-Rectification-and-Structure-From-Motion: From multiple camera poses do image rectification and do structure from motion to create a RBG point cloud of the pixels in 3D space

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From multiple camera poses do image rectification and do structure from motion to create a RBG point cloud of the pixels in 3D space

MIT license

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Name		Name	Last commit message	Last commit date
Latest commit History 2 Commits
data		data
.gitattributes		.gitattributes
DisambiguateCameraPose.m		DisambiguateCameraPose.m
EssentialMatrixFromFundamentalMatrix.m		EssentialMatrixFromFundamentalMatrix.m
EstimateFundamentalMatrix.m		EstimateFundamentalMatrix.m
ExtractCameraPose.m		ExtractCameraPose.m
GetInliersRANSAC.m		GetInliersRANSAC.m
LICENSE		LICENSE
LinearTriangulation.m		LinearTriangulation.m
PC3Dshow.m		PC3Dshow.m
ParseData.m		ParseData.m
PlotCamerasAndPoints.m		PlotCamerasAndPoints.m
README		README
getCorrespondences.m		getCorrespondences.m
intrinsicMatrix.txt		intrinsicMatrix.txt
plot_reprojection.m		plot_reprojection.m
rajat.zip		rajat.zip
rajat_finalProject_Report.pdf		rajat_finalProject_Report.pdf
test.m		test.m

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To run the program, simply run test.m and all the appropriate functions will be called to do image rectification and create the point cloud of the scene.

ParseData parses the data and returns the parsed data in Mu, Mv, V, and RGB

getCorrespondences gets the x1 and x2 correspondences between two images given V

EstimateFundamentalMatrix finds the fundamental matrix 

GetInliersRANSAC is the RANSAC function  

EssentialMatrixFromFundamentalMatrix finds the fundamental matrix from the 
essential matrix 

ExtractCameraPose gets the camera pose given an Essential matrix 

Linear Triangulation does linear triangulation 

DisambiguateCameraPose finds the correct camera pose for camera 2