├── .coveragerc ├── .editorconfig ├── .github └── workflows │ ├── build.yml │ └── tests.yml ├── .gitignore ├── .gitmodules ├── .travis.yml ├── 3rdparty ├── demo_ASIFT_src │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── Makefile │ ├── README.txt │ ├── adam1.png │ ├── adam2.png │ ├── compute_asift_keypoints.cpp │ ├── compute_asift_keypoints.h │ ├── compute_asift_matches.cpp │ ├── compute_asift_matches.h │ ├── demo_ASIFT.cpp │ ├── demo_ASIFT.m │ ├── demo_lib_sift.cpp │ ├── demo_lib_sift.h │ ├── domain.cpp │ ├── domain.h │ ├── filter.cpp │ ├── filter.h │ ├── flimage.cpp │ ├── flimage.h │ ├── fproj.cpp │ ├── fproj.h │ ├── frot.cpp │ ├── frot.h │ ├── io_png │ │ ├── CMakeLists.txt │ │ ├── io_png.c │ │ ├── io_png.h │ │ └── libs │ │ │ ├── CMakeLists.txt │ │ │ ├── makefile │ │ │ ├── makefile.libjpeg │ │ │ ├── makefile.libpng │ │ │ ├── makefile.libtiff │ │ │ ├── makefile.zlib │ │ │ ├── png │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── README │ │ │ ├── example.c │ │ │ ├── png.c │ │ │ ├── png.h │ │ │ ├── pngconf.h │ │ │ ├── pngerror.c │ │ │ ├── pnggccrd.c │ │ │ ├── pngget.c │ │ │ ├── pngmem.c │ │ │ ├── pngpread.c │ │ │ ├── pngread.c │ │ │ ├── pngrio.c │ │ │ ├── pngrtran.c │ │ │ ├── pngrutil.c │ │ │ ├── pngset.c │ │ │ ├── pngtest.c │ │ │ ├── pngtrans.c │ │ │ ├── pngvcrd.c │ │ │ ├── pngwio.c │ │ │ ├── pngwrite.c │ │ │ ├── pngwtran.c │ │ │ └── pngwutil.c │ │ │ └── zlib │ │ │ ├── CMakeLists.txt │ │ │ ├── README │ │ │ ├── adler32.c │ │ │ ├── compress.c │ │ │ ├── crc32.c │ │ │ ├── crc32.h │ │ │ ├── deflate.c │ │ │ ├── deflate.h │ │ │ ├── example.c │ │ │ ├── gzio.c │ │ │ ├── infback.c │ │ │ ├── inffast.c │ │ │ ├── inffast.h │ │ │ ├── inffixed.h │ │ │ ├── inflate.c │ │ │ ├── inflate.h │ │ │ ├── inftrees.c │ │ │ ├── inftrees.h │ │ │ ├── minigzip.c │ │ │ ├── trees.c │ │ │ ├── trees.h │ │ │ ├── uncompr.c │ │ │ ├── zconf.h │ │ │ ├── zconf.in.h │ │ │ ├── zlib.h │ │ │ ├── zutil.c │ │ │ └── zutil.h │ ├── libMatch │ │ ├── CMakeLists.txt │ │ ├── match.cpp │ │ └── match.h │ ├── libNumerics │ │ ├── CMakeLists.txt │ │ ├── computeH.cpp │ │ ├── homography.cpp │ │ ├── homography.h │ │ ├── matrix.cpp │ │ ├── matrix.h │ │ ├── numerics.cpp │ │ ├── numerics.h │ │ ├── rodrigues.cpp │ │ ├── rodrigues.h │ │ └── vector.cpp │ ├── library.cpp │ ├── library.h │ ├── log.txt │ ├── numerics1.cpp │ ├── numerics1.h │ ├── orsa.cpp │ ├── orsa.h │ ├── splines.cpp │ ├── splines.h │ ├── test_demo_ASIFT.m │ └── third_party │ │ └── Eigen │ │ ├── Array │ │ ├── CMakeLists.txt │ │ ├── COPYING.GPL │ │ ├── COPYING.LGPL │ │ ├── Cholesky │ │ ├── Core │ │ ├── Dense │ │ ├── Eigen │ │ ├── Eigen2Support │ │ ├── Eigenvalues │ │ ├── Geometry │ │ ├── Householder │ │ ├── Jacobi │ │ ├── LU │ │ ├── LeastSquares │ │ ├── QR │ │ ├── QtAlignedMalloc │ │ ├── README.ipol │ │ ├── SVD │ │ ├── Sparse │ │ ├── StdDeque │ │ ├── StdList │ │ ├── StdVector │ │ └── src │ │ ├── CMakeLists.txt │ │ ├── Cholesky │ │ ├── CMakeLists.txt │ │ ├── LDLT.h │ │ └── LLT.h │ │ ├── Core │ │ ├── Array.h │ │ ├── ArrayBase.h │ │ ├── ArrayWrapper.h │ │ ├── Assign.h │ │ ├── BandMatrix.h │ │ ├── Block.h │ │ ├── BooleanRedux.h │ │ ├── CMakeLists.txt │ │ ├── CommaInitializer.h │ │ ├── CwiseBinaryOp.h │ │ ├── CwiseNullaryOp.h │ │ ├── CwiseUnaryOp.h │ │ ├── CwiseUnaryView.h │ │ ├── DenseBase.h │ │ ├── DenseCoeffsBase.h │ │ ├── DenseStorage.h │ │ ├── Diagonal.h │ │ ├── DiagonalMatrix.h │ │ ├── DiagonalProduct.h │ │ ├── Dot.h │ │ ├── EigenBase.h │ │ ├── Flagged.h │ │ ├── ForceAlignedAccess.h │ │ ├── Functors.h │ │ ├── Fuzzy.h │ │ ├── GenericPacketMath.h │ │ ├── GlobalFunctions.h │ │ ├── IO.h │ │ ├── Map.h │ │ ├── MapBase.h │ │ ├── MathFunctions.h │ │ ├── Matrix.h │ │ ├── MatrixBase.h │ │ ├── NestByValue.h │ │ ├── NoAlias.h │ │ ├── NumTraits.h │ │ ├── PermutationMatrix.h │ │ ├── PlainObjectBase.h │ │ ├── Product.h │ │ ├── ProductBase.h │ │ ├── Random.h │ │ ├── Redux.h │ │ ├── Replicate.h │ │ ├── ReturnByValue.h │ │ ├── Reverse.h │ │ ├── Select.h │ │ ├── SelfAdjointView.h │ │ ├── SelfCwiseBinaryOp.h │ │ ├── SolveTriangular.h │ │ ├── StableNorm.h │ │ ├── Stride.h │ │ ├── Swap.h │ │ ├── Transpose.h │ │ ├── Transpositions.h │ │ ├── TriangularMatrix.h │ │ ├── VectorBlock.h │ │ ├── VectorwiseOp.h │ │ ├── Visitor.h │ │ ├── arch │ │ │ ├── AltiVec │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Complex.h │ │ │ │ └── PacketMath.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Default │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── Settings.h │ │ │ ├── NEON │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Complex.h │ │ │ │ └── PacketMath.h │ │ │ └── SSE │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ ├── products │ │ │ ├── CMakeLists.txt │ │ │ ├── CoeffBasedProduct.h │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ ├── GeneralMatrixMatrix.h │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ ├── GeneralMatrixVector.h │ │ │ ├── Parallelizer.h │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ ├── SelfadjointMatrixVector.h │ │ │ ├── SelfadjointProduct.h │ │ │ ├── SelfadjointRank2Update.h │ │ │ ├── TriangularMatrixMatrix.h │ │ │ ├── TriangularMatrixVector.h │ │ │ ├── TriangularSolverMatrix.h │ │ │ └── TriangularSolverVector.h │ │ └── util │ │ │ ├── BlasUtil.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Constants.h │ │ │ ├── DisableStupidWarnings.h │ │ │ ├── ForwardDeclarations.h │ │ │ ├── Macros.h │ │ │ ├── Memory.h │ │ │ ├── Meta.h │ │ │ ├── ReenableStupidWarnings.h │ │ │ ├── StaticAssert.h │ │ │ └── XprHelper.h │ │ ├── Eigen2Support │ │ ├── Block.h │ │ ├── CMakeLists.txt │ │ ├── Cwise.h │ │ ├── CwiseOperators.h │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── All.h │ │ │ ├── AngleAxis.h │ │ │ ├── CMakeLists.txt │ │ │ ├── Hyperplane.h │ │ │ ├── ParametrizedLine.h │ │ │ ├── Quaternion.h │ │ │ ├── Rotation2D.h │ │ │ ├── RotationBase.h │ │ │ ├── Scaling.h │ │ │ ├── Transform.h │ │ │ └── Translation.h │ │ ├── LU.h │ │ ├── Lazy.h │ │ ├── LeastSquares.h │ │ ├── Macros.h │ │ ├── MathFunctions.h │ │ ├── Memory.h │ │ ├── Meta.h │ │ ├── Minor.h │ │ ├── QR.h │ │ ├── SVD.h │ │ ├── TriangularSolver.h │ │ └── VectorBlock.h │ │ ├── Eigenvalues │ │ ├── CMakeLists.txt │ │ ├── ComplexEigenSolver.h │ │ ├── ComplexSchur.h │ │ ├── EigenSolver.h │ │ ├── EigenvaluesCommon.h │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ ├── HessenbergDecomposition.h │ │ ├── MatrixBaseEigenvalues.h │ │ ├── RealSchur.h │ │ ├── SelfAdjointEigenSolver.h │ │ └── Tridiagonalization.h │ │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── AngleAxis.h │ │ ├── CMakeLists.txt │ │ ├── EulerAngles.h │ │ ├── Homogeneous.h │ │ ├── Hyperplane.h │ │ ├── OrthoMethods.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ ├── Translation.h │ │ ├── Umeyama.h │ │ └── arch │ │ │ ├── CMakeLists.txt │ │ │ └── Geometry_SSE.h │ │ ├── Householder │ │ ├── BlockHouseholder.h │ │ ├── CMakeLists.txt │ │ ├── Householder.h │ │ └── HouseholderSequence.h │ │ ├── Jacobi │ │ ├── CMakeLists.txt │ │ └── Jacobi.h │ │ ├── LU │ │ ├── CMakeLists.txt │ │ ├── Determinant.h │ │ ├── FullPivLU.h │ │ ├── Inverse.h │ │ ├── PartialPivLU.h │ │ └── arch │ │ │ ├── CMakeLists.txt │ │ │ └── Inverse_SSE.h │ │ ├── QR │ │ ├── CMakeLists.txt │ │ ├── ColPivHouseholderQR.h │ │ ├── FullPivHouseholderQR.h │ │ └── HouseholderQR.h │ │ ├── SVD │ │ ├── CMakeLists.txt │ │ ├── JacobiSVD.h │ │ └── UpperBidiagonalization.h │ │ ├── Sparse │ │ ├── AmbiVector.h │ │ ├── CMakeLists.txt │ │ ├── CompressedStorage.h │ │ ├── CoreIterators.h │ │ ├── DynamicSparseMatrix.h │ │ ├── MappedSparseMatrix.h │ │ ├── SparseAssign.h │ │ ├── SparseBlock.h │ │ ├── SparseCwiseBinaryOp.h │ │ ├── SparseCwiseUnaryOp.h │ │ ├── SparseDenseProduct.h │ │ ├── SparseDiagonalProduct.h │ │ ├── SparseDot.h │ │ ├── SparseFuzzy.h │ │ ├── SparseMatrix.h │ │ ├── SparseMatrixBase.h │ │ ├── SparseProduct.h │ │ ├── SparseRedux.h │ │ ├── SparseSelfAdjointView.h │ │ ├── SparseSparseProduct.h │ │ ├── SparseTranspose.h │ │ ├── SparseTriangularView.h │ │ ├── SparseUtil.h │ │ ├── SparseVector.h │ │ ├── SparseView.h │ │ └── TriangularSolver.h │ │ ├── StlSupport │ │ ├── CMakeLists.txt │ │ ├── StdDeque.h │ │ ├── StdList.h │ │ ├── StdVector.h │ │ └── details.h │ │ ├── misc │ │ ├── CMakeLists.txt │ │ ├── Image.h │ │ ├── Kernel.h │ │ └── Solve.h │ │ └── plugins │ │ ├── ArrayCwiseBinaryOps.h │ │ ├── ArrayCwiseUnaryOps.h │ │ ├── BlockMethods.h │ │ ├── CMakeLists.txt │ │ ├── CommonCwiseBinaryOps.h │ │ ├── CommonCwiseUnaryOps.h │ │ ├── MatrixCwiseBinaryOps.h │ │ └── MatrixCwiseUnaryOps.h ├── micmac_params.xml ├── msmw │ ├── CMakeLists.txt │ ├── example_calls.sh │ ├── libmw │ │ ├── CMakeLists.txt │ │ ├── fgrain.c │ │ ├── fgrain.h │ │ ├── flst │ │ │ ├── flst.c │ │ │ ├── flst_pixels.c │ │ │ ├── flst_reconstruct.c │ │ │ ├── flstb_dualchain.c │ │ │ ├── fsaddles.c │ │ │ └── mw3-modules-specific.h │ │ └── mw3 │ │ │ ├── definitions.h │ │ │ ├── error.c │ │ │ ├── error.h │ │ │ ├── fimage.c │ │ │ ├── fimage.h │ │ │ ├── fsignal.c │ │ │ ├── fsignal.h │ │ │ ├── libmw.c │ │ │ ├── libmw.h │ │ │ ├── list.c │ │ │ ├── list.h │ │ │ ├── mw3-modules.h │ │ │ ├── mw3-x11.h │ │ │ ├── mw3.h │ │ │ ├── shape.c │ │ │ └── shape.h │ ├── libraryStable │ │ ├── CMakeLists.txt │ │ ├── iio.c │ │ ├── iio.h │ │ ├── libpm_io.cpp │ │ ├── libpm_io.h │ │ ├── libraryBasic.cpp │ │ └── libraryBasic.h │ └── libstereo │ │ ├── CMakeLists.txt │ │ ├── cubic.h │ │ ├── iip_stereo_correlation.cpp │ │ ├── iip_stereo_correlation_multi_win2.cpp │ │ ├── iip_stereo_subpixel_computation.cpp │ │ ├── libstereo.cpp │ │ ├── libstereo.h │ │ ├── libstereoCV.cpp │ │ └── smartparameter.h ├── msmw2 │ ├── CMakeLists.txt │ ├── call.sh │ ├── libmw │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── fgrain.c │ │ ├── fgrain.h │ │ ├── flst │ │ │ ├── flst.c │ │ │ ├── flst_pixels.c │ │ │ ├── flst_reconstruct.c │ │ │ ├── flstb_dualchain.c │ │ │ ├── fsaddles.c │ │ │ └── mw3-modules-specific.h │ │ └── mw3 │ │ │ ├── definitions.h │ │ │ ├── error.c │ │ │ ├── error.h │ │ │ ├── fimage.c │ │ │ ├── fimage.h │ │ │ ├── fsignal.c │ │ │ ├── fsignal.h │ │ │ ├── libmw.c │ │ │ ├── libmw.h │ │ │ ├── list.c │ │ │ ├── list.h │ │ │ ├── mw3-modules.h │ │ │ ├── mw3-x11.h │ │ │ ├── mw3.h │ │ │ ├── shape.c │ │ │ └── shape.h │ ├── libraryStable │ │ ├── CMakeLists.txt │ │ ├── FindFFTW.cmake │ │ ├── iio.c │ │ ├── iio.h │ │ ├── libraryBasic.cpp │ │ └── libraryBasic.h │ └── libstereo_newversion │ │ ├── CMakeLists.txt │ │ ├── cc_postprocess.cc │ │ ├── cubic.h │ │ ├── iip_stereo_correlation_multi_win2.cpp │ │ ├── libstereo.cpp │ │ ├── libstereo.h │ │ ├── libstereo.with_lots_of_flags_Used_in_KITTI_challenge.cpp │ │ ├── ransacFIX.h │ │ ├── smartparameter.h │ │ └── vvector.h ├── sgbm │ ├── Makefile │ ├── alloc.cpp │ ├── arithm.cpp │ ├── array.cpp │ ├── convert.cpp │ ├── copy.cpp │ ├── datastructs.cpp │ ├── gpumat.cpp │ ├── iio.c │ ├── include │ │ ├── _geom.h │ │ ├── _list.h │ │ ├── calib3d.hpp │ │ ├── core.hpp │ │ ├── core_c.h │ │ ├── cuda_devptrs.hpp │ │ ├── devmem2d.hpp │ │ ├── eigen.hpp │ │ ├── gpumat.hpp │ │ ├── iio.h │ │ ├── imgproc.hpp │ │ ├── imgproc │ │ │ └── types_c.h │ │ ├── imgproc_c.h │ │ ├── internal.hpp │ │ ├── mat.hpp │ │ ├── opengl_interop.hpp │ │ ├── opengl_interop_deprecated.hpp │ │ ├── operations.hpp │ │ ├── precomp_core.hpp │ │ ├── precomp_imgproc.hpp │ │ ├── types_c.h │ │ ├── version.hpp │ │ └── wimage.hpp │ ├── lapack.cpp │ ├── mathfuncs.cpp │ ├── matmul.cpp │ ├── matop.cpp │ ├── matrix.cpp │ ├── opengl_interop.cpp │ ├── opengl_interop_deprecated.cpp │ ├── parallel.cpp │ ├── persistence.cpp │ ├── sgbm.cpp │ ├── smooth.cpp │ ├── stat.cpp │ ├── stereosgbm.cpp │ ├── system.cpp │ ├── tables_core.cpp │ └── tables_imgproc.cpp ├── stereo_hirschmuller_2002 │ ├── boofcv_readme.txt │ ├── build.xml │ ├── build │ │ └── boofcv_stereo.jar │ ├── compile.txt │ ├── pix.sh │ ├── src │ │ ├── pix.java │ │ ├── pixLoG.java │ │ ├── subpix.java │ │ └── subpixLoG.java │ ├── subpix.sh │ ├── test.sh │ └── testdata │ │ ├── a.png │ │ └── b.png └── stereo_hirschmuller_2008 │ ├── CMakeLists.txt │ ├── callSGBM.sh │ ├── callSGBM_cauchy.sh │ ├── callSGBM_lap.sh │ ├── iio.c │ ├── iio.h │ ├── sgbm.cpp │ └── sgbm2.cpp ├── Dockerfile ├── HACKERS ├── LICENSE.txt ├── MANIFEST.in ├── README.md ├── bin └── .dummy ├── c ├── abstract_dsf.c ├── backflow.c ├── bicubic.c ├── cldmask.c ├── colorcoordsf.c ├── disp_to_h.c ├── downsa.c ├── drawsegment.c ├── fail.c ├── getpixel.c ├── help_stuff.c ├── iio.c ├── iio.h ├── lists.c ├── morphoop.c ├── morsi.c ├── parsenumbers.c ├── pickopt.c ├── plambda.c ├── pview.c ├── qauto.c ├── random.c ├── read_matrix.c ├── remove_small_cc.c ├── rpc.c ├── rpc.h ├── smapa.h ├── spline.c ├── timing.c ├── timing.h ├── vvector.h ├── xfopen.c └── xmalloc.c ├── lib └── .dummy ├── makefile ├── s2p ├── __init__.py ├── block_matching.py ├── cli.py ├── common.py ├── config.py ├── estimation.py ├── evaluation.py ├── fusion.py ├── geographiclib.py ├── initialization.py ├── masking.py ├── parallel.py ├── ply.py ├── pointing_accuracy.py ├── rectification.py ├── rpc_utils.py ├── sift.py ├── triangulation.py └── visualisation.py ├── setup.cfg ├── setup.py ├── tests ├── block_matching_test.py ├── common_test.py ├── data │ ├── expected_output │ │ ├── pair │ │ │ └── dsm.tif │ │ ├── plyflatten │ │ │ └── dsm_40cm.tiff │ │ ├── triplet │ │ │ ├── dsm.tif │ │ │ └── height_map.tif │ │ └── units │ │ │ ├── F.txt │ │ │ ├── H1.txt │ │ │ ├── H2.txt │ │ │ ├── matches_on_rpc_roi.txt │ │ │ ├── unit_image_keypoints.txt │ │ │ ├── unit_keypoints_match.txt │ │ │ └── unit_matches_from_rpc.txt │ ├── input_pair │ │ ├── config.json │ │ ├── img_01.tif │ │ └── img_02.tif │ ├── input_ply │ │ └── cloud.ply │ ├── input_triangulation │ │ ├── global_pointing_pair_1.txt │ │ ├── mask.png │ │ └── pair_1 │ │ │ ├── H_ref.txt │ │ │ ├── H_sec.txt │ │ │ ├── rectified_disp.tif │ │ │ ├── rectified_mask.png │ │ │ └── rectified_ref.tif │ ├── input_triplet │ │ ├── config.json │ │ ├── img_01.tif │ │ ├── img_02.tif │ │ └── img_03.tif │ └── units │ │ ├── sift1.txt │ │ └── sift2.txt ├── end2end_test.py ├── estimation_test.py ├── evaluation_test.py ├── initialization_test.py ├── parallel_test.py ├── 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