3D reconstruction

SfM positions + Instant-NGP (https://github.com/NVlabs/instant-ngp):

Nerf lego:

Usage:
./build/modules/sfm/eacham_sfm PATH_TO_CONFIG_FOLDER

The result will be written to 'positions.json'

To use the result in Instant-NGP, one should to convert it using
./TransformToNerf 'folder with dataset'

Dependencies:

• GTSAM (optimization)
• OpenCV (Image reading, processing, feature extracting and matching)
• Eigen3 (Matrix operations)
• Pangolin (Visualization)
• nlohmann (JSON parser, included in thirdparty)
• LightGlue (ONNX, included in thirdparty)
• librealsense2 (optional)
• Conan 2.x.x (optinal)

Further developmnent

• Code refactoring and computation time optimization
• Instant NGP Runner