├── .azure-pipelines ├── build-docker.yaml ├── build-mac.yaml ├── build-ubuntu.yaml ├── build-windows-vcpkg.txt ├── build-windows.yaml └── build.yaml ├── .clang-format ├── .github └── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── .gitignore ├── .gitmodules ├── CHANGELOG.txt ├── CMakeLists.txt ├── CONTRIBUTING.md ├── COPYING.txt ├── README.md ├── cmake ├── CMakeConfig.cmake.in ├── CMakeConfigVersion.cmake.in ├── CMakeHelper.cmake ├── CMakeUninstall.cmake.in ├── FindEigen3.cmake ├── FindFLANN.cmake ├── FindFreeImage.cmake ├── FindGlew.cmake ├── FindGlog.cmake ├── FindLZ4.cmake ├── FindMetis.cmake ├── FindSQLite3.cmake ├── GenerateVersionDefinitions.cmake └── SelectCudaComputeArch.cmake ├── doc ├── COLMAP.desktop ├── Makefile ├── bibliography.rst ├── cameras.rst ├── changelog.rst ├── cli.rst ├── colmap.1 ├── conf.py ├── contribution.rst ├── database.rst ├── datasets.rst ├── faq.rst ├── format.rst ├── gui.rst ├── images │ ├── dense.png │ ├── incremental-sfm.png │ └── sparse.png ├── index.rst ├── install.rst ├── license.rst ├── make.bat └── tutorial.rst ├── docker ├── Dockerfile ├── README.md ├── build.sh ├── docker-memory-settings.png ├── quick-start.sh ├── setup-centos.sh └── setup-ubuntu.sh ├── img ├── instruction_video.jpg ├── nsh_atrium_indoor_dataset.jpg ├── nsh_patio_outdoor_dataset.jpg ├── opening_image.jpg ├── save_pose_file.jpg └── smith_hall_outdoor_dataset.jpg ├── lib ├── CMakeLists.txt ├── LSD │ ├── CMakeLists.txt │ ├── LICENSE │ ├── lsd.c │ └── lsd.h ├── PBA │ ├── CMakeLists.txt │ ├── ConfigBA.cpp │ ├── ConfigBA.h │ ├── CuTexImage.cpp │ ├── CuTexImage.h │ ├── DataInterface.h │ ├── LICENSE │ ├── ProgramCU.cu │ ├── ProgramCU.h │ ├── SparseBundleCPU.cpp │ ├── SparseBundleCPU.h │ ├── SparseBundleCU.cpp │ ├── SparseBundleCU.h │ ├── pba.cpp │ ├── pba.h │ └── util.h ├── PoissonRecon │ ├── Allocator.h │ ├── Array.h │ ├── Array.inl │ ├── BSplineData.h │ ├── BSplineData.inl │ ├── BinaryNode.h │ ├── CMakeLists.txt │ ├── CmdLineParser.cpp │ ├── CmdLineParser.h │ ├── CmdLineParser.inl │ ├── Factor.cpp │ ├── Factor.h │ ├── FunctionData.h │ ├── FunctionData.inl │ ├── Geometry.cpp │ ├── Geometry.h │ ├── Geometry.inl │ ├── Hash.h │ ├── LICENSE │ ├── MAT.h │ ├── MAT.inl │ ├── MarchingCubes.cpp │ ├── MarchingCubes.h │ ├── MemoryUsage.h │ ├── MultiGridOctreeData.Evaluation.inl │ ├── MultiGridOctreeData.IsoSurface.inl │ ├── MultiGridOctreeData.SortedTreeNodes.inl │ ├── MultiGridOctreeData.System.inl │ ├── MultiGridOctreeData.WeightedSamples.inl │ ├── MultiGridOctreeData.h │ ├── MultiGridOctreeData.inl │ ├── MyTime.h │ ├── Octree.h │ ├── Octree.inl │ ├── PPolynomial.h │ ├── PPolynomial.inl │ ├── Ply.h │ ├── PlyFile.cpp │ ├── PointStream.h │ ├── PointStream.inl │ ├── PoissonRecon.cpp │ ├── PoissonRecon.h │ ├── Polynomial.h │ ├── Polynomial.inl │ ├── SparseMatrix.h │ ├── SparseMatrix.inl │ ├── SurfaceTrimmer.cpp │ └── SurfaceTrimmer.h ├── SiftGPU │ ├── CLTexImage.cpp │ ├── CLTexImage.h │ ├── CMakeLists.txt │ ├── CuTexImage.cpp │ ├── CuTexImage.h │ ├── FrameBufferObject.cpp │ ├── FrameBufferObject.h │ ├── GLTexImage.cpp │ ├── GLTexImage.h │ ├── GlobalUtil.cpp │ ├── GlobalUtil.h │ ├── LICENSE │ ├── LiteWindow.h │ ├── ProgramCG.cpp │ ├── ProgramCG.h │ ├── ProgramCL.cpp │ ├── ProgramCL.h │ ├── ProgramCU.cu │ ├── ProgramCU.h │ ├── ProgramGLSL.cpp │ ├── ProgramGLSL.h │ ├── ProgramGPU.h │ ├── PyramidCL.cpp │ ├── PyramidCL.h │ ├── PyramidCU.cpp │ ├── PyramidCU.h │ ├── PyramidGL.cpp │ ├── PyramidGL.h │ ├── ShaderMan.cpp │ ├── ShaderMan.h │ ├── SiftGPU.cpp │ ├── SiftGPU.h │ ├── SiftMatch.cpp │ ├── SiftMatch.h │ ├── SiftMatchCU.cpp │ ├── SiftMatchCU.h │ ├── SiftPyramid.cpp │ └── SiftPyramid.h └── VLFeat │ ├── CMakeLists.txt │ ├── LICENSE │ ├── 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 ├── scripts ├── matlab │ ├── cmap2rgb.m │ ├── plot_model.m │ ├── quat2rotmat.m │ ├── read_array.m │ ├── read_depth_map.m │ ├── read_model.m │ ├── read_normal_map.m │ ├── read_ply.m │ ├── write_array.m │ └── write_ply.m ├── python │ ├── build.py │ ├── build_windows_app.py │ ├── bundler_to_ply.py │ ├── clang_format_code.py │ ├── crawl_camera_specs.py │ ├── database.py │ ├── export_inlier_matches.py │ ├── export_inlier_pairs.py │ ├── export_to_bundler.py │ ├── export_to_visualsfm.py │ ├── flickr_downloader.py │ ├── merge_ply_files.py │ ├── nvm_to_ply.py │ ├── plyfile.py │ ├── read_write_dense.py │ ├── read_write_fused_vis.py │ ├── read_write_model.py │ ├── test_read_write_dense.py │ ├── test_read_write_fused_vis.py │ ├── test_read_write_model.py │ └── visualize_model.py └── shell │ ├── build_mac_app.sh │ ├── clang_format.sh │ ├── colmap.bat │ ├── images_to_video.sh │ ├── restore_git_submodules.sh │ └── run_tests.bat └── src ├── CMakeLists.txt ├── base ├── CMakeLists.txt ├── camera.cc ├── camera.h ├── camera_database.cc ├── camera_database.h ├── camera_database_test.cc ├── camera_models.cc ├── camera_models.h ├── camera_models_test.cc ├── camera_rig.cc ├── camera_rig.h ├── camera_rig_test.cc ├── camera_test.cc ├── correspondence_graph.cc ├── correspondence_graph.h ├── correspondence_graph_test.cc ├── cost_functions.h ├── cost_functions_test.cc ├── database.cc ├── database.h ├── database_cache.cc ├── database_cache.h ├── database_cache_test.cc ├── database_test.cc ├── essential_matrix.cc ├── essential_matrix.h ├── essential_matrix_test.cc ├── gps.cc ├── gps.h ├── gps_test.cc ├── graph_cut.cc ├── graph_cut.h ├── graph_cut_test.cc ├── homography_matrix.cc ├── homography_matrix.h ├── homography_matrix_test.cc ├── image.cc ├── image.h ├── image_reader.cc ├── image_reader.h ├── image_test.cc ├── line.cc ├── line.h ├── line_test.cc ├── point2d.cc ├── point2d.h ├── point2d_test.cc ├── point3d.cc ├── point3d.h ├── point3d_test.cc ├── polynomial.cc ├── polynomial.h ├── polynomial_test.cc ├── pose.cc ├── pose.h ├── pose_test.cc ├── projection.cc ├── projection.h ├── projection_test.cc ├── reconstruction.cc ├── reconstruction.h ├── reconstruction_manager.cc ├── reconstruction_manager.h ├── reconstruction_manager_test.cc ├── reconstruction_test.cc ├── scene_clustering.cc ├── scene_clustering.h ├── scene_clustering_test.cc ├── similarity_transform.cc ├── similarity_transform.h ├── similarity_transform_test.cc ├── track.cc ├── track.h ├── track_test.cc ├── triangulation.cc ├── triangulation.h ├── triangulation_test.cc ├── undistortion.cc ├── undistortion.h ├── undistortion_test.cc ├── visibility_pyramid.cc ├── visibility_pyramid.h ├── visibility_pyramid_test.cc ├── warp.cc ├── warp.h └── warp_test.cc ├── controllers ├── CMakeLists.txt ├── automatic_reconstruction.cc ├── automatic_reconstruction.h ├── bundle_adjustment.cc ├── bundle_adjustment.h ├── hierarchical_mapper.cc ├── hierarchical_mapper.h ├── incremental_mapper.cc └── incremental_mapper.h ├── estimators ├── CMakeLists.txt ├── absolute_pose.cc ├── absolute_pose.h ├── absolute_pose_test.cc ├── affine_transform.cc ├── affine_transform.h ├── affine_transform_test.cc ├── coordinate_frame.cc ├── coordinate_frame.h ├── coordinate_frame_test.cc ├── essential_matrix.cc ├── essential_matrix.h ├── essential_matrix_coeffs.h ├── essential_matrix_poly.h ├── essential_matrix_test.cc ├── euclidean_transform.h ├── fundamental_matrix.cc ├── fundamental_matrix.h ├── fundamental_matrix_test.cc ├── generalized_absolute_pose.cc ├── generalized_absolute_pose.h ├── generalized_absolute_pose_coeffs.cc ├── generalized_absolute_pose_coeffs.h ├── generalized_absolute_pose_test.cc ├── generalized_relative_pose.cc ├── generalized_relative_pose.h ├── generalized_relative_pose_test.cc ├── homography_matrix.cc ├── homography_matrix.h ├── homography_matrix_test.cc ├── pose.cc ├── pose.h ├── similarity_transform.h ├── translation_transform.h ├── translation_transform_test.cc ├── triangulation.cc ├── triangulation.h ├── two_view_geometry.cc ├── two_view_geometry.h ├── two_view_geometry_test.cc ├── utils.cc ├── utils.h └── utils_test.cc ├── exe ├── CMakeLists.txt ├── colmap.cc ├── database.cc ├── database.h ├── feature.cc ├── feature.h ├── gui.cc ├── gui.h ├── image.cc ├── image.h ├── model.cc ├── model.h ├── mvs.cc ├── mvs.h ├── sfm.cc ├── sfm.h ├── vocab_tree.cc └── vocab_tree.h ├── feature ├── CMakeLists.txt ├── extraction.cc ├── extraction.h ├── matching.cc ├── matching.h ├── sift.cc ├── sift.h ├── sift_test.cc ├── types.cc ├── types.h ├── types_test.cc ├── utils.cc ├── utils.h └── utils_test.cc ├── lidar ├── CMakeLists.txt ├── kdtree.cc ├── kdtree.h ├── lidar_point.cc ├── lidar_point.h ├── pcd_projection.cc ├── pcd_projection.h ├── ply.cc ├── ply.h └── pt_type.h ├── mvs ├── CMakeLists.txt ├── consistency_graph.cc ├── consistency_graph.h ├── consistency_graph_test.cc ├── cuda_array_wrapper.h ├── cuda_flip.h ├── cuda_rotate.h ├── cuda_transpose.h ├── depth_map.cc ├── depth_map.h ├── depth_map_test.cc ├── fusion.cc ├── fusion.h ├── gpu_mat.h ├── gpu_mat_prng.cu ├── gpu_mat_prng.h ├── gpu_mat_ref_image.cu ├── gpu_mat_ref_image.h ├── gpu_mat_test.cu ├── image.cc ├── image.h ├── mat.h ├── mat_test.cc ├── meshing.cc ├── meshing.h ├── model.cc ├── model.h ├── normal_map.cc ├── normal_map.h ├── normal_map_test.cc ├── patch_match.cc ├── patch_match.h ├── patch_match_cuda.cu ├── patch_match_cuda.h ├── workspace.cc └── workspace.h ├── optim ├── CMakeLists.txt ├── bundle_adjustment.cc ├── bundle_adjustment.h ├── bundle_adjustment_test.cc ├── combination_sampler.cc ├── combination_sampler.h ├── combination_sampler_test.cc ├── least_absolute_deviations.cc ├── least_absolute_deviations.h ├── least_absolute_deviations_test.cc ├── loransac.h ├── loransac_test.cc ├── progressive_sampler.cc ├── progressive_sampler.h ├── progressive_sampler_test.cc ├── random_sampler.cc ├── random_sampler.h ├── random_sampler_test.cc ├── ransac.h ├── ransac_test.cc ├── sampler.h ├── sprt.cc ├── sprt.h ├── support_measurement.cc ├── support_measurement.h └── support_measurement_test.cc ├── retrieval ├── CMakeLists.txt ├── geometry.cc ├── geometry.h ├── geometry_test.cc ├── inverted_file.h ├── inverted_file_entry.h ├── inverted_file_entry_test.cc ├── inverted_index.h ├── utils.h ├── visual_index.h ├── visual_index_test.cc ├── vote_and_verify.cc └── vote_and_verify.h ├── sfm ├── CMakeLists.txt ├── incremental_mapper.cc ├── incremental_mapper.h ├── incremental_triangulator.cc └── incremental_triangulator.h ├── tools ├── CMakeLists.txt └── example.cc ├── ui ├── CMakeLists.txt ├── automatic_reconstruction_widget.cc ├── automatic_reconstruction_widget.h ├── bundle_adjustment_widget.cc ├── bundle_adjustment_widget.h ├── colormaps.cc ├── colormaps.h ├── database_management_widget.cc ├── database_management_widget.h ├── dense_reconstruction_widget.cc ├── dense_reconstruction_widget.h ├── feature_extraction_widget.cc ├── feature_extraction_widget.h ├── feature_matching_widget.cc ├── feature_matching_widget.h ├── image_viewer_widget.cc ├── image_viewer_widget.h ├── license_widget.cc ├── license_widget.h ├── lidar_point_painter.cc ├── lidar_point_painter.h ├── line_painter.cc ├── line_painter.h ├── log_widget.cc ├── log_widget.h ├── main_window.cc ├── main_window.h ├── match_matrix_widget.cc ├── match_matrix_widget.h ├── media │ ├── LICENSE │ ├── automatic-reconstruction.png │ ├── bundle-adjustment.png │ ├── database-management.png │ ├── dense-reconstruction.png │ ├── export-all.png │ ├── export-as-text.png │ ├── export-as.png │ ├── export.png │ ├── feature-extraction.png │ ├── feature-matching.png │ ├── grab-image.png │ ├── grab-movie.png │ ├── import-from.png │ ├── import.png │ ├── lidar.png │ ├── log.png │ ├── match-matrix.png │ ├── pose.png │ ├── project-edit.png │ ├── project-new.png │ ├── project-open.png │ ├── project-save-as.png │ ├── project-save.png │ ├── reconstruction-normalize.png │ ├── reconstruction-options.png │ ├── reconstruction-pause.png │ ├── reconstruction-reset.png │ ├── reconstruction-start.png │ ├── reconstruction-stats.png │ ├── reconstruction-step.png │ ├── render-disabled.png │ ├── render-enabled.png │ ├── render-options.png │ ├── render-reset-view.png │ └── undistort.png ├── model_viewer_widget.cc ├── model_viewer_widget.h ├── movie_grabber_widget.cc ├── movie_grabber_widget.h ├── options_widget.cc ├── options_widget.h ├── point_painter.cc ├── point_painter.h ├── point_viewer_widget.cc ├── point_viewer_widget.h ├── project_widget.cc ├── project_widget.h ├── qt_utils.cc ├── qt_utils.h ├── reconstruction_manager_widget.cc ├── reconstruction_manager_widget.h ├── reconstruction_options_widget.cc ├── reconstruction_options_widget.h ├── reconstruction_stats_widget.cc ├── reconstruction_stats_widget.h ├── render_options.cc ├── render_options.h ├── render_options_widget.cc ├── render_options_widget.h ├── resources.qrc ├── shaders │ ├── lines.f.glsl │ ├── lines.g.glsl │ ├── lines.v.glsl │ ├── points.f.glsl │ ├── points.v.glsl │ ├── triangles.f.glsl │ └── triangles.v.glsl ├── thread_control_widget.cc ├── thread_control_widget.h ├── triangle_painter.cc ├── triangle_painter.h ├── undistortion_widget.cc └── undistortion_widget.h └── util ├── CMakeLists.txt ├── alignment.h ├── bitmap.cc ├── bitmap.h ├── bitmap_test.cc ├── cache.h ├── cache_test.cc ├── camera_specs.cc ├── camera_specs.h ├── cuda.cc ├── cuda.h ├── cudacc.cc ├── cudacc.h ├── endian.h ├── endian_test.cc ├── logging.cc ├── logging.h ├── math.cc ├── math.h ├── math_test.cc ├── matrix.h ├── matrix_test.cc ├── misc.cc ├── misc.h ├── misc_test.cc ├── opengl_utils.cc ├── opengl_utils.h ├── opengl_utils_test.cc ├── option_manager.cc ├── option_manager.h ├── ply.cc ├── ply.h ├── random.cc ├── random.h ├── random_test.cc ├── sqlite3_utils.h ├── string.cc ├── string.h ├── string_test.cc ├── testing.h ├── threading.cc ├── threading.h ├── threading_test.cc ├── timer.cc ├── timer.h ├── timer_test.cc ├── types.h ├── version.cc └── version.h.in /.azure-pipelines/build-docker.yaml: 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