├── .gitignore ├── CMakeLists.txt ├── CODEOFCONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── cmake ├── FindGlog.cmake └── FindNCCL.cmake ├── doc └── figure.png ├── examples ├── CMakeLists.txt ├── admm │ ├── CMakeLists.txt │ ├── admm_problem.cu │ └── admm_problem.h ├── ceres │ ├── camera.h │ ├── math.h │ ├── reprojection.h │ └── types.h ├── ceres_bal_dataset.cpp ├── douglas_rachford │ ├── CMakeLists.txt │ ├── douglas_rachford_problem.cu │ └── douglas_rachford_problem.h ├── mem_comm_bal_dataset.cu ├── mpi_admm_bal_dataset.cu ├── mpi_daba_bal_dataset.cu └── mpi_dr_bal_dataset.cu └── sfm ├── CMakeLists.txt ├── ba ├── clustering │ ├── clustering.cu │ ├── clustering.cuh │ ├── common_methods.cu │ ├── common_methods.cuh │ ├── merger.cu │ └── merger.cuh ├── dataset.cu ├── dataset.h ├── distributed_problem-inl.h ├── distributed_problem.cu ├── distributed_problem.h ├── functions │ ├── ba.h │ ├── ba_async.cu │ ├── ba_async.cuh │ ├── ba_functions.h │ ├── ba_gpu.cu │ └── ba_kernel.cuh ├── macro.h ├── types.h └── utils │ ├── utils.cpp │ └── utils.h ├── graph ├── converters │ ├── COOtoCSR.cu │ └── COOtoCSR.cuh ├── detail │ └── common_methods.cuh ├── graph.cuh ├── legacy │ ├── graph.cu │ └── graph.hpp ├── louvain.cu ├── louvain.cuh ├── types.hpp └── utilities │ ├── cuda_utils.cuh │ ├── error.hpp │ ├── graph_utils.cu │ ├── graph_utils.cuh │ └── high_res_timer.hpp ├── math └── SO3.h ├── optimization ├── LM.h ├── PCG.h └── concepts.h ├── types.cpp ├── types.h └── utils ├── cuda_utils.h ├── internal ├── atomic-inl.cuh ├── internal-inl.cuh ├── shared_memory-inl.cuh ├── solver │ ├── chol │ │ ├── chol-inl.h │ │ ├── chol.cu │ │ └── chol.cuh │ └── lu │ │ ├── Readme │ │ ├── description.txt │ │ ├── lu.cu │ │ ├── lu.cuh │ │ └── operations.h └── svd3x3-inl.cuh ├── iterators.h ├── robust_loss.h ├── timer.h ├── utils-inl.cuh ├── utils.cu ├── utils.cuh └── utils.h /.gitignore: -------------------------------------------------------------------------------- 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