Bundler (.out)

Bundler is a software developed by Noah Snavely, distributed under the GNU General Public License. It is a Structure-from-Motion (SfM)  system for unordered image collections (for instance, images from the Internet), written in C and C++. An earlier version of this SfM system was used in the Photo Tourism project.

Bundler takes a set of images, image features, and image matches as input, and produces a 3D reconstruction of camera and (sparse) scene geometry as output. The system reconstructs the scene incrementally, a few images at a time, using a modified version of the Sparse Bundle Adjustment package of Lourakis and Argyros as the underlying optimization engine.

The Bundler source distribution also contains potentially userful implementations of several computer vision algorithms, including:

  • F-matrix estimation

  • Calibrated 5-point relative pose

  • Triangulation of multiple rays

Bundler produces sparse point clouds. To acquire an OUT file for your dataset, follow these instructions on how to get a .out file from Bundler.