├── .clang-format ├── .github └── ISSUE_TEMPLATE │ └── bug_report.md ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── COPYING.txt ├── README.md ├── cmake ├── CMakeConfig.cmake.in ├── CMakeConfigVersion.cmake.in ├── CMakeHelper.cmake ├── CMakeUninstall.cmake.in ├── FindEigen3.cmake ├── FindFreeImage.cmake ├── FindGlew.cmake ├── FindGlog.cmake ├── GenerateVersionDefinitions.cmake └── SelectCudaComputeArch.cmake ├── lib ├── CMakeLists.txt ├── FLANN │ ├── CMakeLists.txt │ ├── LICENSE │ ├── algorithms │ │ ├── all_indices.h │ │ ├── autotuned_index.h │ │ ├── center_chooser.h │ │ ├── composite_index.h │ │ ├── dist.h │ │ ├── hierarchical_clustering_index.h │ │ ├── kdtree_cuda_3d_index.cu │ │ ├── kdtree_cuda_3d_index.h │ │ ├── kdtree_cuda_builder.h │ │ ├── kdtree_index.h │ │ ├── kdtree_single_index.h │ │ ├── kmeans_index.h │ │ ├── linear_index.h │ │ ├── lsh_index.h │ │ └── nn_index.h │ ├── config.h │ ├── config.h.in │ ├── defines.h │ ├── ext │ │ ├── lz4.c │ │ ├── lz4.h │ │ ├── lz4hc.c │ │ └── lz4hc.h │ ├── flann.cpp │ ├── flann.h │ ├── flann.hpp │ ├── general.h │ ├── io │ │ └── hdf5.h │ ├── mpi │ │ ├── client.h │ │ ├── flann_mpi_client.cpp │ │ ├── flann_mpi_server.cpp │ │ ├── index.h │ │ ├── matrix.h │ │ ├── queries.h │ │ └── server.h │ ├── nn │ │ ├── ground_truth.h │ │ ├── index_testing.h │ │ └── simplex_downhill.h │ └── util │ │ ├── allocator.h │ │ ├── any.h │ │ ├── cuda │ │ ├── heap.h │ │ └── result_set.h │ │ ├── cutil_math.h │ │ ├── dynamic_bitset.h │ │ ├── heap.h │ │ ├── logger.h │ │ ├── lsh_table.h │ │ ├── matrix.h │ │ ├── object_factory.h │ │ ├── params.h │ │ ├── random.h │ │ ├── result_set.h │ │ ├── sampling.h │ │ ├── saving.h │ │ ├── serialization.h │ │ └── timer.h ├── RansacLib │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── RansacLib │ │ ├── hybrid_ransac.h │ │ ├── hybrid_sampling.h │ │ ├── ransac.h │ │ ├── sampling.h │ │ └── utils.h │ └── examples │ │ ├── CMakeLists.txt │ │ ├── calibrated_absolute_pose_estimator.cc │ │ ├── calibrated_absolute_pose_estimator.h │ │ ├── camera_pose_estimation.cc │ │ ├── generalized_calibrated_absolute_pose_estimator.cc │ │ ├── generalized_calibrated_absolute_pose_estimator.h │ │ ├── hybrid_line_estimation.cc │ │ ├── hybrid_line_estimator.cc │ │ ├── hybrid_line_estimator.h │ │ ├── line_estimation.cc │ │ ├── line_estimator.cc │ │ ├── line_estimator.h │ │ ├── localization.cc │ │ ├── localization_gc.cc │ │ └── localization_with_gt.cc ├── SQLite │ ├── CMakeLists.txt │ ├── shell.c │ ├── sqlite3.c │ ├── sqlite3.h │ └── sqlite3ext.