This toolbox is a compilation of popular Structure From Motion (SFM) algorithms. As I used more and more SFM over the years, I could never find anything that goes beyond simple SFM (please, prove me wrong and send me links !!). I compiled all my code into a toolbox so that others do not have to reimplement everything. I apologize in advance if you do not find what you need (like algorithms using the L-infinity beauty) but I only implemented what I needed and optimized what I needed most:

• data generation (random rigid/non-rigid scene, popular non-rigid examples, different camera models, random or smooth random camera positions, noise addition ...)
• 2D geometry (homography computations ...)
• 3D geometry (quaternion, globally optimal pose estimation, absolute orientation, triangulation ...)
• rigid 3D reconstruction: orthographic (Tomasi-Kanade with or without orthonormality constraints) or projective (eight point, Sturm-Triggs96, Oliensis-Hartley07), bundle adjustment ...
• non-rigid 3D reconstruction: orthographic (Torresani08, Xiao-Kanade04 )
• visualization for rigid/non-rigid (sequences , multiple-views at once, comparisons ...)

This toolbox is in development and is maintained by Vincent Rabaud. Thanks to everyone who has given me feedback and suggestions -- you've helped make this toolbox more useful and easier to use.

If you use this toolbox in a paper, I would be grateful if you could cite it using the following BibTex entry:

@misc{vincentsSFMToolbox,
Author = {Vincent Rabaud},
Title = {Vincent's {S}tructure from {M}otion {T}oolbox},
howpublished = {\url{http://vision.ucsd.edu/~vrabaud/toolbox/}}
}

The toolbox is divided into 3 parts, arranged by directories:

• Animation defines the animation object used in most of the routines.
• linear algebra a few linear algebra algorithms used in SFM.
• sfm SFM routines.

For version history click here. This code is licensed under GPL.

• Version 2.11   Feb. 12, 2009
• Version 2.1   Jan. 29, 2009
• Version 2.01   Sept. 20, 2008
• Version 2.0   Sept. 09, 2008
• Version 1.2   May. 21, 2008
• Version 1.1   Feb. 22, 2008
• Version 1.0   Feb. 1, 2008

Most of the routines require:
Piotr's Image & Video Toolbox for Matlab
For a few other ones, you will need:
Yalmip
Sedumi
GloptiPoly 3

Simply unzip, then add all directories to the Matlab path:
  >> addpath(genpath('c:\toolboxSFM')); savepath;

Finally, if you do not want to use the pre-compiled binaries, run the compile script to create your own binaries:
  >> cd('c:\toolboxSFM'); toolboxSFMCompile;

If you have a question or a suggestion, or if you find a bug, please email me at vrabaud-at-cs.ucsd.edu