Can anyone recommend a SFM package for producing sD structure from video? 

I'm sure you asked the same question only a few hours ago, only then the package needed to be user-friendly.

There are various file exchange offerings that are relevant, such as a recent submission to compute the fundamental matrix in a variety of ways, and a lot of optic flow programs. Searching on a few relevant tags, such as "structure from motion", "optic flow" and "fundamental matrix" will reveal them. Have you looked at any of them already to see if they help with your problem?

I may be wrong, but I will be a bit surprised if there is an effective, accurate, comprehensive, free and user friendly package available, partly because this remains an area of active research and there are still problems to be solved, and partly because such programs are worth money - see e.g. http://www.2d3.com/ for a company that is exploiting this technology effectively.

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