├── .clang-format ├── .gitattributes ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── CMakeConfig.cmake.in ├── CMakeHelper.cmake ├── CMakeUninstall.cmake.in └── FindAVX2.cmake ├── datasets └── sacre_coeur │ ├── README.md │ ├── ground_truth │ ├── calibration_02928139_3448003521.h5 │ ├── calibration_03903474_1471484089.h5 │ ├── calibration_10265353_3838484249.h5 │ ├── calibration_17295357_9106075285.h5 │ ├── calibration_32809961_8274055477.h5 │ ├── calibration_44120379_8371960244.h5 │ ├── calibration_51091044_3486849416.h5 │ ├── calibration_60584745_2207571072.h5 │ ├── calibration_71295362_4051449754.h5 │ └── calibration_93341989_396310999.h5 │ └── mapping │ ├── 02928139_3448003521.jpg │ ├── 03903474_1471484089.jpg │ ├── 10265353_3838484249.jpg │ ├── 17295357_9106075285.jpg │ ├── 32809961_8274055477.jpg │ ├── 44120379_8371960244.jpg │ ├── 51091044_3486849416.jpg │ ├── 60584745_2207571072.jpg │ ├── 71295362_4051449754.jpg │ └── 93341989_396310999.jpg ├── demo.ipynb ├── doc ├── FAQ.md ├── assets │ ├── demo.gif │ ├── eth3d_localization.svg │ └── pipeline.svg ├── features.md ├── general.md └── pipeline.svg ├── examples ├── cmake_example │ ├── CMakeLists.txt │ └── example.cc ├── refine_sift_aachen.py └── sfm+loc_aachen.py ├── notebooks └── plot_eth3d_triangulation.ipynb ├── pixsfm ├── CMakeLists.txt ├── __init__.py ├── _pixsfm │ ├── CMakeLists.txt │ ├── bindings.cc │ └── src │ │ └── helpers.h ├── base │ ├── CMakeLists.txt │ ├── __init__.py │ ├── bindings.cc │ ├── main.py │ └── src │ │ ├── callbacks.h │ │ ├── cubic_hermite_spline_simd.h │ │ ├── graph.cc │ │ ├── graph.h │ │ ├── grid2d.h │ │ ├── interpolation.h │ │ ├── interpolation_test.cc │ │ ├── irls_optim.h │ │ ├── irls_optim_test.cc │ │ ├── parallel_optimizer.h │ │ ├── projection.h │ │ ├── projection_test.cc │ │ ├── undistortion.h │ │ └── undistortion_test.cc ├── bundle_adjustment │ ├── CMakeLists.txt │ ├── __init__.py │ ├── bindings.cc │ ├── main.py │ └── src │ │ ├── bundle_adjustment_options.cc │ │ ├── bundle_adjustment_options.h │ │ ├── bundle_optimizer.h │ │ ├── bundle_optimizer_test.cc │ │ ├── costmap_bundle_optimizer.h │ │ ├── costmap_extractor.h │ │ ├── feature_reference_bundle_optimizer.h │ │ ├── geometric_bundle_optimizer.h │ │ ├── patch_warp_bundle_optimizer.h │ │ └── reference_extractor.h ├── configs │ ├── __init__.py │ ├── default.yaml │ ├── dsift.yaml │ ├── low_memory.yaml │ ├── norefine.yaml │ ├── photometric.yaml │ ├── pixsfm_eth3d.yaml │ └── pixsfm_eth3d_d2net.yaml ├── eval │ └── eth3d │ │ ├── config.py │ │ ├── download.py │ │ ├── localization.py │ │ ├── plot_localization.py │ │ ├── plot_triangulation.py │ │ ├── triangulation.py │ │ └── utils.py ├── extract.py ├── features │ ├── CMakeLists.txt │ ├── __init__.py │ ├── bindings.cc │ ├── extract_patches.py │ ├── extractor.py │ ├── models │ │ ├── __init__.py │ │ ├── base_model.py │ │ ├── dsift.py │ │ ├── image.py │ │ ├── s2dnet.py │ │ └── vggnet.py │ ├── src │ │ ├── dynamic_patch_interpolator.h │ │ ├── featuremanager.cc │ │ ├── featuremanager.h │ │ ├── featuremap.cc │ │ ├── featuremap.h │ │ ├── featurepatch.cc │ │ ├── featurepatch.h │ │ ├── featureset.cc │ │ ├── featureset.h │ │ ├── featureview.cc │ │ ├── featureview.h │ │ ├── patch_interpolator.h │ │ ├── references.cc │ │ └── references.h │ ├── store_features.py │ └── store_references.py ├── keypoint_adjustment │ ├── CMakeLists.txt │ ├── __init__.py │ ├── bindings.cc │ ├── main.py │ └── src │ │ ├── featuremetric_keypoint_optimizer.h │ │ ├── keypoint_adjustment_options.cc │ │ ├── keypoint_adjustment_options.h │ │ ├── keypoint_optimizer.h │ │ ├── topological_keypoint_optimizer.h │ │ └── topological_reference_keypoint_optimizer.h ├── localization │ ├── CMakeLists.txt │ ├── __init__.py │ ├── bindings.cc │ ├── main.py │ └── src │ │ ├── nearest_references.h │ │ ├── query_bundle_optimizer.h │ │ ├── query_keypoint_optimizer.h │ │ ├── query_refinement_options.h │ │ ├── single_query_bundle_optimizer.h │ │ └── single_query_keypoint_optimizer.h ├── localize.py ├── refine_colmap.py ├── refine_hloc.py ├── residuals │ ├── CMakeLists.txt │ ├── __init__.py │ ├── bindings.cc │ └── src │ │ ├── feature_reference.h │ │ ├── featuremetric.h │ │ └── geometric.h └── util │ ├── CMakeLists.txt │ ├── __init__.py │ ├── bindings.cc │ ├── colmap.py │ ├── database.py │ ├── hloc.py │ ├── misc.py │ ├── src │ ├── log_exceptions.h │ ├── math.h │ ├── memory.h │ ├── misc.h │ ├── py_interrupt.h │ ├── simple_logger.cc │ ├── simple_logger.h │ ├── statistics.h │ ├── stringprintf.cc │ ├── stringprintf.h │ ├── threading.cc │ ├── threading.h │ └── types.h │ └── visualize.py ├── requirements.txt ├── scripts └── clang_format.sh ├── setup.py └── third-party ├── CMakeLists.txt ├── half.hpp └── progressbar.h /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cvg/pixel-perfect-sfm/HEAD/.clang-format 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