###########################################################################
# 
# Copyright 1995  by  the  Massachusetts Institute  of Technology.   All  
# rights reserved.
# 
# Developed  by Ali Azarbayejani and Alex Pentland,  and Martin  Friedmann
# at the Media Laboratory, MIT, Cambridge, Massachusetts.
# 
# Permission to use, copy,  or modify this software and  its documentation
# for  educational  and  research purposes only and without fee  is hereby
# granted, provided  that this copyright notice and the original authors's
# names appear  on all copies and supporting documentation.  If individual
# files are  separated from  this  distribution directory  structure, this
# copyright notice must be included.  For any other uses of this software,
# in original or  modified form, including but not limited to distribution
# in whole or in  part, specific  prior permission  must be  obtained from
# MIT.  These programs shall not  be  used, rewritten, or  adapted as  the
# basis  of  a commercial  software  or  hardware product  without   first
# obtaining appropriate licenses  from MIT.  MIT. makes no representations
# about the suitability of this  software for any purpose.  It is provided
# "as is" without express or implied warranty.
# 
###########################################################################

Structure from Motion Package
=============================


1) Uncompress the file:

gunzip sfm.tar.gz

2) Untar it into the directory structure:

tar -xvf sfm.tar

3) Follow the instructions in the README that is
generated in the SFM directory to compile the whole
package.

4) The utilities of interest live in the SFM/se directory:

se:
   State estimator.
   Recursive estimator for motion, pointwise structure, and camera
   parameters from point correspondences in an image sequence, based
   on the extended Kalman filter.
   Takes in features, outputs state estimates.


fts:
    Feature data and file format.

ftstoraw:
    Makes a raw image from a fts file with a small box where each feature
    point lies.

protest: 
    Takes a motion profile file and computes a .est file representing
    the motion.  An example set of profile commands:
    ----------------
    INIT_TRANSLATION 0 0 2
    INIT_QUATERNION 1 0 0 0
    BETA 1
    PPT 0. 0.
    frames 90
      rotate 2 deg 0 1 0
    end
    ----------------

stats:
    Computes the mean and rms translational and rotational error given
    the state estimate (.est) and an .est file with an appropriately
    scaled actual trajectory.

synth:
    Converts an .sta (structure) and .est (motion estimate) into a .fts
    (feature trajectories) file.