├── 100data_indoor.png ├── 100data_outdoor.png ├── README.md ├── SPHORB-master ├── 0.txt ├── 1_matches.jpg ├── CMakeLists.txt ├── Data │ ├── geoinfo102.pfm │ ├── geoinfo128.pfm │ ├── geoinfo162.pfm │ ├── geoinfo204.pfm │ ├── geoinfo256.pfm │ ├── geoinfo64.pfm │ ├── geoinfo80.pfm │ ├── imginfo102_0.pfm │ ├── imginfo102_1.pfm │ ├── imginfo102_2.pfm │ ├── imginfo102_3.pfm │ ├── imginfo102_4.pfm │ ├── imginfo128_0.pfm │ ├── imginfo128_1.pfm │ ├── imginfo128_2.pfm │ ├── imginfo128_3.pfm │ ├── imginfo128_4.pfm │ ├── imginfo162_0.pfm │ ├── imginfo162_1.pfm │ ├── imginfo162_2.pfm │ ├── imginfo162_3.pfm │ ├── imginfo162_4.pfm │ ├── imginfo204_0.pfm │ ├── imginfo204_1.pfm │ ├── imginfo204_2.pfm │ ├── imginfo204_3.pfm │ ├── imginfo204_4.pfm │ ├── imginfo256_0.pfm │ ├── imginfo256_1.pfm │ ├── imginfo256_2.pfm │ ├── imginfo256_3.pfm │ ├── imginfo256_4.pfm │ ├── imginfo64_0.pfm │ ├── imginfo64_1.pfm │ ├── imginfo64_2.pfm │ ├── imginfo64_3.pfm │ ├── imginfo64_4.pfm │ ├── imginfo80_0.pfm │ ├── imginfo80_1.pfm │ ├── imginfo80_2.pfm │ ├── imginfo80_3.pfm │ ├── imginfo80_4.pfm │ ├── mask102.bmp │ ├── mask128.bmp │ ├── mask162.bmp │ ├── mask204.bmp │ ├── mask256.bmp │ ├── mask64.bmp │ └── mask80.bmp ├── Image │ ├── 1_1.jpg │ ├── 1_2.jpg │ ├── 2.jpg │ ├── 2_1.jpg │ ├── 2_2.jpg │ ├── I1.jpg │ ├── I1.png │ ├── I1.png~ │ ├── I1.png~~ │ ├── I1.png~~~ │ ├── I1.png~~~~ │ ├── O.jpg │ ├── O.png │ ├── O.png~ │ ├── O.png~~ │ ├── O3.jpg │ ├── R.jpg │ ├── R.png │ ├── R.png~ │ ├── R.png~~ │ └── R3.jpg ├── README.md ├── SPHORB.cpp ├── backup.cpp ├── build1 │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.16.3 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── progress.marks │ │ └── sphorb_cpp.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── SPHORB.cpp.o │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── detector.cpp.o │ │ │ ├── example1.cpp.o │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── nonmax.cpp.o │ │ │ ├── pfm.cpp.o │ │ │ ├── progress.make │ │ │ └── utility.cpp.o │ ├── Makefile │ ├── cmake_install.cmake │ ├── pybind11 │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake │ └── sphorb_cpp.cpython-37m-x86_64-linux-gnu.so ├── detector.cpp ├── example1.cpp ├── example2.cpp ├── include │ ├── SPHORB.h │ ├── detector.h │ ├── pfm.h │ └── utility.h ├── nonmax.cpp ├── pfm.cpp ├── pybind11 │ ├── .appveyor.yml │ ├── .clang-format │ ├── .clang-tidy │ ├── .cmake-format.yaml │ ├── .github │ │ ├── CODEOWNERS │ │ ├── CONTRIBUTING.md │ │ ├── ISSUE_TEMPLATE │ │ │ ├── bug-report.md │ │ │ ├── config.yml │ │ │ ├── feature-request.md │ │ │ └── question.md │ │ ├── dependabot.yml │ │ ├── labeler.yml │ │ ├── labeler_merged.yml │ │ ├── pull_request_template.md │ │ └── workflows │ │ │ ├── ci.yml │ │ │ ├── configure.yml │ │ │ ├── format.yml │ │ │ ├── labeler.yml │ │ │ └── pip.yml │ ├── .gitignore │ ├── .pre-commit-config.yaml │ ├── .readthedocs.yml │ ├── CMakeLists.txt │ ├── LICENSE │ ├── MANIFEST.in │ ├── README.rst │ ├── docs │ │ ├── Doxyfile │ │ ├── _static │ │ │ └── theme_overrides.css │ │ ├── advanced │ │ │ ├── cast │ │ │ │ ├── chrono.rst │ │ │ │ ├── custom.rst │ │ │ │ ├── eigen.rst │ │ │ │ ├── functional.rst │ │ │ │ ├── index.rst │ │ │ │ ├── overview.rst │ │ │ │ ├── stl.rst │ │ │ │ └── strings.rst │ │ │ ├── classes.rst │ │ │ ├── embedding.rst │ │ │ ├── exceptions.rst │ │ │ ├── functions.rst │ │ │ ├── misc.rst │ │ │ ├── pycpp │ │ │ │ ├── index.rst │ │ │ │ ├── numpy.rst │ │ │ │ ├── object.rst │ │ │ │ └── utilities.rst │ │ │ └── smart_ptrs.rst │ │ ├── basics.rst │ │ ├── benchmark.py │ │ ├── benchmark.rst │ │ ├── changelog.rst │ │ ├── classes.rst │ │ ├── cmake │ │ │ └── index.rst │ │ ├── compiling.rst │ │ ├── conf.py │ │ ├── faq.rst │ │ ├── index.rst │ │ ├── installing.rst │ │ ├── limitations.rst │ │ ├── pybind11-logo.png │ │ ├── pybind11_vs_boost_python1.png │ │ ├── pybind11_vs_boost_python1.svg │ │ ├── pybind11_vs_boost_python2.png │ │ ├── pybind11_vs_boost_python2.svg │ │ ├── reference.rst │ │ ├── release.rst │ │ ├── requirements.txt │ │ └── upgrade.rst │ ├── include │ │ └── pybind11 │ │ │ ├── attr.h │ │ │ ├── buffer_info.h │ │ │ ├── cast.h │ │ │ ├── chrono.h │ │ │ ├── common.h │ │ │ ├── complex.h │ │ │ ├── detail │ │ │ ├── class.h │ │ │ ├── common.h │ │ │ ├── descr.h │ │ │ ├── init.h │ │ │ ├── internals.h │ │ │ ├── type_caster_base.h │ │ │ └── typeid.h │ │ │ ├── eigen.h │ │ │ ├── embed.h │ │ │ ├── eval.h │ │ │ ├── functional.h │ │ │ ├── gil.h │ │ │ ├── iostream.h │ │ │ ├── numpy.h │ │ │ ├── operators.h │ │ │ ├── options.h │ │ │ ├── pybind11.h │ │ │ ├── pytypes.h │ │ │ ├── stl.h │ │ │ ├── stl │ │ │ └── filesystem.h │ │ │ └── stl_bind.h │ ├── noxfile.py │ ├── pybind11 │ │ ├── __init__.py │ │ ├── __main__.py │ │ ├── _version.py │ │ ├── _version.pyi │ │ ├── commands.py │ │ ├── py.typed │ │ ├── setup_helpers.py │ │ └── setup_helpers.pyi │ ├── pyproject.toml │ ├── setup.cfg │ ├── setup.py │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── conftest.py │ │ ├── constructor_stats.h │ │ ├── cross_module_gil_utils.cpp │ │ ├── env.py │ │ ├── extra_python_package │ │ │ ├── pytest.ini │ │ │ └── test_files.py │ │ ├── extra_setuptools │ │ │ ├── pytest.ini │ │ │ └── test_setuphelper.py │ │ ├── local_bindings.h │ │ ├── object.h │ │ ├── pybind11_cross_module_tests.cpp │ │ ├── pybind11_tests.cpp │ │ ├── pybind11_tests.h │ │ ├── pytest.ini │ │ ├── requirements.txt │ │ ├── test_async.cpp │ │ ├── test_async.py │ │ ├── test_buffers.cpp │ │ ├── test_buffers.py │ │ ├── test_builtin_casters.cpp │ │ ├── test_builtin_casters.py │ │ ├── test_call_policies.cpp │ │ ├── test_call_policies.py │ │ ├── test_callbacks.cpp │ │ ├── test_callbacks.py │ │ ├── test_chrono.cpp │ │ ├── test_chrono.py │ │ ├── test_class.cpp │ │ ├── test_class.py │ │ ├── test_cmake_build │ │ │ ├── CMakeLists.txt │ │ │ ├── embed.cpp │ │ │ ├── installed_embed │ │ │ │ └── CMakeLists.txt │ │ │ ├── installed_function │ │ │ │ └── CMakeLists.txt │ │ │ ├── installed_target │ │ │ │ └── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ ├── subdirectory_embed │ │ │ │ └── CMakeLists.txt │ │ │ ├── subdirectory_function │ │ │ │ └── CMakeLists.txt │ │ │ ├── subdirectory_target │ │ │ │ └── CMakeLists.txt │ │ │ └── test.py │ │ ├── test_constants_and_functions.cpp │ │ ├── test_constants_and_functions.py │ │ ├── test_copy_move.cpp │ │ ├── test_copy_move.py │ │ ├── test_custom_type_casters.cpp │ │ ├── test_custom_type_casters.py │ │ ├── test_docstring_options.cpp │ │ ├── test_docstring_options.py │ │ ├── test_eigen.cpp │ │ ├── test_eigen.py │ │ ├── test_embed │ │ │ ├── CMakeLists.txt │ │ │ ├── catch.cpp │ │ │ ├── external_module.cpp │ │ │ ├── test_interpreter.cpp │ │ │ └── test_interpreter.py │ │ ├── test_enum.cpp │ │ ├── test_enum.py │ │ ├── test_eval.cpp │ │ ├── test_eval.py │ │ ├── test_eval_call.py │ │ ├── test_exceptions.cpp │ │ ├── test_exceptions.h │ │ ├── test_exceptions.py │ │ ├── test_factory_constructors.cpp │ │ ├── test_factory_constructors.py │ │ ├── test_gil_scoped.cpp │ │ ├── test_gil_scoped.py │ │ ├── test_iostream.cpp │ │ ├── test_iostream.py │ │ ├── test_kwargs_and_defaults.cpp │ │ ├── test_kwargs_and_defaults.py │ │ ├── test_local_bindings.cpp │ │ ├── test_local_bindings.py │ │ ├── test_methods_and_attributes.cpp │ │ ├── test_methods_and_attributes.py │ │ ├── test_modules.cpp │ │ ├── test_modules.py │ │ ├── test_multiple_inheritance.cpp │ │ ├── test_multiple_inheritance.py │ │ ├── test_numpy_array.cpp │ │ ├── test_numpy_array.py │ │ ├── test_numpy_dtypes.cpp │ │ ├── test_numpy_dtypes.py │ │ ├── test_numpy_vectorize.cpp │ │ ├── test_numpy_vectorize.py │ │ ├── test_opaque_types.cpp │ │ ├── test_opaque_types.py │ │ ├── test_operator_overloading.cpp │ │ ├── test_operator_overloading.py │ │ ├── test_pickling.cpp │ │ ├── test_pickling.py │ │ ├── test_pytypes.cpp │ │ ├── test_pytypes.py │ │ ├── test_sequences_and_iterators.cpp │ │ ├── test_sequences_and_iterators.py │ │ ├── test_smart_ptr.cpp │ │ ├── test_smart_ptr.py │ │ ├── test_stl.cpp │ │ ├── test_stl.py │ │ ├── test_stl_binders.cpp │ │ ├── test_stl_binders.py │ │ ├── test_tagbased_polymorphic.cpp │ │ ├── test_tagbased_polymorphic.py │ │ ├── test_union.cpp │ │ ├── test_union.py │ │ ├── test_virtual_functions.cpp │ │ ├── test_virtual_functions.py │ │ ├── valgrind-numpy-scipy.supp │ │ └── valgrind-python.supp │ └── tools │ │ ├── FindCatch.