open3DCV

open3DCV is a lightweight multiple view geometry library with minimum requirements of third party dependencies.

Math

Matrix

Basis

Camera
Image

Feature detector and descriptor

DoG
Harris
SIFT (wrapper)

Matching

Brute Force Matching
Flann Matching

Transformation

Transformation

Triangulation

Triangulation

Estimator

Perspective N-Point (PnP)
Fundamental Matrix: Seven Point Algorithm
Fundamental Matrix: Eight Point Algorithm
Robust Fundamental Matrix
Essential Matrix
Relative Pose from Essential Matrix
Perspective Three Point (PnP)
Five Point Relative Pose
Four Point Algorithm for Homography

Visualization

Camera
Multi-view Intersect

Miscellaneous

RANSAC

Application

SfM

Vision

Filter

Bilateral