I'm happy to announce that the new edition of Mastering OpenCV is out!
You can get it on Amazon: Mastering OpenCV 3
It brings up most of the older OpenCV2 book projects to OpenCV3, including my Toy-SfM (or "Exploring SfM") project.
A lot has happened in the OpenCV3 APIs with respect to Structure from Motion.
It got much easier!
The book chapter on SfM is a gentle introduction to the subject, that focuses on coding and the core concepts, while abstracting on the math.
Thanks for listening!