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 └── re3q3 │ ├── CMakeLists.txt │ ├── README.md │ ├── examples │ ├── line_pose.cpp │ └── line_pose.h │ ├── re3q3 │ └── re3q3.h │ ├── re3q3_mex.cpp │ └── test_re3q3.cpp ├── scripts ├── matlab │ └── ppsfm │ │ ├── data_preparation │ │ ├── extract_gravity.m │ │ └── generate_gravity_file.m │ │ ├── evaluation │ │ ├── colmap │ │ │ ├── compare_colmap_poses.m │ │ │ ├── count_images_below_error_threshold.m │ │ │ ├── evaluate_inits.m │ │ │ ├── get_colmap_image_positions.m │ │ │ └── init_eval.m │ │ └── strecha │ │ │ ├── compare_strecha_poses.m │ │ │ ├── generate_strecha_gravity.m │ │ │ ├── get_strecha_image_gt.m │ │ │ ├── get_strecha_locations.m │ │ │ ├── read_strecha_gt_camera_file.m │ │ │ └── run_evaluations.m │ │ └── plot_model_comparison │ │ ├── plot_model_comparison.m │ │ ├── plot_model_comparison_impl.m │ │ └── update_image_positions.m ├── python │ └── clang_format_code.py └── shell │ ├── images_to_video.sh │ └── restore_git_submodules.sh └── src ├── CMakeLists.txt ├── base ├── CMakeLists.txt ├── camera.cc ├── camera.h ├── camera_database.cc ├── camera_database.h ├── camera_models.cc ├── camera_models.h ├── correspondence_graph.cc ├── correspondence_graph.h ├── cost_functions.h ├── database.cc ├── database.h ├── database_cache.cc ├── database_cache.h ├── gps.cc ├── gps.h ├── image.cc ├── image.h ├── image_reader.cc ├── image_reader.h ├── point3d.cc ├── point3d.h ├── polynomial.cc ├── polynomial.h ├── pose.cc ├── pose.h ├── projection.cc ├── projection.h ├── reconstruction.cc ├── reconstruction.h ├── reconstruction_manager.cc ├── reconstruction_manager.h ├── track.cc ├── track.h ├── triangulation.cc └── triangulation.h ├── controllers ├── CMakeLists.txt ├── automatic_reconstruction.cc ├── automatic_reconstruction.h ├── bundle_adjustment.cc ├── bundle_adjustment.h ├── incremental_mapper.cc └── incremental_mapper.h ├── estimators ├── CMakeLists.txt ├── absolute_pose.cc ├── absolute_pose.h ├── pose.cc ├── pose.h ├── triangulation.cc ├── triangulation.h ├── utils.cc └── utils.h ├── exe ├── CMakeLists.txt └── ppsfm.cc ├── feature ├── CMakeLists.txt ├── extraction.cc ├── extraction.h ├── feature.cc ├── matching.cc ├── matching.h ├── sift.cc ├── sift.h ├── types.cc ├── types.h ├── utils.cc └── utils.h ├── init ├── CMakeLists.txt ├── initializer.cc ├── initializer.h ├── initializer_test.cc ├── sfm2d.cc ├── sfm2d.h └── sfm2d_test.cc ├── optim ├── CMakeLists.txt ├── bundle_adjustment.cc ├── bundle_adjustment.h ├── combination_sampler.cc ├── combination_sampler.h ├── least_absolute_deviations.cc ├── least_absolute_deviations.h ├── loransac.h ├── progressive_sampler.cc ├── progressive_sampler.h ├── random_sampler.cc ├── random_sampler.h ├── ransac.h ├── sampler.h ├── sprt.cc ├── sprt.h ├── support_measurement.cc └── support_measurement.h ├── sfm ├── CMakeLists.txt ├── incremental_mapper.cc ├── incremental_mapper.h ├── incremental_triangulator.cc └── incremental_triangulator.h ├── 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 ├── 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 ├── 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 │ ├── log.png │ ├── match-matrix.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 └── util ├── CMakeLists.txt ├── alignment.h ├── bitmap.cc ├── bitmap.h ├── cache.h ├── 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