├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── evaluation_evo ├── eval_scannet.py ├── eval_sintel.py └── sintel_io.py ├── misc ├── doc │ ├── ceres.md │ ├── colmap.md │ └── theia.md └── media │ ├── example.png │ └── teaser.png ├── motion_seg ├── __init__.py ├── configs │ ├── example_test.yaml │ └── example_train.yaml ├── core │ ├── dataset │ │ ├── data_utils.py │ │ └── flythings3d_seq.py │ ├── network │ │ ├── loss_func.py │ │ ├── oanet.py │ │ └── traj_oa_depth.py │ └── utils │ │ └── utils.py ├── eval_traj_iou.py ├── load_cut_seq.py ├── main_motion_segmentation.py └── train_seq.py ├── particlesfm_env.yaml ├── point_trajectory ├── __init__.py ├── main_connect_point_trajectories.py ├── optimize │ ├── CMakeLists.txt │ ├── cmake │ │ ├── FindCXSparse.cmake │ │ ├── FindCeres.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindGlog.cmake │ │ └── FindSuiteSparse.cmake │ ├── src │ │ ├── CMakeLists.txt │ │ ├── bindings.cc │ │ ├── linear_interpolation.h │ │ ├── path_consistency_cost.h │ │ ├── trajectory_base.cpp │ │ ├── trajectory_base.h │ │ ├── trajectory_optimize.cpp │ │ └── trajectory_optimize.h │ └── third_party │ │ └── CMakeLists.txt ├── track.py ├── track_optimize.py ├── trajectory.py └── utils.py ├── run_particlesfm.py ├── scripts ├── build_all.sh ├── download_all_models.sh ├── download_examples.sh ├── download_model_pretrained.sh ├── download_models_thirdparty.sh ├── prepare_flyingthings3d.py ├── prepare_scannet.py └── prepare_sintel.py ├── sfm ├── __init__.py ├── colmap_utils │ ├── database.py │ └── read_write_model.py ├── convert.py ├── gmapper │ ├── CMakeLists.txt │ ├── README.md │ ├── cmake │ │ ├── CMakeConfig.cmake.in │ │ ├── CMakeConfigVersion.cmake.in │ │ ├── CMakeHelper.cmake │ │ ├── CMakeUninstall.cmake.in │ │ └── FindOpenMP.cmake │ └── src │ │ ├── CMakeLists.txt │ │ ├── base │ │ ├── CMakeLists.txt │ │ ├── correspondence_graph.cc │ │ ├── correspondence_graph.h │ │ ├── database_cache.cc │ │ ├── database_cache.h │ │ ├── reconstruction.cc │ │ ├── reconstruction.h │ │ ├── reconstruction_manager.cc │ │ └── reconstruction_manager.h │ │ ├── controllers │ │ ├── CMakeLists.txt │ │ ├── global_mapper.cc │ │ └── global_mapper.h │ │ ├── estimators │ │ ├── CMakeLists.txt │ │ ├── two_view_geometry.cc │ │ └── two_view_geometry.h │ │ ├── exe │ │ ├── CMakeLists.txt │ │ └── gcolmap.cc │ │ ├── global │ │ ├── CMakeLists.txt │ │ ├── filter_util.cc │ │ ├── filter_util.h │ │ ├── image_triplet.h │ │ ├── known_rotation_util.cc │ │ ├── known_rotation_util.h │ │ ├── least_unsquared_deviation_position_estimator.cc │ │ ├── least_unsquared_deviation_position_estimator.h │ │ ├── linear_position_estimator.cc │ │ ├── linear_position_estimator.h │ │ ├── nonlinear_position_estimator.cc │ │ ├── nonlinear_position_estimator.h │ │ ├── orientation_util.cc │ │ ├── orientation_util.h │ │ ├── position_estimator.h │ │ ├── robust_rotation_estimator.cc │ │ ├── robust_rotation_estimator.h │ │ ├── rotation_estimator.h │ │ ├── triplet_util.cc │ │ └── triplet_util.h │ │ ├── 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