├── .clang-format ├── .clang-tidy ├── .github └── workflows │ ├── install-ccache.ps1 │ ├── mac.yml │ └── ubuntu.yml ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── FindDependencies.cmake ├── FindGlog.cmake ├── FindMETIS.cmake └── FindSuiteSparse.cmake ├── demo-kitti.sh ├── demo-rig.sh ├── docs ├── getting_started.md └── rotation_averager.md ├── glomap ├── CMakeLists.txt ├── controllers │ ├── global_mapper.cc │ ├── global_mapper.h │ ├── global_mapper_test.cc │ ├── multi_global_mapper.cc │ ├── multi_global_mapper.h │ ├── option_manager.cc │ ├── option_manager.h │ ├── rotation_averager.cc │ ├── rotation_averager.h │ ├── rotation_averager_test.cc │ ├── track_establishment.cc │ ├── track_establishment.h │ ├── track_retriangulation.cc │ └── track_retriangulation.h ├── estimators │ ├── bundle_adjustment.cc │ ├── bundle_adjustment.h │ ├── cost_function.h │ ├── global_positioning.cc │ ├── global_positioning.h │ ├── global_rotation_averaging.cc │ ├── global_rotation_averaging.h │ ├── gravity_refinement.cc │ ├── gravity_refinement.h │ ├── multi_L1_translation_averaging.cc │ ├── multi_L1_translation_averaging.h │ ├── multi_bundle_adjustment.cc │ ├── multi_bundle_adjustment.h │ ├── multi_global_position_refinement.cc │ ├── multi_global_position_refinement.h │ ├── multi_global_positioning.cc │ ├── multi_global_positioning.h │ ├── multi_global_rotation_averaging.cc │ ├── multi_global_rotation_averaging.h │ ├── optimization_base.h │ ├── relative_translation_refinement.cc │ ├── relative_translation_refinement.h │ ├── relpose_estimation.cc │ ├── relpose_estimation.h │ ├── triangulation.h │ ├── view_graph_calibration.cc │ └── view_graph_calibration.h ├── exe │ ├── global_mapper.cc │ ├── global_mapper.h │ ├── multi_global_mapper.cc │ ├── multi_global_mapper.h │ ├── rotation_averager.cc │ └── rotation_averager.h ├── glomap.cc ├── io │ ├── colmap_converter.cc │ ├── colmap_converter.h │ ├── colmap_io.cc │ ├── colmap_io.h │ ├── pose_io.cc │ └── pose_io.h ├── math │ ├── constrained_l1_solver.cc │ ├── constrained_l1_solver.h │ ├── gravity.cc │ ├── gravity.h │ ├── l1_solver.h │ ├── l1_solver_vec3.h │ ├── rigid3d.cc │ ├── rigid3d.h │ ├── tree.cc │ ├── tree.h │ ├── two_view_geometry.cc │ ├── two_view_geometry.h │ └── union_find.h ├── mgsfm.cc ├── processors │ ├── image_pair_inliers.cc │ ├── image_pair_inliers.h │ ├── image_undistorter.cc │ ├── image_undistorter.h │ ├── reconstruction_normalizer.cc │ ├── reconstruction_normalizer.h │ ├── reconstruction_pruning.cc │ ├── reconstruction_pruning.h │ ├── relpose_filter.cc │ ├── relpose_filter.h │ ├── track_filter.cc │ ├── track_filter.h │ ├── view_graph_manipulation.cc │ └── view_graph_manipulation.h ├── scene │ ├── camera.h │ ├── image.h │ ├── image_pair.h │ ├── track.h │ ├── types.h │ ├── types_sfm.h │ ├── view_graph.cc │ └── view_graph.h └── types.h ├── scripts ├── format │ └── c++.sh └── shell │ └── enter_vs_dev_shell.ps1 └── vcpkg.json /.clang-format: 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