├── .gitignore ├── README.md ├── libs ├── BroxMalik │ └── trackingLinux64 │ │ ├── CFilter.h │ │ ├── CMatrix.h │ │ ├── CTensor.h │ │ ├── CTensor4D.h │ │ ├── CVector.h │ │ ├── Makefile │ │ ├── NMath.cpp │ │ ├── NMath.h │ │ ├── ldof.h │ │ ├── libldof.so │ │ ├── readWriteTracks.cpp │ │ ├── readme.txt │ │ ├── tracking │ │ ├── tracking.cpp │ │ ├── tracking_more │ │ └── tracking_more.cpp ├── ceres-solver-mex_new │ ├── Makefile │ ├── Makefile_python │ ├── _cs_ba_python.so │ ├── cs_ba.cpp │ ├── cs_ba.m │ ├── cs_ba.mexa64 │ ├── cs_ba_py.py │ ├── cs_ba_python.cpp │ ├── cs_ba_python.h │ ├── cs_ba_python.i │ ├── cs_ba_python.py │ ├── cs_ba_python_wrap.c │ ├── mot_reg_cs.cpp │ ├── mot_reg_cs.m │ ├── mot_reg_cs.mexa64 │ ├── numpy.i │ └── rui_reprojection_error.h ├── mapillary │ └── OpenSfM │ │ ├── Dockerfile │ │ ├── LICENSE │ │ ├── README.md │ │ ├── bin │ │ ├── clean │ │ ├── export_bundler │ │ ├── export_gps │ │ ├── export_pmvs │ │ ├── export_pmvs.md │ │ ├── focal_from_exif │ │ ├── get_eval_datasets │ │ ├── import_bundler │ │ ├── import_video │ │ ├── navigation_graph │ │ ├── opensfm │ │ ├── plot_features │ │ ├── plot_inliers │ │ ├── plot_matches │ │ ├── plot_tracks │ │ ├── run_all │ │ ├── run_bundler │ │ ├── run_eval │ │ └── update_geotag │ │ ├── config.yaml │ │ ├── doc │ │ ├── Makefile │ │ └── source │ │ │ ├── _static │ │ │ └── mathjax_conf.js │ │ │ ├── _templates │ │ │ └── layout.html │ │ │ ├── conf.py │ │ │ ├── dense.rst │ │ │ ├── index.rst │ │ │ └── test.rst │ │ ├── opensfm │ │ ├── __init__.py │ │ ├── align.py │ │ ├── commands │ │ │ ├── __init__.py │ │ │ ├── compute_depthmaps.py │ │ │ ├── create_tracks.py │ │ │ ├── detect_features.py │ │ │ ├── export_openmvs.py │ │ │ ├── export_ply.py │ │ │ ├── export_visualsfm.py │ │ │ ├── extract_metadata.py │ │ │ ├── match_features.py │ │ │ ├── mesh.py │ │ │ ├── reconstruct.py │ │ │ └── undistort.py │ │ ├── config.py │ │ ├── context.py │ │ ├── csfm.so │ │ ├── dataset.py │ │ ├── dense.py │ │ ├── exif.py │ │ ├── features.py │ │ ├── geo.py │ │ ├── geotag_from_gpx.py │ │ ├── matching.py │ │ ├── mesh.py │ │ ├── multiview.py │ │ ├── opensfm_io.py │ │ ├── reconstruction.py │ │ ├── sensors.py │ │ ├── src │ │ │ ├── CMakeLists.txt │ │ │ ├── akaze.cc │ │ │ ├── bundle.h │ │ │ ├── cmake │ │ │ │ ├── FindCeres.cmake │ │ │ │ ├── FindEigen.cmake │ │ │ │ ├── FindGflags.cmake │ │ │ │ ├── FindGlog.cmake │ │ │ │ ├── FindNumPy.cmake │ │ │ │ └── FindSuiteSparse.cmake │ │ │ ├── csfm.cc │ │ │ ├── depthmap.cc │ │ │ ├── depthmap_test.cc │ │ │ ├── depthmap_wrapper.cc │ │ │ ├── hahog.cc │ │ │ ├── hahog.h │ │ │ ├── multiview.cc │ │ │ ├── openmvs_exporter.h │ │ │ ├── testing_main.cc │ │ │ ├── third_party │ │ │ │ ├── akaze │ │ │ │ │ ├── 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 │ │ │ │ │ ├── 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.th │ │ │ │ │ ├── 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 │ │ │ └── types.h │ │ ├── test │ │ │ ├── data_generation.py │ │ │ ├── reconstruction_berlin.json │ │ │ ├── test_commands.py │ │ │ ├── test_dataset.py │ │ │ ├── test_dense.py │ │ │ ├── test_io.py │ │ │ ├── test_matching.py │ │ │ ├── test_triangulation.py │ │ │ └── test_types.py │ │ ├── transformations.py │ │ ├── types.py │ │ ├── unionfind.py │ │ └── video.py │ │ ├── requirements.txt │ │ ├── setup.cfg │ │ ├── setup.py │ │ └── viewer │ │ ├── images │ │ └── preloader.gif │ │ ├── js │ │ ├── OrbitControls.js │ │ ├── TrackballControls.js │ │ ├── dat.gui.js │ │ ├── journey.js │ │ ├── jquery.js │ │ ├── three.js │ │ └── three.min.js │ │ └── reconstruction.html ├── nhood │ └── python_neighbors │ │ ├── Makefile │ │ ├── _neighbors.so │ │ ├── neighbors.cpp │ │ ├── neighbors.h │ │ ├── neighbors.i │ │ ├── neighbors.py │ │ ├── neighbors_python.h │ │ ├── neighbors_wrap.c │ │ └── numpy.i ├── permutohedral_python │ ├── Image.cpp │ ├── Image.h │ ├── Makefile │ ├── _myfilter.so │ ├── build │ │ ├── lib.linux-x86_64-2.7 │ │ │ └── _myfilter.so │ │ └── temp.linux-x86_64-2.7 │ │ │ ├── myfilter.o │ │ │ └── myfilter_wrap.o │ ├── macros.h │ ├── myfilter.cpp │ ├── myfilter.h │ ├── myfilter.i │ ├── myfilter.py │ ├── myfilter_wrap.c │ ├── numpy.i │ ├── permutohedral.h │ └── setup.py ├── read_write_tracks │ ├── Tracks10.dat │ ├── Tracks10_write.dat │ ├── Tracks19.dat │ ├── TracksIO.cpp │ ├── TracksIO.h │ ├── mex_read_tracks.cpp │ ├── mex_read_tracks.mexa64 │ ├── mex_read_tracks.mexw32 │ ├── mex_read_tracks.mexw32.pdb │ ├── mex_write_tracks.cpp │ ├── mex_write_tracks.mexw32 │ ├── mex_write_tracks.mexw32.pdb │ ├── python_tracks │ │ ├── Makefile │ │ ├── Tracks10.dat │ │ ├── Tracks11.dat │ │ ├── _tracks.so │ │ ├── numpy.i │ │ ├── pyfragments.swg │ │ ├── setup.py │ │ ├── tracks.i │ │ ├── tracks.py │ │ ├── tracks_io.cpp │ │ ├── tracks_io.h │ │ └── tracks_wrap.c │ ├── read_tracks_mex.mexa64 │ ├── test.m │ └── write_tracks_mex.mexa64 └── segmentation_rui_new │ ├── LinkedBlockList.cpp │ ├── LinkedBlockList.h │ ├── Makefile │ ├── Makefile_test │ ├── _segmentation.so │ ├── _test.so │ ├── allgc.cpp │ ├── allgc_new.mexa64 │ ├── block.h │ ├── class.cpp │ ├── class_old.cpp │ ├── expand.cpp │ ├── graph.cpp │ ├── graph.h │ ├── maxflow.cpp │ ├── multi.cpp │ ├── numpy.i │ ├── oldseg.cpp │ ├── segmentation.cpp │ ├── segmentation.h │ ├── segmentation.i │ ├── segmentation.py │ ├── segmentation_wrap.c │ ├── test.cpp │ ├── test.h │ ├── test.i │ ├── test.py │ └── test_wrap.c ├── render ├── bird.png ├── bird │ ├── dense_render00.png │ ├── image.jpg │ ├── image_new.png │ └── sparse_render00.png ├── depth.png ├── image.png ├── kitti │ ├── kitti.png │ └── kitti_depth.png ├── two-men.png └── two-men │ ├── dense_render00.png │ ├── image.png │ └── sparse_render00.png └── video_popup ├── __init__.py ├── depth_reconstruction ├── __init__.py ├── depth_gt.py ├── depth_reconstruction.py ├── depth_reconstruction_test.py └── depth_util.py ├── motion_segmentation ├── Makefile ├── __init__.py ├── model_fitting.py ├── persp_model_fitting.py ├── persp_segmentation.py ├── segmentation_check.py ├── video_popup.pb.cc ├── video_popup.pb.h ├── video_popup.proto ├── video_popup_motseg.py └── video_popup_pb2.py ├── reconstruction ├── __init__.py ├── ortho_reconstruction.py ├── reconstruction.py ├── reconstruction_bird.py ├── reconstruction_bird_check.py ├── reconstruction_tm_kitti.py ├── reconstruction_tm_kitti_check.py └── sfm2.py ├── utils ├── __init__.py ├── sintel_io.py ├── transformations.py ├── util.py ├── util_k.py └── util_opensfm.py └── visualization ├── ImageVisual3D.py ├── MyMarkerVisual.py ├── __init__.py ├── qt_app_ortho.py ├── qt_app_persp.py ├── vispy_util_ortho.py ├── vispy_util_persp.py └── vispy_viewer.py /.gitignore: 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