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Structure From Motion

3-D reconstruction from multiple views

Structure from motion (SfM) is the process of estimating the 3-D structure of a scene from a set of 2-D images.


Camera CalibratorEstimate geometric parameters of a single camera
Stereo Camera CalibratorEstimate geometric parameters of a stereo camera


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bundleAdjustmentRefine camera poses and 3-D points
cameraMatrixCamera projection matrix
cameraPoseToExtrinsicsConvert camera pose to extrinsics
epipolarLineCompute epipolar lines for stereo images
estimateCameraParametersCalibrate a single or stereo camera
estimateEssentialMatrixEstimate essential matrix from corresponding points in a pair of images
estimateFundamentalMatrixEstimate fundamental matrix from corresponding points in stereo images
estimateWorldCameraPoseEstimate camera pose from 3-D to 2-D point correspondences
extrinsicsCompute location of calibrated camera
extrinsicsToCameraPoseConvert extrinsics to camera pose
isEpipoleInImageDetermine whether image contains epipole
lineToBorderPointsIntersection points of lines in image and image border
relativeCameraPoseCompute relative rotation and translation between camera poses
triangulate3-D locations of undistorted matching points in stereo images
triangulateMultiview3-D locations of undistorted points matched across multiple images
undistortImageCorrect image for lens distortion
undistortPointsCorrect point coordinates for lens distortion
cameraParametersObject for storing camera parameters
pointTrackObject for storing matching points from multiple views
viewSetObject for managing data for structure-from-motion and visual odometry
detectBRISKFeaturesDetect BRISK features and return BRISKPoints object
detectFASTFeaturesDetect corners using FAST algorithm and return cornerPoints object
detectHarrisFeaturesDetect corners using Harris–Stephens algorithm and return cornerPoints object
detectMinEigenFeaturesDetect corners using minimum eigenvalue algorithm and return cornerPoints object
detectMSERFeaturesDetect MSER features and return MSERRegions object
detectSURFFeaturesDetect SURF features and return SURFPoints object
extractFeaturesExtract interest point descriptors
extractHOGFeaturesExtract histogram of oriented gradients (HOG) features
matchFeaturesFind matching features
vision.PointTrackerTrack points in video using Kanade-Lucas-Tomasi (KLT) algorithm
stereoAnaglyphCreate red-cyan anaglyph from stereo pair of images
pcshowPlot 3-D point cloud
plotCameraPlot a camera in 3-D coordinates
showMatchedFeaturesDisplay corresponding feature points
showReprojectionErrorsVisualize calibration errors
rotationMatrixToVectorConvert 3-D rotation matrix to rotation vector
rotationVectorToMatrixConvert 3-D rotation vector to rotation matrix


Structure from Motion

Estimate three-dimensional structures from two-dimensional image sequences

Coordinate Systems

Specify pixel Indices, spatial coordinates, and 3-D coordinate systems

Local Feature Detection and Extraction

Learn the benefits and applications of local feature detection and extraction

Point Feature Types

Choose functions that return and accept points objects for several types of features

Single Camera Calibrator App

Estimate camera intrinsics, extrinsics, and lens distortion parameters.

Stereo Camera Calibrator App

Calibrate a stereo camera, which you can then use to recover depth from images.