muneebaadil / structure-from-motion Goto Github PK

I really grateful to you for this project, Now I want to use your project for my images but I don't see your camera distortion in this code. So can you show me the location to add the camera distortion parameters in your sfm, featmatch or utils files? Thank you very much.

Can you update code for bundle adjustment in notebook ?

This is a cool tutorial.

Can you explain the pose estimation part? Where did those K values come from in section 2.5?

2.5. Pose Estimation

K = np.array([[2759.48,0,1520.69],[0,2764.16,1006.81],[0,0,1]])
E = K.T.dot(F.dot(K))

Does this code run for real time?