Sparse 3D Reconstruction Project

A simple, multi-view 3D reconstruction pipeline using:

• SIFT feature extraction
• Feature matching
• Epipolar geometry
• Pose recovery
• Triangulation
• Incremental sparse reconstruction
• Open3D visualization

Files

• main.py — entry point
• utils.py — image loading and camera intrinsics
• features.py — SIFT extraction
• matching.py — matching and image pair selection
• geometry.py — essential matrix, pose recovery, PnP registration
• triangulation.py — triangulation helpers
• visualization.py — point cloud save + display
• bundle_adjustment.py — placeholder / optional refinement hook
• reconstruction.py — two-view and incremental reconstruction pipeline

Install

Install all the packages at once

pip install requirements.txt

Optional for bundle adjustment:

pip install scipy

Run

Two-view demo:

python main.py --images_dir path/to/images --mode two_view

Incremental mode:

python main.py --images_dir path/to/images --mode incremental