├── .clang-format ├── .clang-tidy ├── .github └── workflows │ ├── build.yml │ └── build_docker_images.yml ├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── .style.yapf ├── ACKNOWLEDGEMENTS ├── AUTHORS ├── CHANGELOG ├── CMakeLists.txt ├── LICENSE ├── README.md ├── ci ├── docker │ ├── Dockerfile_20.04 │ ├── Dockerfile_22.04 │ └── build.sh └── scripts │ ├── docker-setup-ccache.sh │ └── install-dependencies.sh ├── cmake ├── PreventInSourceBuild.cmake ├── SetupDependencies.cmake ├── Utils.cmake └── modules │ ├── FindGlog.cmake │ └── FindTBB.cmake ├── docs ├── BatchEvaluationTutorial.md ├── Configuration.md ├── PoBATutorial.md ├── images │ ├── bal_gui.png │ ├── cvpr-preview.jpg │ ├── plot-logs.png │ ├── teaser.jpg │ └── tutorial-preview.jpg └── scripts │ └── generate-pdf-previews.sh ├── examples ├── batch │ ├── experiments-cvpr-supplementary.toml │ ├── experiments-cvpr.toml │ ├── experiments-poba.toml │ ├── experiments-tutorial.toml │ ├── gitattributes │ ├── gitignore │ ├── poba_batch_config.toml │ └── rootba_batch_config.toml └── config │ ├── rootba_config_default.toml │ └── rootba_config_example.toml ├── external ├── CMakeLists.txt ├── clipp │ └── include │ │ └── clipp ├── download_copied_sources.sh ├── json │ └── nlohmann │ │ ├── json.hpp │ │ └── json_fwd.hpp ├── magic_enum │ └── magic_enum │ │ └── magic_enum.hpp ├── nameof │ └── include │ │ └── nameof └── pprint │ └── pprint │ └── pprint.hpp ├── python └── rootba │ ├── __init__.py │ ├── experiments.py │ ├── generate_tables.py │ ├── latex │ ├── containers.py │ ├── overview_table.py │ ├── performance_profiles.py │ ├── plot.py │ ├── results_table.py │ ├── summarize_sequences_table.py │ ├── templates.py │ └── util.py │ ├── log.py │ ├── metric.py │ ├── plot_logs.py │ ├── run.py │ └── util.py ├── scripts ├── build-external.sh ├── build-rootba.sh ├── clang-format-all.sh ├── clang-tidy-all.sh ├── download-bal-problems.sh ├── generate-batch-configs.py ├── generate-tables.py ├── list-jobs.sh ├── num_ops │ ├── bal_numbers.csv │ ├── compute_num_ops.py │ ├── compute_num_ops_example.py │ ├── compute_num_ops_latex.py │ ├── compute_num_ops_symbolic.py │ └── operation_counts.py ├── plot-logs.py ├── query-config.py ├── rerun-failed-in.sh ├── rerun-one-in.sh ├── run-all-in.sh ├── run-one.sh ├── show-sparsity.py ├── slurm-list-jobs.sh ├── templates │ └── license-py-sh.tmpl ├── update-license-headers.sh ├── utils │ └── on-slurm-detect-cpu.sh └── yapf-all.sh ├── src ├── CMakeLists.txt ├── app │ ├── CMakeLists.txt │ ├── bal.cpp │ ├── bal_ceres.cpp │ ├── bal_gui.cpp │ ├── bal_qr.cpp │ └── bal_sc.cpp └── rootba │ ├── CMakeLists.txt │ ├── bal │ ├── CMakeLists.txt │ ├── ba_log.cpp │ ├── ba_log.hpp │ ├── ba_log_options.hpp │ ├── ba_log_utils.cpp │ ├── ba_log_utils.hpp │ ├── bal_app_options.hpp │ ├── bal_bundle_adjustment_helper.cpp │ ├── bal_bundle_adjustment_helper.hpp │ ├── bal_bundle_adjustment_helper.test.cpp │ ├── bal_dataset_options.hpp │ ├── bal_pipeline_summary.hpp │ ├── bal_problem.cpp │ ├── bal_problem.hpp │ ├── bal_problem_io.hpp │ ├── bal_problem_io.test.cpp │ ├── bal_residual_options.hpp │ ├── common_types.hpp │ ├── residual_info.cpp │ ├── residual_info.hpp │ ├── snavely_projection.hpp │ ├── snavely_projection.test.cpp │ ├── solver_options.cpp │ └── solver_options.hpp │ ├── ceres │ ├── CMakeLists.txt │ ├── ba_log_utils.cpp │ ├── ba_log_utils.hpp │ ├── bal_bundle_adjustment.cpp │ ├── bal_bundle_adjustment.hpp │ ├── bal_iteration_callback.cpp │ ├── bal_iteration_callback.hpp │ ├── bal_residuals.hpp │ ├── loss_function.cpp │ ├── loss_function.hpp │ ├── option_utils.cpp │ ├── option_utils.hpp │ └── types.hpp │ ├── cg │ ├── CMakeLists.txt │ ├── block_sparse_matrix.hpp │ ├── block_sparse_matrix.test.cpp │ ├── conjugate_gradient.hpp │ ├── preconditioner.hpp │ ├── preconditioner.test.cpp │ └── utils.hpp │ ├── cli │ ├── CMakeLists.txt │ ├── bal_cli_utils.cpp │ ├── bal_cli_utils.hpp │ ├── cli_options.cpp │ └── cli_options.hpp │ ├── options │ ├── CMakeLists.txt │ ├── enum_ref.hpp │ ├── flags_ref.hpp │ ├── options_interface.cpp │ ├── options_interface.hpp │ ├── visitable_options.hpp │ └── wise_enum_ref.hpp │ ├── pangolin │ ├── CMakeLists.txt │ ├── bal_image_overlay.cpp │ ├── bal_image_overlay.hpp │ ├── bal_map_display.cpp │ ├── bal_map_display.hpp │ ├── gui_helpers.cpp │ └── gui_helpers.hpp │ ├── qr │ ├── CMakeLists.txt │ ├── impl │ │ ├── landmark_block_base.ipp │ │ ├── landmark_block_dynamic.cpp │ │ ├── landmark_block_static_2.cpp │ │ ├── landmark_block_static_3.cpp │ │ ├── landmark_block_static_4.cpp │ │ ├── landmark_block_static_5.cpp │ │ ├── landmark_block_static_6.cpp │ │ ├── landmark_block_static_7.cpp │ │ └── landmark_block_static_8.cpp │ ├── landmark_block.cpp │ ├── landmark_block.hpp │ ├── landmark_block_base.hpp │ ├── landmark_block_dynamic.hpp │ ├── landmark_block_static.hpp │ ├── linearization_qr.hpp │ ├── linearization_qr.test.cpp │ └── linearization_utils.hpp │ ├── sc │ ├── CMakeLists.txt │ ├── landmark_block.hpp │ ├── linearization_power_sc.hpp │ ├── linearization_power_sc.test.cpp │ └── linearization_sc.hpp │ ├── solver │ ├── CMakeLists.txt │ ├── bal_bundle_adjustment.cpp │ ├── bal_bundle_adjustment.hpp │ ├── bal_bundle_adjustment.test.cpp │ ├── linearizor.cpp │ ├── linearizor.hpp │ ├── linearizor_base.cpp │ ├── linearizor_base.hpp │ ├── linearizor_power_sc.cpp │ ├── linearizor_power_sc.hpp │ ├── linearizor_qr.cpp │ ├── linearizor_qr.hpp │ ├── linearizor_sc.cpp │ ├── linearizor_sc.hpp │ └── solver_summary.hpp │ ├── testing │ ├── CMakeLists.txt │ ├── eigen_utils.hpp │ ├── float_utils.hpp │ ├── test_jacobian.hpp │ └── test_types.hpp │ └── util │ ├── CMakeLists.txt │ ├── assert.hpp │ ├── cast.hpp │ ├── container_traits.hpp │ ├── eigen_types.hpp │ ├── enum_utils.hpp │ ├── format.hpp │ ├── json_utils.hpp │ ├── own_or_reference.hpp │ ├── own_or_reference.test.cpp │ ├── pprint_utils.hpp │ ├── serialization.hpp │ ├── stl_utils.hpp │ ├── stl_utils.test.cpp │ ├── system_utils.cpp │ ├── system_utils.hpp │ ├── system_utils.test.cpp │ ├── 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