├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── assets ├── absolute_pose_experiments.png ├── essential_matrix_roma.png ├── essential_matrix_splg.png ├── fundamental_matrix_roma.png ├── fundamental_matrix_splg.png ├── homography_matrix_roma.png ├── homography_matrix_splg.png └── rigid_transform_experiments.png ├── examples ├── 02085496_6952371977.jpg ├── 02928139_3448003521.jpg ├── data │ ├── pose6dscene.K │ ├── pose6dscene_gt.txt │ ├── pose6dscene_points.txt │ ├── rigid_pose_example_gt.txt │ └── rigid_pose_example_points.txt ├── example_absolute_pose_fitting.ipynb ├── example_essential_matrix_fitting_roma.ipynb ├── example_essential_matrix_fitting_splg.ipynb ├── example_fundamental_matrix_fitting_roma.ipynb ├── example_fundamental_matrix_fitting_splg.ipynb ├── example_homography_fitting_roma.ipynb ├── example_homography_fitting_splg.ipynb ├── example_rigid_transform_fitting.ipynb └── main.cpp ├── include ├── camera │ ├── abstract_camera.h │ ├── simple_pinhole_camera.h │ ├── simple_radial_camera.h │ └── types.h ├── data_type │ ├── abstract_type.h │ └── point_correspondence_2d2d.h ├── estimators │ ├── abstract_estimator.h │ ├── abstract_solver.h │ ├── estimator_absolute_pose.h │ ├── estimator_essential_matrix.h │ ├── estimator_fundamental_matrix.h │ ├── estimator_homography.h │ ├── estimator_rigid_transformation.h │ ├── numerical_optimizer │ │ ├── alignment.h │ │ ├── bundle.h │ │ ├── camera_pose.h │ │ ├── colmap_models.cc │ │ ├── colmap_models.h │ │ ├── essential.cc │ │ ├── essential.h │ │ ├── jacobian_impl.h │ │ ├── lm_impl.h │ │ ├── quaternion.h │ │ ├── robust_loss.h │ │ └── types.h │ ├── solver_epnp.h │ ├── solver_essential_matrix_bundle_adjustment.h │ ├── solver_essential_matrix_five_point_nister.h │ ├── solver_fundamental_matrix_bundle_adjustment.h │ ├── solver_fundamental_matrix_eight_point.h │ ├── solver_fundamental_matrix_seven_point.h │ ├── solver_homography_four_point.h │ ├── solver_p3p_lambda_twist.h │ ├── solver_pnp_bundle_adjustment.h │ └── solver_rigid_transform_proscrutes.h ├── inlier_selectors │ ├── abstract_inlier_selector.h │ ├── space_partitioning_ransac.h │ └── types.h ├── local_optimization │ ├── GCoptimization.cpp │ ├── GCoptimization.h │ ├── LinkedBlockList.cpp │ ├── LinkedBlockList.h │ ├── abstract_local_optimizer.h │ ├── block.h │ ├── cross_validation_optimizer.h │ ├── energy.h │ ├── graph.cpp │ ├── graph.h │ ├── graph_cut_ransac_optimizer.h │ ├── irls_optimizer.h │ ├── iterated_lmeds_optimizer.h │ ├── least_squares_optimizer.h │ ├── maxflow.cpp │ ├── nested_ransac_optimizer.h │ └── types.h ├── models │ └── model.h ├── neighborhood │ ├── abstract_neighborhood.h │ ├── flann_neighborhood_graph.h │ ├── grid_neighborhood_graph copy.h │ ├── grid_neighborhood_graph.h │ ├── nanoflann.hpp │ └── types.h ├── samplers │ ├── abstract_sampler.h │ ├── adaptive_reordering_sampler.h │ ├── importance_sampler.h │ ├── napsac_sampler.h │ ├── progressive_napsac_sampler copy.h │ ├── progressive_napsac_sampler.h │ ├── prosac_sampler copy.h │ ├── prosac_sampler.h │ ├── types.h │ └── uniform_random_sampler.h ├── scoring │ ├── abstract_scoring.h │ ├── acransac_scoring.h │ ├── gau_scoring.h │ ├── grid_scoring.h │ ├── magsac_look_up_table.h │ ├── magsac_scoring.h │ ├── minpran_scoring.h │ ├── ml_scoring.h │ ├── msac_scoring.h │ ├── ransac_scoring.h │ ├── score.h │ └── types.h ├── settings.h ├── statistics.h ├── superansac.h ├── termination │ ├── abstract_criterion.h │ ├── ransac_criterion.h │ └── types.h └── utils │ ├── macros.h │ ├── math_utils.h │ ├── sturm.h │ ├── types.h │ ├── uniform_random_generator.h │ └── utils_point_correspondence.h ├── python ├── CMakeLists.txt ├── pybind_functions.cpp └── pybind_module.cpp ├── setup.py ├── src ├── CMakeLists.txt └── superansac.cpp └── tests ├── colors_and_markers.py ├── datasets ├── __init__.py ├── amsterdam_house.py ├── eth3d.py ├── kitti.py ├── lamar.py ├── phototourism.py ├── scannet.py └── seven_scenes.py ├── 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