├── .clang-format ├── .dockerignore ├── .github └── workflows │ ├── docker.yml │ └── docker_ceres2.yml ├── .gitignore ├── .gitmodules ├── CHANGELOG.md ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── Dockerfile ├── Dockerfile.ceres2 ├── LICENSE ├── README.md ├── annotation_gui_gcp ├── __init__.py ├── css │ ├── CADView.css │ ├── ImageView.css │ ├── ToolsView.css │ └── mosaic.css ├── js │ ├── CADView.js │ ├── ImageView.js │ ├── ToolsView.js │ ├── WebView.js │ └── mosaic.js ├── lib │ ├── GUI.py │ ├── __init__.py │ ├── gcp_manager.py │ ├── geometry.py │ ├── image_manager.py │ └── views │ │ ├── cad_view.py │ │ ├── cp_finder_view.py │ │ ├── image_view.py │ │ ├── tools_view.py │ │ └── web_view.py ├── main.py ├── requirements.txt ├── run_ba.py └── templates │ ├── CADView.html │ ├── ImageView.html │ ├── ToolsView.html │ └── mosaic.html ├── bin ├── clean ├── create_calibrtion_pattern ├── export_geojson ├── export_gps ├── import_bundler ├── import_colmap.py ├── import_video ├── iterative_self_calibration ├── migrate_undistort.sh ├── opensfm ├── opensfm.bat ├── opensfm_main.py ├── opensfm_run_all ├── opensfm_run_all.bat ├── plot_depthmaps ├── plot_features ├── plot_gcp.py ├── plot_inliers ├── plot_matches.py ├── plot_submodels_gps ├── plot_tracks ├── rs_plot ├── run_bundler └── update_geotag ├── data ├── berlin │ ├── config.yaml │ ├── ground_control_points.json │ ├── images │ │ ├── 01.jpg │ │ ├── 02.jpg │ │ └── 03.jpg │ ├── masks │ │ ├── 01.jpg.png │ │ ├── 02.jpg.png │ │ └── 03.jpg.png │ ├── reconstruction_example.json │ ├── rig_assignments_example.json │ ├── rig_cameras_example.json │ ├── sequence_database.json │ └── tracks_example.csv └── lund │ ├── config.yaml │ └── images │ ├── 01.jpg │ ├── 02.jpg │ ├── 03.jpg │ ├── 04.jpg │ ├── 05.jpg │ ├── 06.jpg │ ├── 07.jpg │ ├── 08.jpg │ ├── 09.jpg │ ├── 10.jpg │ ├── 11.jpg │ ├── 12.jpg │ ├── 13.jpg │ ├── 14.jpg │ ├── 15.jpg │ ├── 16.jpg │ ├── 17.jpg │ ├── 18.jpg │ ├── 19.jpg │ ├── 20.jpg │ ├── 21.jpg │ ├── 22.jpg │ ├── 23.jpg │ ├── 24.jpg │ ├── 25.jpg │ ├── 26.jpg │ ├── 27.jpg │ ├── 28.jpg │ └── 29.jpg ├── doc └── source │ ├── _static │ └── mathjax_conf.js │ ├── _templates │ └── layout.html │ ├── annotation_tool.rst │ ├── api.rst │ ├── building.rst │ ├── cam_coord_system.rst │ ├── conf.py │ ├── dataset.rst │ ├── dense.rst │ ├── gcp.rst │ ├── geometry.rst │ ├── images │ ├── berlin_point_cloud.jpg │ ├── berlin_viewer.jpg │ ├── cad_annotation.jpg │ ├── camera.png │ ├── feat1.png │ ├── feat2.png │ ├── gps.png │ ├── id-rotation.png │ ├── processing.png │ ├── rec.png │ ├── reprojection_error.jpg │ ├── residual_histogram.png │ ├── residuals.png │ ├── rig_frame.png │ ├── summary.png │ ├── time.png │ ├── topview.png │ └── tracks.png │ ├── index.rst │ ├── large.rst │ ├── merging_notes.rst │ ├── quality_report.rst │ ├── reconstruction_module.rst │ ├── reporting.rst │ ├── rig.rst │ ├── sensor_database.rst │ └── using.rst ├── export_pmvs.md ├── licenses.csv ├── mapillary_structure.json ├── opensfm ├── __init__.py ├── actions │ ├── __init__.py │ ├── align_submodels.py │ ├── bundle.py │ ├── compute_depthmaps.py │ ├── compute_statistics.py │ ├── create_rig.py │ ├── create_submodels.py │ ├── create_tracks.py │ ├── detect_features.py │ ├── export_bundler.py │ ├── export_colmap.py │ ├── export_geocoords.py │ ├── export_openmvs.py │ ├── export_ply.py │ ├── export_pmvs.py │ ├── export_report.py │ ├── export_visualsfm.py │ ├── extend_reconstruction.py │ ├── extract_metadata.py │ ├── match_features.py │ ├── mesh.py │ ├── reconstruct.py │ ├── reconstruct_from_prior.py │ ├── rs_correct.py │ └── undistort.py ├── align.py ├── bow.py ├── commands │ ├── __init__.py │ ├── align_submodels.py │ ├── bundle.py │ ├── command.py │ ├── command_runner.py │ ├── compute_depthmaps.py │ ├── compute_statistics.py │ ├── create_rig.py │ ├── create_submodels.py │ ├── create_tracks.py │ ├── detect_features.py │ ├── export_bundler.py │ ├── export_colmap.py │ ├── export_geocoords.py │ ├── export_openmvs.py │ ├── export_ply.py │ ├── export_pmvs.py │ ├── export_report.py │ ├── export_visualsfm.py │ ├── extend_reconstruction.py │ ├── extract_metadata.py │ ├── match_features.py │ ├── mesh.py │ ├── reconstruct.py │ ├── reconstruct_from_prior.py │ ├── rs_correct.py │ └── undistort.py ├── config.py ├── context.py ├── data │ ├── bow │ │ ├── bow_hahog_root_uchar_10000.npz │ │ └── bow_hahog_root_uchar_64.npz │ ├── camera_calibration.yaml │ ├── sensor_data.json │ ├── sensor_data.readme.txt │ ├── sensor_data.sqlite │ └── sensor_data_detailed.json ├── dataset.py ├── dataset_base.py ├── dense.py ├── exif.py ├── feature_loader.py ├── feature_loading.py ├── features.py ├── features_processing.py ├── geo.py ├── geometry.py ├── geotag_from_gpx.py ├── io.py ├── large │ ├── __init__.py │ ├── lru_cache.py │ ├── metadataset.py │ └── tools.py ├── log.py ├── masking.py ├── matching.py ├── mesh.py ├── multiview.py ├── pairs_selection.py ├── reconstruction.py ├── reconstruction_helpers.py ├── report.py ├── rig.py ├── sensors.py ├── src │ ├── CMakeLists.txt │ ├── bundle │ │ ├── CMakeLists.txt │ │ ├── bundle_adjuster.h │ │ ├── data │ │ │ ├── bias.h │ │ │ ├── camera.h │ │ │ ├── data.h │ │ │ ├── point.h │ │ │ ├── pose.h │ │ │ └── shot.h │ │ ├── error │ │ │ ├── absolute_motion_errors.h │ │ │ ├── error_utils.h │ │ │ ├── motion_prior_errors.h │ │ │ ├── parameters_errors.h │ │ │ ├── position_functors.h │ │ │ ├── prior_error.h │ │ │ ├── projection_errors.h │ │ │ └── relative_motion_errors.h │ │ ├── pybundle.pyi │ │ ├── python │ │ │ └── pybind.cc │ │ ├── reconstruction_alignment.h │ │ ├── src │ │ │ └── bundle_adjuster.cc │ │ └── test │ │ │ ├── bundle_data_test.cc │ │ │ └── reprojection_errors_test.cc │ ├── cmake │ │ ├── FindCeres.cmake │ │ ├── FindGflags.cmake │ │ ├── FindGlog.cmake │ │ ├── FindNumPy.cmake │ │ ├── FindSuiteSparse.cmake │ │ └── win32 │ │ │ ├── FindCeres.cmake │ │ │ ├── FindEigen.cmake │ │ │ ├── FindGflags.cmake │ │ │ ├── FindGlog.cmake │ │ │ └── FindNumPy.cmake │ ├── debug_c_extension.cc │ ├── dense │ │ ├── CMakeLists.txt │ │ ├── depthmap.h │ │ ├── depthmap_bind.h │ │ ├── openmvs_exporter.h │ │ ├── pydense.pyi │ │ ├── python │ │ │ └── pybind.cc │ │ ├── src │ │ │ └── depthmap.cc │ │ └── test │ │ │ └── depthmap_test.cc │ ├── features │ │ ├── CMakeLists.txt │ │ ├── akaze_bind.h │ │ ├── hahog.h │ │ ├── matching.h │ │ ├── pyfeatures.pyi │ │ ├── python │ │ │ └── pybind.cc │ │ └── src │ │ │ ├── akaze_bind.cc │ │ │ ├── hahog.cc │ │ │ └── matching.cc │ ├── foundation │ │ ├── CMakeLists.txt │ │ ├── newton_raphson.h │ │ ├── numeric.h │ │ ├── optional.h │ │ ├── python_types.h │ │ ├── src │ │ │ ├── newton_raphson.cc │ │ │ ├── numeric.cc │ │ │ └── types.cc │ │ ├── stl_extensions.h │ │ ├── test │ │ │ ├── newton_raphson_test.cc │ │ │ └── union_find_test.cc │ │ ├── types.h │ │ └── union_find.h │ ├── geo │ │ ├── CMakeLists.txt │ │ ├── geo.h │ │ ├── pygeo.pyi │ │ ├── python │ │ │ └── pybind.cc │ │ ├── src │ │ │ └── geo.cc │ │ └── test │ │ │ └── geo_test.cc │ ├── geometry │ │ ├── CMakeLists.txt │ │ ├── absolute_pose.h │ │ ├── camera.h │ │ ├── camera_distortions_functions.h │ │ ├── camera_instances.h │ │ ├── camera_projections_functions.h │ │ ├── covariance.h │ │ ├── essential.h │ │ ├── functions.h │ │ ├── pose.h │ │ ├── pygeometry.pyi │ │ ├── python │ │ │ └── pybind.cc │ │ ├── relative_pose.h │ │ ├── similarity.h │ │ ├── src │ │ │ ├── absolute_pose.cc │ │ │ ├── camera.cc │ │ │ ├── covariance.cc │ │ │ ├── essential.cc │ │ │ ├── relative_pose.cc │ │ │ └── triangulation.cc │ │ ├── test │ │ │ ├── camera_functions_test.cc │ │ │ ├── camera_test.cc │ │ │ ├── covariance_test.cc │ │ │ └── point_test.cc │ │ ├── transform.h │ │ ├── transformations_functions.h │ │ └── triangulation.h │ ├── map │ │ ├── CMakeLists.txt │ │ ├── dataviews.h │ │ ├── defines.h │ │ ├── ground_control_points.h │ │ ├── landmark.h │ │ ├── map.h │ │ ├── observation.h │ │ ├── pybind_utils.h │ │ ├── pymap.pyi │ │ ├── python │ │ │ └── pybind.cc │ │ ├── rig.h │ │ ├── shot.h │ │ ├── src │ │ │ ├── dataviews.cc │ │ │ ├── landmark.cc │ │ │ ├── map.cc │ │ │ ├── observation.cc │ │ │ ├── rig.cc │ │ │ ├── shot.cc │ │ │ └── tracks_manager.cc │ │ ├── test │ │ │ ├── map_test.cc │ │ │ ├── rig_test.cc │ │ │ └── tracks_manager_test.cc │ │ └── tracks_manager.h │ ├── robust │ │ ├── CMakeLists.txt │ │ ├── absolute_pose_known_rotation_model.h │ │ ├── absolute_pose_model.h │ │ ├── essential_model.h │ │ ├── instanciations.h │ │ ├── line_model.h │ │ ├── model.h │ │ ├── pyrobust.pyi │ │ ├── python │ │ │ └── pybind.cc │ │ ├── random_sampler.h │ │ ├── relative_pose_model.h │ │ ├── relative_rotation_model.h │ │ ├── robust_estimator.h │ │ ├── scorer.h │ │ ├── similarity_model.h │ │ └── src │ │ │ ├── absolute_pose_known_rotation_model.cc │ │ │ ├── absolute_pose_model.cc │ │ │ ├── instanciations.cc │ │ │ ├── line_model.cc │ │ │ ├── relative_pose_model.cc │ │ │ └── relative_rotation_model.cc │ ├── sfm │ │ ├── CMakeLists.txt │ │ ├── ba_helpers.h │ │ ├── pysfm.pyi │ │ ├── python │ │ │ └── pybind.cc │ │ ├── retriangulation.h │ │ ├── src │ │ │ ├── ba_helpers.cc │ │ │ ├── retriangulation.cc │ │ │ └── tracks_helpers.cc │ │ ├── test │ │ │ └── tracks_helpers_test.cc │ │ └── tracks_helpers.h │ ├── testing_main.cc │ └── third_party │ │ ├── akaze │ │ ├── CMakeLists.txt │ │ ├── Doxyfile │ │ ├── LICENSE │ │ ├── README.akaze.md │ │ ├── README.opensfm │ │ └── lib │ │ │ ├── AKAZE.cpp │ │ │ ├── AKAZE.h │ │ │ ├── AKAZEConfig.h │ │ │ ├── fed.cpp │ │ │ ├── fed.h │ │ │ ├── nldiffusion_functions.cpp │ │ │ ├── nldiffusion_functions.h │ │ │ ├── utils.cpp │ │ │ └── utils.h │ │ ├── gtest │ │ ├── README.opensfm │ │ ├── gmock │ │ │ ├── gmock.h │ │ │ └── mock-log.h │ │ ├── gmock_gtest_all.cc │ │ ├── gmock_main.cc │ │ └── gtest │ │ │ └── gtest.h │ │ ├── openmvs │ │ ├── Interface.h │ │ └── README.opensfm │ │ └── vlfeat │ │ ├── CMakeLists.txt │ │ ├── COPYING │ │ ├── README.md │ │ ├── README.opensfm │ │ └── vl │ │ ├── aib.c │ │ ├── aib.h │ │ ├── array.c │ │ ├── array.h │ │ ├── covdet.c │ │ ├── covdet.h │ │ ├── dsift.c │ │ ├── dsift.h │ │ ├── fisher.c │ │ ├── fisher.h │ │ ├── float.h │ │ ├── generic.c │ │ ├── generic.h │ │ ├── getopt_long.c │ │ ├── getopt_long.h │ │ ├── gmm.c │ │ ├── gmm.h │ │ ├── heap-def.h │ │ ├── hikmeans.c │ │ ├── hikmeans.h │ │ ├── hog.c │ │ ├── hog.h │ │ ├── homkermap.c │ │ ├── homkermap.h │ │ ├── host.c │ │ ├── host.h │ │ ├── ikmeans.c │ │ ├── ikmeans.h │ │ ├── ikmeans_elkan.tc │ │ ├── ikmeans_init.tc │ │ ├── ikmeans_lloyd.tc │ │ ├── imopv.c │ │ ├── imopv.h │ │ ├── imopv_sse2.c │ │ ├── imopv_sse2.h │ │ ├── kdtree.c │ │ ├── kdtree.h │ │ ├── kmeans.c │ │ ├── kmeans.h │ │ ├── lbp.c │ │ ├── lbp.h │ │ ├── liop.c │ │ ├── liop.h │ │ ├── mathop.c │ │ ├── mathop.h │ │ ├── mathop_avx.c │ │ ├── mathop_avx.h │ │ ├── mathop_sse2.c │ │ ├── mathop_sse2.h │ │ ├── mser.c │ │ ├── mser.h │ │ ├── pgm.c │ │ ├── pgm.h │ │ ├── qsort-def.h │ │ ├── quickshift.c │ │ ├── quickshift.h │ │ ├── random.c │ │ ├── random.h │ │ ├── rodrigues.c │ │ ├── rodrigues.h │ │ ├── scalespace.c │ │ ├── scalespace.h │ │ ├── shuffle-def.h │ │ ├── sift.c │ │ ├── sift.h │ │ ├── slic.c │ │ ├── slic.h │ │ ├── stringop.c │ │ ├── stringop.h │ │ ├── svm.c │ │ ├── svm.h │ │ ├── svmdataset.c │ │ ├── svmdataset.h │ │ ├── vlad.c │ │ └── vlad.h ├── stats.py ├── synthetic_data │ ├── __init__.py │ ├── synthetic_dataset.py │ ├── synthetic_examples.py │ ├── synthetic_generator.py │ ├── synthetic_metrics.py │ └── synthetic_scene.py ├── test │ ├── conftest.py │ ├── data_generation.py │ ├── large │ │ ├── __init__.py │ │ └── test_tools.py │ ├── test_bundle.py │ ├── test_commands.py │ ├── test_dataset.py │ ├── test_datastructures.py │ ├── test_dense.py │ ├── test_geo.py │ ├── test_geometry.py │ ├── test_io.py │ ├── test_matching.py │ ├── test_multiview.py │ ├── test_pairs_selection.py │ ├── test_reconstruction_alignment.py │ ├── test_reconstruction_incremental.py │ ├── test_reconstruction_resect.py │ ├── test_reconstruction_shot_neighborhood.py │ ├── test_reconstruction_triangulation.py │ ├── test_rig.py │ ├── test_robust.py │ ├── test_stats.py │ ├── test_triangulation.py │ ├── test_types.py │ ├── test_undistort.py │ ├── test_vlad.py │ └── utils.py ├── tracking.py ├── transformations.py ├── types.py ├── undistort.py ├── unionfind.py ├── upright.py ├── video.py └── vlad.py ├── requirements.txt ├── setup.cfg ├── setup.py ├── stubgen.sh └── viewer ├── README.md ├── index.html ├── legacy ├── images │ └── preloader.gif ├── js │ ├── OrbitControls.js │ ├── TrackballControls.js │ ├── dat.gui.js │ ├── jquery.js │ └── three.js └── reconstruction.html ├── node_modules.sh ├── server.py ├── src ├── control │ ├── CommandExplainerControl.js │ ├── Copier.js │ ├── InfoControl.js │ ├── Popup.js │ ├── StatsControl.js │ └── ThumbnailControl.js ├── controller │ ├── DatController.js │ ├── FileController.js │ ├── KeyController.js │ ├── ListController.js │ └── OptionController.js ├── opensfm.js ├── provider │ ├── DataConverter.js │ ├── OpensfmDataProvider.js │ └── math.js ├── renderer │ ├── AxesRenderer.js │ ├── 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