The src folder contains 3 folders:
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SFM - computes the Structure from motion given a series of images from a monocular camera
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SLAM-LC - Fine Tunes the keypoints extracted and computes the trace of the camera along with detecting loop closure
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display_ftr - plots the keypoints extracted during SFM on the images to visualize the features extracted
For Bundle adjustment, I've used the Ceres sover.