├── .gitignore ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── cmake_modules ├── FindEigen3.cmake ├── FindGflags.cmake └── FindGlog.cmake ├── include ├── angle_local_parameterization.h ├── colmap │ ├── alignment.hpp │ ├── camera_models.h │ ├── endian.h │ ├── math.hpp │ ├── misc.h │ ├── pose.hpp │ ├── reconstruction.hpp │ ├── string.hpp │ └── types.hpp ├── eigen_defs.h ├── estimators.hpp ├── loransac.h ├── normalize_angle.h ├── random_sampler.cc ├── random_sampler.h ├── ransac.h ├── refinement.hpp ├── sampler.h ├── sim2.hpp ├── support_measurement.cc ├── support_measurement.h └── util │ ├── alignment.h │ ├── args.hpp │ ├── csv.hpp │ ├── endian.hpp │ ├── io.hpp │ ├── io3d.hpp │ ├── logging.h │ ├── macros.h │ ├── math.h │ ├── misc.hpp │ ├── random.h │ ├── string.hpp │ ├── threading.h │ └── timer.h ├── scripts ├── simulate.sh └── simulation_experiment.sh ├── src ├── calibrate.cpp ├── calibrate2.cpp ├── calibrate3d.cpp ├── closed_form.cpp ├── estimators.cpp ├── ground_calib.cpp ├── random.cpp ├── random_sampler.cpp ├── simulate.cpp ├── simulate3d.cpp ├── simulate_ground.cpp └── support_measurement.cpp └── tools ├── planar ├── CMakeLists.txt ├── README.md ├── cmake_modules │ ├── FindGflags.cmake │ └── FindGlog.cmake ├── include │ ├── args.hpp │ ├── io.hpp │ ├── io3d.hpp │ ├── macros.h │ ├── se2.hpp │ └── svi_benchmark.hpp~ ├── src │ ├── copy.cpp~ │ ├── create_cameras.cpp~ │ ├── evaluate.cpp~ │ └── planar.cpp ├── traj1.txt ├── traj1_planar.txt ├── traj2.txt └── traj2_planar.txt ├── sync ├── 1.txt ├── 2.txt ├── CMakeLists.txt ├── README.md ├── cmake_modules │ ├── FindGflags.cmake │ └── FindGlog.cmake ├── include │ ├── io.hpp │ ├── se2.hpp │ └── svi_benchmark.hpp~ ├── src │ ├── copy.cpp~ │ ├── create_cameras.cpp~ │ ├── evaluate.cpp~ │ └── sync.cpp ├── traj1_planar.txt └── traj2_planar.txt └── trajectory_utils ├── CMakeLists.txt ├── README.md ├── cmake_modules ├── FindGflags.cmake └── FindGlog.cmake ├── include ├── args.hpp ├── io.hpp ├── io3d.hpp ├── macros.h └── 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