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindPythonLibsNew.cmake │ │ ├── check-style.sh │ │ ├── cmake_uninstall.cmake.in │ │ ├── libsize.py │ │ ├── make_changelog.py │ │ ├── pybind11Common.cmake │ │ ├── pybind11Config.cmake.in │ │ ├── pybind11NewTools.cmake │ │ ├── pybind11Tools.cmake │ │ ├── pyproject.toml │ │ ├── setup_global.py.in │ │ └── setup_main.py.in ├── results │ └── metrics │ │ ├── Urban1_100p_5PA │ │ ├── Rotation.png │ │ ├── metrics.txt │ │ ├── rotation.txt │ │ └── translation.txt │ │ ├── Urban1_100p_5PA_None │ │ ├── Rotation.png │ │ ├── Translation.png │ │ ├── metrics.txt │ │ ├── rotation.txt │ │ └── translation.txt │ │ └── Urban1_100p_8PA │ │ ├── Rotation.png │ │ ├── metrics.txt │ │ ├── rotation.txt │ │ └── translation.txt └── utility.cpp ├── SSIFT.m ├── compare_keypoints.py ├── extract_keypoints.py ├── fivepoint ├── CMakeLists.txt ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.16.3 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── fivep.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── five-point.cpp.o │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ ├── fivep.cpython-37m-x86_64-linux-gnu.so │ └── pybind11 │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ └── progress.marks │ │ ├── Makefile │ │ └── cmake_install.cmake ├── five-point.cpp ├── precomp.hpp ├── pybind11 │ ├── .appveyor.yml │ ├── .clang-format │ ├── .clang-tidy │ ├── .cmake-format.yaml │ ├── .github │ │ ├── CODEOWNERS │ │ ├── CONTRIBUTING.md │ │ ├── ISSUE_TEMPLATE │ │ │ ├── bug-report.md │ │ │ ├── config.yml │ │ │ ├── feature-request.md │ │ │ └── question.md │ │ ├── dependabot.yml │ │ ├── labeler.yml │ │ ├── labeler_merged.yml │ │ ├── pull_request_template.md │ │ └── workflows │ │ │ ├── ci.yml │ │ │ ├── configure.yml │ │ │ ├── format.yml │ │ │ ├── labeler.yml │ │ │ └── pip.yml │ ├── .gitignore │ ├── .pre-commit-config.yaml │ ├── .readthedocs.yml │ ├── CMakeLists.txt │ ├── LICENSE │ ├── MANIFEST.in │ ├── README.rst │ ├── docs │ │ ├── Doxyfile │ │ ├── _static │ │ │ └── theme_overrides.css │ │ ├── advanced │ │ │ ├── cast │ │ │ │ ├── chrono.rst │ │ │ │ ├── custom.rst │ │ │ │ ├── eigen.rst │ │ │ │ ├── functional.rst │ │ │ │ ├── index.rst │ │ │ │ ├── overview.rst │ │ │ │ ├── stl.rst │ │ │ │ └── strings.rst │ │ │ ├── classes.rst │ │ │ ├── embedding.rst │ │ │ ├── exceptions.rst │ │ │ ├── functions.rst │ │ │ ├── misc.rst │ │ │ ├── pycpp │ │ │ │ ├── index.rst │ │ │ │ ├── numpy.rst │ │ │ │ ├── object.rst │ │ │ │ └── utilities.rst │ │ │ └── smart_ptrs.rst │ │ ├── basics.rst │ │ ├── benchmark.py │ │ ├── benchmark.rst │ │ ├── changelog.rst │ │ ├── classes.rst │ │ ├── cmake │ │ │ └── index.rst │ │ ├── compiling.rst │ │ ├── conf.py │ │ ├── faq.rst │ │ ├── index.rst │ │ ├── installing.rst │ │ ├── limitations.rst │ │ ├── pybind11-logo.png │ │ ├── pybind11_vs_boost_python1.png │ │ ├── pybind11_vs_boost_python1.svg │ │ ├── pybind11_vs_boost_python2.png │ │ ├── pybind11_vs_boost_python2.svg │ │ ├── reference.rst │ │ ├── release.rst │ │ ├── requirements.txt │ │ └── upgrade.rst │ ├── include │ │ └── pybind11 │ │ │ ├── attr.h │ │ │ ├── buffer_info.h │ │ │ ├── cast.h │ │ │ ├── chrono.h │ │ │ ├── common.h │ │ │ ├── complex.h │ │ │ ├── detail │ │ │ ├── class.h │ │ │ ├── common.h │ │ │ ├── descr.h │ │ │ ├── init.h │ │ │ ├── internals.h │ │ │ ├── type_caster_base.h │ │ │ └── typeid.h │ │ │ ├── eigen.h │ │ │ ├── embed.h │ │ │ ├── eval.h │ │ │ ├── functional.h │ │ │ ├── gil.h │ │ │ ├── iostream.h │ │ │ ├── numpy.h │ │ │ ├── operators.h │ │ │ ├── options.h │ │ │ ├── pybind11.h │ │ │ ├── pytypes.h │ │ │ ├── stl.h │ │ │ ├── stl │ │ │ └── filesystem.h │ │ │ └── stl_bind.h │ ├── noxfile.py │ ├── pybind11 │ │ ├── __init__.py │ │ ├── __main__.py │ │ ├── _version.py │ │ ├── _version.pyi │ │ ├── commands.py │ │ ├── py.typed │ │ ├── setup_helpers.py │ │ └── setup_helpers.pyi │ ├── pyproject.toml │ ├── setup.cfg │ ├── setup.py │ ├── tests │ │ ├── CMakeLists.txt │ │ ├── conftest.py │ │ ├── constructor_stats.h │ │ ├── cross_module_gil_utils.cpp │ │ ├── env.py │ │ ├── extra_python_package │ │ │ ├── pytest.ini │ │ │ └── test_files.py │ │ ├── extra_setuptools │ │ │ ├── pytest.ini │ │ │ └── test_setuphelper.py │ │ ├── local_bindings.h │ │ ├── object.h │ │ ├── pybind11_cross_module_tests.cpp │ │ ├── pybind11_tests.cpp │ │ ├── pybind11_tests.h │ │ ├── pytest.ini │ │ ├── requirements.txt │ │ ├── test_async.cpp │ │ ├── test_async.py │ │ ├── test_buffers.cpp │ │ ├── test_buffers.py │ │ ├── test_builtin_casters.cpp │ │ ├── test_builtin_casters.py │ │ ├── test_call_policies.cpp │ │ ├── test_call_policies.py │ │ ├── test_callbacks.cpp │ │ ├── test_callbacks.py │ │ ├── test_chrono.cpp │ │ ├── test_chrono.py │ │ ├── test_class.cpp │ │ ├── test_class.py │ │ ├── test_cmake_build │ │ │ ├── CMakeLists.txt │ │ │ ├── embed.cpp │ │ │ ├── installed_embed │ │ │ │ └── CMakeLists.txt │ │ │ ├── installed_function │ │ │ │ └── CMakeLists.txt │ │ │ ├── installed_target │ │ │ │ └── CMakeLists.txt │ │ │ ├── main.cpp │ │ │ ├── subdirectory_embed │ │ │ │ └── CMakeLists.txt │ │ │ ├── subdirectory_function │ │ │ │ └── CMakeLists.txt │ │ │ ├── subdirectory_target │ │ │ │ └── CMakeLists.txt │ │ │ └── test.py │ │ ├── test_constants_and_functions.cpp │ │ ├── test_constants_and_functions.py │ │ ├── test_copy_move.cpp │ │ ├── test_copy_move.py │ │ ├── test_custom_type_casters.cpp │ │ ├── test_custom_type_casters.py │ │ ├── test_docstring_options.cpp │ │ ├── test_docstring_options.py │ │ ├── test_eigen.cpp │ │ ├── test_eigen.py │ │ ├── test_embed │ │ │ ├── CMakeLists.txt │ │ │ ├── catch.cpp │ │ │ ├── external_module.cpp │ │ │ ├── test_interpreter.cpp │ │ │ └── test_interpreter.py │ │ ├── test_enum.cpp │ │ ├── test_enum.py │ │ ├── test_eval.cpp │ │ ├── test_eval.py │ │ ├── test_eval_call.py │ │ ├── test_exceptions.cpp │ │ ├── test_exceptions.h │ │ ├── test_exceptions.py │ │ ├── test_factory_constructors.cpp │ │ ├── test_factory_constructors.py │ │ ├── test_gil_scoped.cpp │ │ ├── test_gil_scoped.py │ │ ├── test_iostream.cpp │ │ ├── test_iostream.py │ │ ├── test_kwargs_and_defaults.cpp │ │ ├── test_kwargs_and_defaults.py │ │ ├── test_local_bindings.cpp │ │ ├── test_local_bindings.py │ │ ├── test_methods_and_attributes.cpp │ │ ├── test_methods_and_attributes.py │ │ ├── test_modules.cpp │ │ ├── test_modules.py │ │ ├── test_multiple_inheritance.cpp │ │ ├── test_multiple_inheritance.py │ │ ├── test_numpy_array.cpp │ │ ├── test_numpy_array.py │ │ ├── test_numpy_dtypes.cpp │ │ ├── test_numpy_dtypes.py │ │ ├── test_numpy_vectorize.cpp │ │ ├── test_numpy_vectorize.py │ │ ├── test_opaque_types.cpp │ │ ├── test_opaque_types.py │ │ ├── test_operator_overloading.cpp │ │ ├── test_operator_overloading.py │ │ ├── test_pickling.cpp │ │ ├── test_pickling.py │ │ ├── test_pytypes.cpp │ │ ├── test_pytypes.py │ │ ├── test_sequences_and_iterators.cpp │ │ ├── test_sequences_and_iterators.py │ │ ├── test_smart_ptr.cpp │ │ ├── test_smart_ptr.py │ │ ├── test_stl.cpp │ │ ├── test_stl.py │ │ ├── test_stl_binders.cpp │ │ ├── test_stl_binders.py │ │ ├── test_tagbased_polymorphic.cpp │ │ ├── test_tagbased_polymorphic.py │ │ ├── test_union.cpp │ │ ├── test_union.py │ │ ├── test_virtual_functions.cpp │ │ ├── test_virtual_functions.py │ │ ├── valgrind-numpy-scipy.supp │ │ └── valgrind-python.supp │ └── tools │ │ ├── FindCatch.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindPythonLibsNew.cmake │ │ ├── check-style.sh │ │ ├── cmake_uninstall.cmake.in │ │ ├── libsize.py │ │ ├── make_changelog.py │ │ ├── pybind11Common.cmake │ │ ├── pybind11Config.cmake.in │ │ ├── pybind11NewTools.cmake │ │ ├── pybind11Tools.cmake │ │ ├── pyproject.toml │ │ ├── setup_global.py.in │ │ └── setup_main.py.in └── usac.hpp ├── keypoints.png ├── process_render.py ├── requirements.txt ├── results ├── depth │ ├── Classroom.npy │ ├── Interior1.npy │ ├── Interior2.npy │ ├── Realistic.npy │ ├── Room.exr │ ├── Room.npy │ ├── Urban1.exr │ ├── Urban1.npy │ ├── Urban2.exr │ ├── Urban2.npy │ ├── Urban3.exr │ ├── Urban3.npy │ ├── Urban4.exr │ ├── Urban4.npy │ ├── Urbancity.npy │ ├── class_canonical.png │ ├── class_depth.png │ ├── classroom.exr │ ├── interior_canonical1.png │ ├── interior_canonical2.png │ ├── interior_depth1.png │ ├── interior_depth2.png │ ├── realistic_canonical.png │ ├── realistic_depth.png │ ├── room_canonical.png │ ├── room_depth.png │ ├── test.py │ ├── urban_canonical1.png │ ├── urban_canonical2.png │ ├── urban_canonical3.png │ ├── urban_canonical4.png │ ├── urban_canonical5.png │ ├── urban_depth1.png │ ├── urban_depth2.png │ ├── urban_depth3.png │ ├── urban_depth4.png │ └── urban_depth5.png └── metrics │ ├── Indoor_100p_5PA_GSM │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Indoor_100p_5PA_GSM_SK │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Indoor_100p_5PA_None │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Indoor_100p_5PA_SK │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Indoor_100p_8PA_GSM │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Indoor_100p_8PA_GSM_SK │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Indoor_100p_8PA_None │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Indoor_100p_8PA_SK │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Outdoor_100p_5PA_GSM │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Outdoor_100p_5PA_GSM_SK │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Outdoor_100p_5PA_None │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Outdoor_100p_5PA_SK │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Outdoor_100p_8PA_GSM │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Outdoor_100p_8PA_GSM_SK │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ ├── Outdoor_100p_8PA_None │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt │ └── Outdoor_100p_8PA_SK │ ├── Rotation.png │ ├── Translation.png │ ├── metrics.txt │ ├── rotation.txt │ └── translation.txt ├── show_keypoints.py └── utils ├── __pycache__ ├── camera_recovering.cpython-36.pyc ├── camera_recovering.cpython-37.pyc ├── coord.cpython-36.pyc ├── coord.cpython-37.pyc ├── general_epipolar_constraint.cpython-36.pyc ├── general_epipolar_constraint.cpython-37.pyc ├── keypoint.cpython-36.pyc ├── keypoint.cpython-37.pyc ├── metrics.cpython-36.pyc ├── metrics.cpython-37.pyc ├── ransac.cpython-36.pyc ├── ransac.cpython-37.pyc ├── ransac1.cpython-36.pyc └── ransac1.cpython-37.pyc ├── camera_recovering.py ├── coord.py ├── general_epipolar_constraint.py ├── keypoint.py ├── liegroups ├── .gitignore ├── LICENSE ├── README.md ├── docs │ ├── Makefile │ ├── build │ │ ├── doctrees │ │ │ ├── environment.pickle │ │ │ ├── index.doctree │ │ │ ├── numpy.doctree │ │ │ └── torch.doctree │ │ └── html │ │ │ ├── .buildinfo │ │ │ ├── _sources │ │ │ ├── index.rst.txt │ │ │ ├── numpy.rst.txt │ │ │ └── torch.rst.txt │ │ │ ├── _static │ │ │ ├── ajax-loader.gif │ │ │ ├── basic.css │ │ │ ├── comment-bright.png │ │ │ ├── comment-close.png │ │ │ ├── comment.png │ │ │ ├── css │ │ │ │ ├── badge_only.css │ │ │ │ └── theme.css │ │ │ ├── doctools.js │ │ │ ├── documentation_options.js │ │ │ ├── down-pressed.png │ │ │ ├── down.png │ │ │ ├── file.png │ │ │ ├── fonts │ │ │ │ ├── Inconsolata-Bold.ttf │ │ │ │ ├── Inconsolata-Regular.ttf │ │ │ │ ├── Inconsolata.ttf │ │ │ │ ├── Lato-Bold.ttf │ │ │ │ ├── Lato-Regular.ttf │ │ │ │ ├── Lato │ │ │ │ │ ├── lato-bold.eot │ │ │ │ │ ├── lato-bold.ttf │ │ │ │ │ ├── lato-bold.woff │ │ │ │ │ ├── lato-bold.woff2 │ │ │ │ │ ├── lato-bolditalic.eot │ │ │ │ │ ├── lato-bolditalic.ttf │ │ │ │ │ ├── lato-bolditalic.woff │ │ │ │ │ ├── lato-bolditalic.woff2 │ │ │ │ │ ├── lato-italic.eot │ │ │ │ │ ├── lato-italic.ttf │ │ │ │ │ ├── lato-italic.woff │ │ │ │ │ ├── lato-italic.woff2 │ │ │ │ │ ├── lato-regular.eot │ │ │ │ │ ├── lato-regular.ttf │ │ │ │ │ ├── lato-regular.woff │ │ │ │ │ └── lato-regular.woff2 │ │ │ │ ├── RobotoSlab-Bold.ttf │ │ │ │ ├── RobotoSlab-Regular.ttf │ │ │ │ ├── RobotoSlab │ │ │ │ │ ├── roboto-slab-v7-bold.eot │ │ │ │ │ ├── roboto-slab-v7-bold.ttf │ │ │ │ │ ├── roboto-slab-v7-bold.woff │ │ │ │ │ ├── roboto-slab-v7-bold.woff2 │ │ │ │ │ ├── roboto-slab-v7-regular.eot │ │ │ │ │ ├── roboto-slab-v7-regular.ttf │ │ │ │ │ ├── roboto-slab-v7-regular.woff │ │ │ │ │ └── roboto-slab-v7-regular.woff2 │ │ │ │ ├── fontawesome-webfont.eot │ │ │ │ ├── fontawesome-webfont.svg │ │ │ │ ├── fontawesome-webfont.ttf │ │ │ │ ├── fontawesome-webfont.woff │ │ │ │ └── fontawesome-webfont.woff2 │ │ │ ├── jquery-3.1.0.js │ │ │ ├── jquery-3.4.1.js │ │ │ ├── jquery.js │ │ │ ├── js │ │ │ │ ├── modernizr.min.js │ │ │ │ └── theme.js │ │ │ ├── language_data.js │ │ │ ├── minus.png │ │ │ ├── plus.png │ │ │ ├── pygments.css │ │ │ ├── searchtools.js │ │ │ ├── underscore-1.3.1.js │ │ │ ├── underscore.js │ │ │ ├── up-pressed.png │ │ │ ├── up.png │ │ │ └── websupport.js │ │ │ ├── genindex.html │ │ │ ├── index.html │ │ │ ├── numpy.html │ │ │ ├── objects.inv │ │ │ ├── search.html │ │ │ ├── searchindex.js │ │ │ └── torch.html │ ├── make.bat │ └── source │ │ ├── conf.py │ │ ├── index.rst │ │ ├── numpy.rst │ │ └── torch.rst ├── liegroups │ ├── __init__.py │ ├── _base.py │ ├── numpy │ │ ├── __init__.py │ │ ├── _base.py │ │ ├── se2.py │ │ ├── se3.py │ │ ├── so2.py │ │ └── so3.py │ └── torch │ │ ├── __init__.py │ │ ├── _base.py │ │ ├── se2.py │ │ ├── se3.py │ │ ├── so2.py │ │ ├── so3.py │ │ └── utils.py ├── setup.py └── tests │ ├── numpy │ ├── test_se2_numpy.py │ ├── test_se3_numpy.py │ ├── test_so2_numpy.py │ └── test_so3_numpy.py │ └── torch │ ├── test_se2_torch.py │ ├── test_se3_torch.py │ ├── test_so2_torch.py │ ├── test_so3_torch.py │ └── test_utils_torch.py ├── metrics.py ├── models ├── baseline_mixed_loss.pth ├── compare_rotated_keypoints.py ├── compare_superpoint_keypoints.py ├── run.bash ├── superpoint-trained.pth.tar └── superpoint_v1.pth ├── ransac.py ├── ransac1.py └── superpoint 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