Written by Sam Goto
Structure from motion
I inserted them into the [openfsm](https://opensfm.readthedocs.io/en/latest/#) reconstruction pipeline which is able to reconstruct a 3d point cloud from correspondences between images. What structure from motion will give you is a cloud of points from the images where an euclidean correspondence can be made: assuming this is a ridig object, what points match between them. The image below shows the points that could be found in at least two images. The position of the camera is computed from the points by minimizing the error between the multiple possible projections. From the perspective of the coffee maker, you can see the path that the camera took (the white triangles forming a path): At the end, for each image taken, the translation and the rotation in relationship to the points is available. You can play with the visualization [here](/ar/espresso/viewer/reconstruction.html#file=/ar/espresso/data/reconstruction.json). I'm wondering if this can be used as an authoring tool that can help publishers automatically position / pose the camera from a video and allow them to associate the placement of a frame of reference in the real world from images. WDYT?