README

Flow Chart:

Files:

MSVC2010 solution file: 3DReconstruction.sln

Header Files:

Common.h

Source Files:

main.cpp - contains the main function

CalcReProjErr.cpp - calcuates the error between the reprojection of calculated 3D points and keypoints detected

computeSVD.cpp - Replacement for the OpenCV SVD calculation using LAPACK libraries from MKL package 

depcomposeProjection.cpp - Replacement of OpenCV decomposeProjectionMatrix() using LAPACK libraries from MKL package

displaymatches.cpp - Produces a single image showing matching keypoints in multiple views

findcommon.cpp - Finds the common points for triangulation from all 8 views

FindHfromQ.cpp - Decomposes Q matrix to find H 

fundamentalmartix.cpp - Replacement of OPENCV findFundamentalMat()

getkeypoints.cpp - Computes SIFT keypoints and corresponding descriptors for an image

imageload.cpp - loads images, the path to the images to be loaded

matchdesciptors.cpp - Matches Keypoints from each image pair using their descriptors

MetricUpgrade.cpp - Metric Upgrade using the sparsePOP function. 
    
    Requires: sparsePOP.exe, param.pop, param.sdpa, for execution (included in the folder)
    
    Input File: MetricUpgradeRef.gms (included)
    
    Output File: MetricUpgrageOut.txt
    
    URL: http://www.is.titech.ac.jp/~kojima/SparsePOP/
    
    Library Depndency: SymbolicC++ (3rdParty folder)

projectionmatrix.cpp - Computes projection matrix from Fundamental matrix

RANSAC.cpp - Implements RANSAC for use in computing fundamental matrix    

refinepoints.cpp - Normalizes matched keypoints

SBA.cpp - Bundle Adjustment using the 3rd party SBA libraries. 

sift_new.cpp - Implements a SIFT Keypoint detector using VLFeat library package 

    URL: http://www.vlfeat.org/

    Library Depndency: vlfeat (3rdParty folder)

triangulation.cpp - Computes 3D points from provided set of 2D points using triangulation

3rdParty:

SBA (ver 1.5) - http://users.ics.forth.gr/~lourakis/sba/ 
SymbolicC++ - http://issc.uj.ac.za/symbolic/symbolic.html
vlfeat - Vision Lab Features Library (SIFT), http://www.vlfeat.org/api/index.html

Issues:

1. sparsePOP is provided as an application (.exe) and hence is run on a child process. Compiling instructions require cross compilation from Linux environment.
2. SymbolicC++ libraries required by sparsePOP to form the optimization equation is slow and needs to be substituted with faster options.