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Example of doing SFM (structure form motion) using OpenCV + GTSAM + PMVS

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I got the following as my output. I understand that what I have is not dense, but where is the non-dense 3d points? Also this only outputs the projection matrices?...

the following code cause the malloc_error_break error. i can be double free shared_ptr. But i am not sure. Could you please help to debug. I am running this in macos...

When multi-camera pose need to be estimated,PnP also can help solve pose.