├── LICENSE ├── README.md ├── _greedyAG ├── README ├── bases │ ├── b_3pra_st0 │ ├── b_4pra │ ├── b_5p │ ├── b_8ptF_radial │ ├── b_stitching │ ├── b_toy │ ├── b_wpnp │ └── b_wpnp_2x2sym ├── basisFinder.mw ├── cm │ ├── cm_5p │ ├── cm_toy │ └── icm ├── gfan │ ├── gf_3pra_st0 │ ├── gf_8ptF_radial │ ├── gf_8ptF_radial_1s │ ├── gf_example │ ├── gf_example2 │ ├── gf_focal6p │ ├── gf_focal6p_1s │ ├── gf_pose_35pt │ ├── gf_refract5p │ ├── gf_stitching │ ├── gf_toy │ └── igf ├── greedyAG.m ├── greedyAG.mw ├── monOrdFinder.mw ├── solverGenerator.mw ├── solvers │ ├── _common │ │ ├── disp_stats.m │ │ ├── getT.m │ │ ├── numerr.m │ │ ├── plot_histo_num.m │ │ └── skew.m │ ├── add_all.m │ └── toy │ │ ├── coefs_toy.m │ │ ├── inidata_num_toy.m │ │ ├── nstd_26x34_colpiv_toy.m │ │ ├── nstd_26x34_toy.m │ │ ├── std_13x21_colpiv_toy.m │ │ └── test_num_toy.m ├── templateFinder.mw ├── templates │ ├── t_nstd_3pra_st0 │ ├── t_nstd_4pra │ ├── t_nstd_5p │ ├── t_nstd_8ptF_radial │ ├── t_nstd_8ptF_radial_1s │ ├── t_nstd_focal6p │ ├── t_nstd_gp4p_scale │ ├── t_nstd_optpose3pt_v2 │ ├── t_nstd_relpose_6p_rad_1s │ ├── t_nstd_relpose_7p_fr_1s_elr │ ├── t_nstd_relpose_7p_fuv_angle │ ├── t_nstd_stitching │ ├── t_nstd_toy │ ├── t_nstd_unsynch_relpose │ ├── t_nstd_wpnp │ ├── t_std_3pra_st0 │ ├── t_std_3v_triang_laurent_w_sat │ ├── t_std_4pra │ ├── t_std_5p │ ├── t_std_8ptF_radial │ ├── t_std_8ptF_radial_1s │ ├── t_std_focal6p │ ├── t_std_focal6p_1s │ ├── t_std_gen5pra │ ├── t_std_gen6p │ ├── t_std_gen_relpose_scale │ ├── t_std_gp4p_scale │ ├── t_std_hyb13f_depth_laurent_w_sat │ ├── t_std_hyb32f_w_sat │ ├── t_std_l2_3view_triang │ ├── t_std_opt_pnp_hesch │ ├── t_std_opt_pnp_nakanoC │ ├── t_std_opt_pnp_zheng │ ├── t_std_opt_vanishingpoints_w_sat │ ├── t_std_optpose2pt_v2 │ ├── t_std_optpose3pt_v2 │ ├── t_std_optpose4pt_v2 │ ├── t_std_p4p_fr │ ├── t_std_p4p_fr_iccv17 │ ├── t_std_p6pf_refract │ ├── t_std_pose_35pt │ ├── t_std_pose_quiver │ ├── t_std_r6p │ ├── t_std_rdist9p │ ├── t_std_refract5p │ ├── t_std_relpose_4pt │ ├── t_std_relpose_6p_rad │ ├── t_std_relpose_6p_rad_1s │ ├── t_std_relpose_7p_fr │ ├── t_std_relpose_7p_fr_1 │ ├── t_std_relpose_7p_fr_1s │ ├── t_std_relpose_7p_fr_1s_el │ ├── t_std_relpose_7p_fr_1s_elr │ ├── t_std_relpose_7p_fuv_angle │ ├── t_std_relpose_7p_r1r2 │ ├── t_std_rollingshutter │ ├── t_std_satellite_triang │ ├── t_std_stitching │ ├── t_std_toa_46_w_sat │ ├── t_std_toy │ ├── t_std_unsynch_relpose │ └── t_std_wpnp └── weights │ ├── w_3v_triang_laurent_w_sat │ ├── w_hyb13f_depth_laurent_w_sat │ ├── w_hyb32f_w_sat │ ├── w_opt_vanishingpoints_w_sat │ ├── w_parallel_robot_66 │ ├── w_stitching │ ├── w_toa_46_w_sat │ ├── w_toa_55_w_sat │ ├── w_toy │ ├── w_unsynch_relpose │ ├── w_wpnp │ └── w_wpnp_2x2sym ├── _redundantAG ├── README ├── redundantAG.ini ├── redundantAG.m ├── solverGenerator.mw ├── templateFinder.mw └── templates │ ├── t_3pra_st0 │ ├── t_3v_triang_laurent │ ├── t_3v_triang_laurent_1 │ ├── t_3v_triang_laurent_2 │ ├── t_4p2v_dim1 │ ├── t_4pra │ ├── t_5p │ ├── t_8ptF_radial │ ├── t_8ptF_radial_1 │ ├── t_8ptF_radial_1s │ ├── t_8ptF_radial_2 │ ├── t_IOD │ ├── t_IOD_1 │ ├── t_IOD_2 │ ├── t_caprasse │ ├── t_cbms2 │ ├── t_chandra4 │ ├── t_focal6p │ ├── t_focal6p_1s │ ├── t_gen5p2v_dim1 │ ├── t_gen5p2v_dim1_1 │ ├── t_gen5pra │ ├── t_gen5pra_1 │ ├── t_gen5pra_2 │ ├── t_gen5pra_3 │ ├── t_gen6p │ ├── t_gen6p_1 │ ├── t_gen6p_2 │ ├── t_gen_relpose_scale │ ├── t_gen_relpose_scale_1 │ ├── t_gen_relpose_scale_2 │ ├── t_gp4p_scale │ ├── t_hyb13f_depth_laurent │ ├── t_hyb32f │ ├── t_hyb32f_1 │ ├── t_hyb51f │ ├── t_hyb51f_1 │ ├── t_hyb51f_2 │ ├── t_hyb51f_3 │ ├── t_inverse_kinematics │ ├── t_kin1 │ ├── t_kuramoto_oscillator │ ├── t_l2_3view_triang │ ├── t_l2_3view_triang_1 │ ├── t_l2_3view_triang_2 │ ├── t_mth191 │ ├── t_ojika1 │ ├── t_opt_pnp_hesch │ ├── t_opt_pnp_hesch_1 │ ├── t_opt_pnp_hesch_2 │ ├── t_opt_pnp_nakanoC │ ├── t_opt_pnp_nakanoC_1 │ ├── t_opt_pnp_nakanoC_2 │ ├── t_opt_pnp_nakanoC_4 │ ├── t_opt_pnp_nakanoC_5 │ ├── t_opt_pnp_zheng │ ├── t_opt_pnp_zheng_1 │ ├── t_opt_pnp_zheng_2 │ ├── t_opt_vanishingpoints │ ├── t_optpose2pt_v2 │ ├── t_optpose3pt_v2 │ ├── t_optpose3pt_v2_1 │ ├── t_optpose3pt_v2_2 │ ├── t_optpose4pt_v2 │ ├── t_optpose4pt_v2_2 │ ├── t_p4p_fr │ ├── t_p4p_fr_2 │ ├── t_p4p_fr_iccv17 │ ├── t_p6pf_refract │ ├── t_p6pf_refract_1 │ ├── t_parallel_robot_66 │ ├── t_parallel_robot_66_a │ ├── t_parallel_robot_66_b │ ├── t_pose_35pt │ ├── t_pose_quiver │ ├── t_pose_quiver_1 │ ├── t_pose_quiver_2 │ ├── t_pose_quiver_3 │ ├── t_r6p │ ├── t_r6p_1 │ ├── t_rdist9p │ ├── t_refract5p │ ├── t_refract5p_1 │ ├── t_relpose_4pt │ ├── t_relpose_6p_fr_dim1 │ ├── t_relpose_6p_rad │ ├── t_relpose_6p_rad_1s │ ├── t_relpose_7p_fr │ ├── t_relpose_7p_fr_1 │ ├── t_relpose_7p_fr_1s │ ├── t_relpose_7p_fr_1s_1 │ ├── t_relpose_7p_fr_1s_el │ ├── t_relpose_7p_fr_1s_elr │ ├── t_relpose_7p_fr_2 │ ├── t_relpose_7p_fr_3 │ ├── t_relpose_7p_fr_4 │ ├── t_relpose_7p_fuv_angle │ ├── t_relpose_7p_fuv_angle_w_sat │ ├── t_relpose_7p_fuv_angle_w_sat_1 │ ├── t_relpose_7p_r1r2 │ ├── t_relpose_7p_r1r2_1 │ ├── t_relpose_7p_r1r2_2 │ ├── t_relpose_9lines │ ├── t_relpose_9lines_1 │ ├── t_relpose_9lines_2 │ ├── t_rollingshutter │ ├── t_satellite_triang │ ├── t_satellite_triang_1 │ ├── t_satellite_triang_2 │ ├── t_satellite_triang_3 │ ├── t_stitching │ ├── t_stitching_1 │ ├── t_stitching_2 │ ├── t_tdoa_pose_5pt │ ├── t_tdoa_pose_5pt_1 │ ├── t_toa2d_33 │ ├── t_toa2d_33_1 │ ├── t_toa3d_46 │ ├── t_toa_46 │ ├── t_toa_46_1 │ ├── t_toa_46_2 │ ├── t_toa_46_3 │ ├── t_toa_46_4 │ ├── t_toa_46_5 │ ├── t_toa_55 │ ├── t_toa_55_1 │ ├── t_toa_55_2 │ ├── t_toy │ ├── t_toy_dim1 │ ├── t_unsynch_relpose │ ├── t_utbikker │ ├── t_wpnp │ ├── t_wpnp_1 │ ├── t_wpnp_2x2sym │ ├── t_wpnp_2x2sym_1 │ ├── t_wpnp_2x2sym_2 │ └── t_wpnp_2x2sym_3 ├── problems ├── README ├── _common.m ├── _common.mw ├── benchmark │ ├── F_assur44.m │ ├── F_assur44.mw │ ├── F_baker1.m │ ├── F_baker1.mw │ ├── F_caprasse.m │ ├── F_caprasse.mw │ ├── F_cbms2.m │ ├── F_cbms2.mw │ ├── F_chandra4.m │ ├── F_chandra4.mw │ ├── F_decker1.m │ ├── F_decker1.mw │ ├── F_decker2.m │ ├── F_decker2.mw │ ├── F_decker3.m │ ├── F_decker3.mw │ ├── F_eg1.m │ ├── F_eg1.mw │ ├── F_eg2.m │ ├── F_eg2.mw │ ├── F_eg3.m │ ├── F_eg3.mw │ ├── F_eg4.m │ ├── F_eg4.mw │ ├── F_filter9.m │ ├── F_filter9.mw │ ├── F_katsura5.m │ ├── F_katsura5.mw │ ├── F_kin1.m │ ├── F_kin1.mw │ ├── F_kin2.m │ ├── F_kin2.mw │ ├── F_kotsireas.m │ ├── F_kotsireas.mw │ ├── F_kss3.m │ ├── F_kss3.mw │ ├── F_mth191.m │ ├── F_mth191.mw │ ├── F_ojika1.m │ ├── F_ojika1.mw │ ├── F_ojika2.m │ ├── F_ojika2.mw │ ├── F_simple.m │ ├── F_simple.mw │ ├── F_tangents0.m │ ├── F_tangents0.mw │ ├── F_utbikker.m │ └── F_utbikker.mw ├── computerVision │ ├── F_3pra_st0.m │ ├── F_3pra_st0.mw │ ├── F_3v_triang_laurent.m │ ├── F_3v_triang_laurent.mw │ ├── F_3v_triang_laurent_w_sat.m │ ├── F_3v_triang_laurent_w_sat.mw │ ├── F_4p2v_dim1.m │ ├── F_4p2v_dim1.mw │ ├── F_4pra.m │ ├── F_4pra.mw │ ├── F_5p.m │ ├── F_5p.mw │ ├── F_8ptF_radial.m │ ├── F_8ptF_radial.mw │ ├── F_8ptF_radial_1s.m │ ├── F_8ptF_radial_1s.mw │ ├── F_focal6p.m │ ├── F_focal6p.mw │ ├── F_focal6p_1s.m │ ├── F_focal6p_1s.mw │ ├── F_gen5p2v_dim1.m │ ├── F_gen5p2v_dim1.mw │ ├── F_gen5pra.m │ ├── F_gen5pra.mw │ ├── F_gen6p.m │ ├── F_gen6p.mw │ ├── F_gen_relpose_scale.m │ ├── F_gen_relpose_scale.mw │ ├── F_gp4p_scale.m │ ├── F_gp4p_scale.mw │ ├── F_hyb13f_depth_laurent.m │ ├── F_hyb13f_depth_laurent.mw │ ├── F_hyb32f.m │ ├── F_hyb32f.mw │ ├── F_hyb32f_w_sat.m │ ├── F_hyb32f_w_sat.mw │ ├── F_hyb51f.m │ ├── F_hyb51f.mw │ ├── F_l2_3view_triang.m │ ├── F_l2_3view_triang.mw │ ├── F_opt_pnp_hesch.m │ ├── F_opt_pnp_hesch.mw │ ├── F_opt_pnp_nakanoC.m │ ├── F_opt_pnp_nakanoC.mw │ ├── F_opt_pnp_zheng.m │ ├── F_opt_pnp_zheng.mw │ ├── F_opt_vanishingpoints.m │ ├── F_opt_vanishingpoints.mw │ ├── F_opt_vanishingpoints_w_sat.m │ ├── F_opt_vanishingpoints_w_sat.mw │ ├── F_optpose2pt_v2.m │ ├── F_optpose2pt_v2.mw │ ├── F_optpose3pt_v2.m │ ├── F_optpose3pt_v2.mw │ ├── F_optpose4pt_v2.m │ ├── F_optpose4pt_v2.mw │ ├── F_p4p_fr.m │ ├── F_p4p_fr.mw │ ├── F_p4p_fr_iccv17.m │ ├── F_p4p_fr_iccv17.mw │ ├── F_p6pf_refract.m │ ├── F_p6pf_refract.mw │ ├── F_pose_35pt.m │ ├── F_pose_35pt.mw │ ├── F_pose_quiver.m │ ├── F_pose_quiver.mw │ ├── F_r6p.m │ ├── F_r6p.mw │ ├── F_rdist9p.m │ ├── F_rdist9p.mw │ ├── F_refract5p.m │ ├── F_refract5p.mw │ ├── F_relpose_4pt.m │ ├── F_relpose_4pt.mw │ ├── F_relpose_6p_rad.m │ ├── F_relpose_6p_rad.mw │ ├── F_relpose_6p_rad_1s.m │ ├── F_relpose_6p_rad_1s.mw │ ├── F_relpose_7p_fr.m │ ├── F_relpose_7p_fr.mw │ ├── F_relpose_7p_fr_1s.m │ ├── F_relpose_7p_fr_1s.mw │ ├── F_relpose_7p_fr_1s_el.m │ ├── F_relpose_7p_fr_1s_el.mw │ ├── F_relpose_7p_fr_1s_elr.m │ ├── F_relpose_7p_fr_1s_elr.mw │ ├── F_relpose_7p_fuv_angle.m │ ├── F_relpose_7p_fuv_angle.mw │ ├── F_relpose_7p_fuv_angle_w_sat.m │ ├── F_relpose_7p_fuv_angle_w_sat.mw │ ├── F_relpose_7p_r1r2.m │ ├── F_relpose_7p_r1r2.mw │ ├── F_relpose_9lines.m │ ├── F_relpose_9lines.mw │ ├── F_rollingshutter.m │ ├── F_rollingshutter.mw │ ├── F_satellite_triang.m │ ├── F_satellite_triang.mw │ ├── F_stitching.m │ ├── F_stitching.mw │ ├── F_unsynch_relpose.m │ ├── F_unsynch_relpose.mw │ ├── F_wpnp.m │ ├── F_wpnp.mw │ ├── F_wpnp_2x2sym.m │ └── F_wpnp_2x2sym.mw ├── misc │ ├── F_IOD.m │ ├── F_IOD.mw │ ├── F_kuramoto_oscillator.m │ ├── F_kuramoto_oscillator.mw │ ├── F_toy.m │ ├── F_toy.mw │ ├── F_toy_dim1.m │ └── F_toy_dim1.mw ├── robotics │ ├── F_inverse_kinematics.m │ ├── F_inverse_kinematics.mw │ ├── F_parallel_robot_66.m │ └── F_parallel_robot_66.mw └── t(d)oa │ ├── F_tdoa_pose_5pt.m │ ├── F_tdoa_pose_5pt.mw │ ├── F_toa2d_33.m │ ├── F_toa2d_33.mw │ ├── F_toa3d_46.m │ ├── F_toa3d_46.mw │ ├── F_toa_46.m │ ├── F_toa_46.mw │ ├── F_toa_46_w_sat.m │ ├── F_toa_46_w_sat.mw │ ├── F_toa_55.m │ └── F_toa_55.mw ├── solvers.julia ├── 3pra_st0 │ ├── coefs_3pra_st0.jl │ ├── inidata_num_3pra_st0.jl │ ├── red_12x25_3pra_st0.jl │ └── test_num_3pra_st0.jl ├── 3v_triang_laurent │ ├── coefs_3v_triang_laurent.jl │ ├── inidata_num_3v_triang_laurent.jl │ ├── red_69x127_3v_triang_laurent.jl │ ├── red_69x127_colpiv_3v_triang_laurent.jl │ └── test_num_3v_triang_laurent.jl ├── 4pra │ ├── coefs_4pra.jl │ ├── inidata_num_4pra.jl │ ├── red_12x36_4pra.jl │ └── test_num_4pra.jl ├── 5p │ ├── coefs_5p.jl │ ├── inidata_num_5p.jl │ ├── red_10x20_5p.jl │ └── test_num_5p.jl ├── 8ptF_radial │ ├── coefs_8ptF_radial.jl │ ├── inidata_num_8ptF_radial.jl │ ├── red_19x39_8ptF_radial.jl │ └── test_num_8ptF_radial.jl ├── 8ptF_radial_1s │ ├── coefs_8ptF_radial_1s.jl │ ├── inidata_num_8ptF_radial_1s.jl │ ├── red_7x15_8ptF_radial_1s.jl │ └── test_num_8ptF_radial_1s.jl ├── IOD │ ├── coefs_IOD.jl │ ├── inidata_num_IOD.jl │ ├── red_481x561_IOD.jl │ └── test_num_IOD.jl ├── README ├── _common │ ├── disp_stats.jl │ ├── getT.jl │ ├── header.jl │ ├── ini_stats.jl │ ├── skew.jl │ └── update_stats.jl ├── focal6p │ ├── coefs_focal6p.jl │ ├── inidata_num_focal6p.jl │ ├── red_11x26_focal6p.jl │ └── test_num_focal6p.jl ├── focal6p_1s │ ├── coefs_focal6p_1s.jl │ ├── inidata_num_focal6p_1s.jl │ ├── red_11x20_focal6p_1s.jl │ └── test_num_focal6p_1s.jl ├── gen5pra │ ├── coefs_gen5pra.jl │ ├── inidata_num_gen5pra.jl │ ├── red_34x79_gen5pra.jl │ └── test_num_gen5pra.jl ├── gen6p │ ├── coefs_gen6p.jl │ ├── inidata_num_gen6p.jl │ ├── red_78x155_gen6p.jl │ └── test_num_gen6p.jl ├── gp4p_scale │ ├── coefs_gp4p_scale.jl │ ├── inidata_num_gp4p_scale.jl │ ├── red_40x52_gp4p_scale.jl │ └── test_num_gp4p_scale.jl ├── hyb13f_depth_laurent │ ├── coefs_hyb13f_depth_laurent.jl │ ├── inidata_num_hyb13f_depth_laurent.jl │ ├── red_115x134_colpiv_hyb13f_depth_laurent.jl │ └── test_num_hyb13f_depth_laurent.jl ├── hyb51f │ ├── coefs_hyb51f.jl │ ├── inidata_num_hyb51f.jl │ ├── red_598x684_hyb51f.jl │ └── test_num_hyb51f.jl ├── l2_3view_triang │ ├── coefs_l2_3view_triang.jl │ ├── inidata_num_l2_3view_triang.jl │ ├── red_190x227_l2_3view_triang.jl │ └── test_num_l2_3view_triang.jl ├── opt_pnp_hesch │ ├── coefs_opt_pnp_hesch.jl │ ├── inidata_num_opt_pnp_hesch.jl │ ├── red_62x97_opt_pnp_hesch.jl │ └── test_num_opt_pnp_hesch.jl ├── opt_pnp_nakanoC │ ├── coefs_opt_pnp_nakanoC.jl │ ├── inidata_num_opt_pnp_nakanoC.jl │ ├── red_78x131_opt_pnp_nakanoC.jl │ └── test_num_opt_pnp_nakanoC.jl ├── opt_pnp_zheng │ ├── coefs_opt_pnp_zheng.jl │ ├── inidata_num_opt_pnp_zheng.jl │ ├── red_109x161_opt_pnp_zheng.jl │ └── test_num_opt_pnp_zheng.jl ├── opt_vanishingpoints │ ├── coefs_opt_vanishingpoints.jl │ ├── inidata_num_opt_vanishingpoints.jl │ ├── red_136x194_opt_vanishingpoints.jl │ └── test_num_opt_vanishingpoints.jl ├── optpose2pt_v2 │ ├── coefs_optpose2pt_v2.jl │ ├── inidata_num_optpose2pt_v2.jl │ ├── red_87x120_optpose2pt_v2.jl │ └── test_num_optpose2pt_v2.jl ├── optpose3pt_v2 │ ├── coefs_optpose3pt_v2.jl │ ├── inidata_num_optpose3pt_v2.jl │ ├── red_297x356_optpose3pt_v2.jl │ └── test_num_optpose3pt_v2.jl ├── optpose4pt_v2 │ ├── coefs_optpose4pt_v2.jl │ ├── inidata_num_optpose4pt_v2.jl │ ├── red_105x138_optpose4pt_v2.jl │ └── test_num_optpose4pt_v2.jl ├── p4p_fr │ ├── coefs_p4p_fr.jl │ ├── inidata_num_p4p_fr.jl │ ├── red_42x60_p4p_fr.jl │ └── test_num_p4p_fr.jl ├── p4p_fr_iccv17 │ ├── coefs_p4p_fr_iccv17.jl │ ├── inidata_num_p4p_fr_iccv17.jl │ ├── red_28x40_p4p_fr_iccv17.jl │ └── test_num_p4p_fr_iccv17.jl ├── parallel_robot_66 │ ├── coefs_parallel_robot_66.jl │ ├── inidata_num_parallel_robot_66.jl │ ├── red_293x362_parallel_robot_66.jl │ └── test_num_parallel_robot_66.jl ├── pose_35pt │ ├── coefs_pose_35pt.jl │ ├── inidata_num_pose_35pt.jl │ ├── red_12x26_pose_35pt.jl │ └── test_num_pose_35pt.jl ├── pose_quiver │ ├── coefs_pose_quiver.jl │ ├── inidata_num_pose_quiver.jl │ ├── red_38x74_pose_quiver.jl │ └── test_num_pose_quiver.jl ├── r6p │ ├── coefs_r6p.jl │ ├── inidata_num_r6p.jl │ ├── red_66x92_r6p.jl │ └── test_num_r6p.jl ├── rdist9p │ ├── coefs_rdist9p.jl │ ├── inidata_num_rdist9p.jl │ ├── red_73x97_rdist9p.jl │ └── test_num_rdist9p.jl ├── refract5p │ ├── coefs_refract5p.jl │ ├── inidata_num_refract5p.jl │ ├── red_38x58_refract5p.jl │ └── test_num_refract5p.jl ├── relpose_4pt │ ├── coefs_relpose_4pt.jl │ ├── inidata_num_relpose_4pt.jl │ ├── red_72x108_relpose_4pt.jl │ └── test_num_relpose_4pt.jl ├── relpose_6p_rad │ ├── coefs_relpose_6p_rad.jl │ ├── inidata_num_relpose_6p_rad.jl │ ├── red_39x95_relpose_6p_rad.jl │ └── test_num_relpose_6p_rad.jl ├── relpose_6p_rad_1s │ ├── coefs_relpose_6p_rad_1s.jl │ ├── inidata_num_relpose_6p_rad_1s.jl │ ├── red_14x40_relpose_6p_rad_1s.jl │ └── test_num_relpose_6p_rad_1s.jl ├── relpose_7p_fr │ ├── coefs_relpose_7p_fr.jl │ ├── inidata_num_relpose_7p_fr.jl │ ├── red_138x210_relpose_7p_fr.jl │ └── test_num_relpose_7p_fr.jl ├── relpose_7p_fr_1s │ ├── coefs_relpose_7p_fr_1s.jl │ ├── inidata_num_relpose_7p_fr_1s.jl │ ├── red_34x56_relpose_7p_fr_1s.jl │ └── test_num_relpose_7p_fr_1s.jl ├── relpose_7p_fr_1s_elr │ ├── red_22x41_relpose_7p_fr_1s_elr.jl │ └── test_num_relpose_7p_fr_1s_elr.jl ├── relpose_7p_fuv_angle │ ├── coefs_relpose_7p_fuv_angle.jl │ ├── inidata_num_relpose_7p_fuv_angle.jl │ ├── red_26x33_relpose_7p_fuv_angle.jl │ └── test_num_relpose_7p_fuv_angle.jl ├── relpose_7p_r1r2 │ ├── coefs_relpose_7p_r1r2.jl │ ├── inidata_num_relpose_7p_r1r2.jl │ ├── red_204x289_relpose_7p_r1r2.jl │ └── test_num_relpose_7p_r1r2.jl ├── relpose_9lines │ ├── coefs_relpose_9lines.jl │ ├── inidata_num_relpose_9lines.jl │ ├── red_1610x1726_relpose_9lines.jl │ └── test_num_relpose_9lines.jl ├── rollingshutter │ ├── coefs_rollingshutter.jl │ ├── inidata_num_rollingshutter.jl │ ├── red_40x52_rollingshutter.jl │ └── test_num_rollingshutter.jl ├── satellite_triang │ ├── coefs_satellite_triang.jl │ ├── inidata_num_satellite_triang.jl │ ├── red_74x104_satellite_triang.jl │ └── test_num_satellite_triang.jl ├── stitching │ ├── coefs_stitching.jl │ ├── inidata_num_stitching.jl │ ├── red_6x30_stitching.jl │ └── test_num_stitching.jl ├── toa_46 │ ├── coefs_toa_46.jl │ ├── inidata_num_toa_46.jl │ ├── red_427x475_toa_46.jl │ └── test_num_toa_46.jl ├── toa_55 │ ├── coefs_toa_55.jl │ ├── inidata_num_toa_55.jl │ ├── red_772x832_toa_55.jl │ └── test_num_toa_55.jl ├── toy │ ├── coefs_toy.jl │ ├── inidata_num_toy.jl │ ├── red_14x22_colpiv_toy.jl │ ├── red_14x22_toy.jl │ └── test_num_toy.jl ├── unsynch_relpose │ ├── coefs_unsynch_relpose.jl │ ├── inidata_num_unsynch_relpose.jl │ ├── red_59x79_unsynch_relpose.jl │ └── test_num_unsynch_relpose.jl ├── wpnp │ ├── coefs_wpnp.jl │ ├── inidata_num_wpnp.jl │ ├── red_85x107_wpnp.jl │ └── test_num_wpnp.jl └── wpnp_2x2sym │ ├── coefs_wpnp_2x2sym.jl │ ├── inidata_num_wpnp_2x2sym.jl │ ├── red_10x20_wpnp_2x2sym.jl │ └── test_num_wpnp_2x2sym.jl ├── solvers.matlab ├── 3pra_st0 │ ├── coefs_3pra_st0.m │ ├── inidata_num_3pra_st0.m │ ├── red_12x25_3pra_st0.m │ └── test_num_3pra_st0.m ├── 3v_triang_laurent │ ├── coefs_3v_triang_laurent.m │ ├── inidata_num_3v_triang_laurent.m │ ├── red_69x127_colpiv_3v_triang_laurent.m │ └── test_num_3v_triang_laurent.m ├── 4p2v_dim1 │ ├── coefs_4p2v_dim1.m │ ├── inidata_num_4p2v_dim1.m │ ├── red1_3x9_4p2v_dim1.m │ ├── red2_3x9_4p2v_dim1.m │ └── test_num_4p2v_dim1.m ├── 4pra │ ├── coefs_4pra.m │ ├── inidata_num_4pra.m │ ├── red_12x36_4pra.m │ ├── std_16x36_colpiv_4pra.m │ └── test_num_4pra.m ├── 5p │ ├── coefs_5p.m │ ├── inidata_num_5p.m │ ├── red_10x20_5p.m │ ├── std_10x20_5p.m │ └── test_num_5p.m ├── 8ptF_radial │ ├── coefs_8ptF_radial.m │ ├── inidata_num_8ptF_radial.m │ ├── red_19x39_8ptF_radial.m │ ├── std_31x47_colpiv_8ptF_radial.m │ └── test_num_8ptF_radial.m ├── 8ptF_radial_1s │ ├── coefs_8ptF_radial_1s.m │ ├── inidata_num_8ptF_radial_1s.m │ ├── nstd_7x15_8ptF_radial_1s.m │ ├── red_7x15_8ptF_radial_1s.m │ └── test_num_8ptF_radial_1s.m ├── IOD │ ├── coefs_IOD.m │ ├── inidata_num_IOD.m │ ├── red_481x561_IOD.m │ └── test_num_IOD.m ├── README ├── _common │ ├── disp_stats.m │ ├── getT.m │ ├── ini_stats.m │ ├── iteref.m │ ├── iteref_o.m │ ├── plot_histo_num.m │ ├── skew.m │ ├── update_stats.m │ ├── update_stats_o.m │ └── validate_roots.m ├── add_all.m ├── focal6p │ ├── coefs_focal6p.m │ ├── inidata_num_focal6p.m │ ├── red_11x26_focal6p.m │ └── test_num_focal6p.m ├── focal6p_1s │ ├── coefs_focal6p_1s.m │ ├── inidata_num_focal6p_1s.m │ ├── red_11x20_focal6p_1s.m │ └── test_num_focal6p_1s.m ├── gen5p2v_dim1 │ ├── coefs_gen5p2v_dim1.m │ ├── inidata_num_gen5p2v_dim1.m │ ├── red1_6x26_gen5p2v_dim1.m │ ├── red2_6x26_gen5p2v_dim1.m │ └── test_num_gen5p2v_dim1.m ├── gen5pra │ ├── coefs_gen5pra.m │ ├── inidata_num_gen5pra.m │ ├── red_34x79_gen5pra.m │ ├── std_37x81_colpiv_gen5pra.m │ └── test_num_gen5pra.m ├── gen6p │ ├── coefs_gen6p.m │ ├── getRt6p_gen.m │ ├── inidata_num_gen6p.m │ ├── inidata_num_gen6p_temp.m │ ├── red_78x155_gen6p.m │ ├── std_99x163_colpiv_gen6p.m │ └── test_num_gen6p.m ├── gen_relpose_scale │ ├── coefs_gen_relpose_scale.m │ ├── inidata_num_gen_relpose_scale.m │ ├── red_130x275_gen_relpose_scale.m │ ├── std_144x284_colpiv_gen_relpose_scale.m │ └── test_num_gen_relpose_scale.m ├── gp4p_scale │ ├── coefs_gp4p_scale.m │ ├── inidata_num_gp4p_scale.m │ ├── red_40x52_gp4p_scale.m │ ├── std_47x55_colpiv_gp4p_scale.m │ └── test_num_gp4p_scale.m ├── hyb13f_depth_laurent │ ├── coefs_hyb13f_depth_laurent.m │ ├── inidata_num_hyb13f_depth_laurent.m │ ├── red_115x134_colpiv_hyb13f_depth_laurent.m │ └── test_num_hyb13f_depth_laurent.m ├── hyb32f │ ├── coefs_hyb32f.m │ ├── inidata_num_hyb32f.m │ ├── red_162x221_hyb32f.m │ ├── red_174x222_hyb32f.m │ └── test_num_hyb32f.m ├── hyb51f │ ├── coefs_hyb51f.m │ ├── inidata_num_hyb51f.m │ ├── red_598x684_hyb51f.m │ └── test_num_hyb51f.m ├── kuramoto_oscillator │ ├── coefs_kuramoto_oscillator.m │ ├── inidata_num_kuramoto_oscillator.m │ ├── red_87x110_kuramoto_oscillator.m │ └── test_num_kuramoto_oscillator.m ├── l2_3view_triang │ ├── coefs_l2_3view_triang.m │ ├── inidata_num_l2_3view_triang.m │ ├── red_190x227_l2_3view_triang.m │ ├── std_217x248_colpiv_l2_3view_triang.m │ └── test_num_l2_3view_triang.m ├── opt_pnp_hesch │ ├── coefs_opt_pnp_hesch.m │ ├── inidata_num_opt_pnp_hesch.m │ ├── red_62x97_opt_pnp_hesch.m │ ├── std_87x114_colpiv_opt_pnp_hesch.m │ └── test_num_opt_pnp_hesch.m ├── opt_pnp_nakanoC │ ├── coefs_opt_pnp_nakanoC.m │ ├── inidata_num_opt_pnp_nakanoC.m │ ├── red_78x131_opt_pnp_nakanoC.m │ ├── std_118x158_opt_pnp_nakanoC.m │ └── test_num_opt_pnp_nakanoC.m ├── opt_pnp_zheng │ ├── coefs_opt_pnp_zheng.m │ ├── inidata_num_opt_pnp_zheng.m │ ├── red_117x163_opt_pnp_zheng.m │ ├── std_272x312_colpiv_opt_pnp_zheng.m │ └── test_num_opt_pnp_zheng.m ├── opt_vanishingpoints │ ├── coefs_opt_vanishingpoints.m │ ├── inidata_num_opt_vanishingpoints.m │ ├── red_136x194_opt_vanishingpoints.m │ └── test_num_opt_vanishingpoints.m ├── optpose2pt_v2 │ ├── coefs_optpose2pt_v2.m │ ├── inidata_num_optpose2pt_v2.m │ ├── red_87x120_optpose2pt_v2.m │ ├── std_139x163_colpiv_optpose2pt_v2.m │ └── test_num_optpose2pt_v2.m ├── optpose3pt_v2 │ ├── coefs_optpose3pt_v2.m │ ├── inidata_num_optpose3pt_v2.m │ ├── nstd_385x433_colpiv_optpose3pt_v2.m │ ├── red_297x356_optpose3pt_v2.m │ └── test_num_optpose3pt_v2.m ├── optpose4pt_v2 │ ├── coefs_optpose4pt_v2.m │ ├── inidata_num_optpose4pt_v2.m │ ├── red_105x138_optpose4pt_v2.m │ ├── std_134x162_colpiv_optpose4pt_v2.m │ └── test_num_optpose4pt_v2.m ├── p4p_fr │ ├── coefs_p4p_fr.m │ ├── inidata_num_p4p_fr.m │ ├── red_42x60_p4p_fr.m │ ├── std_52x68_colpiv_p4p_fr.m │ └── test_num_p4p_fr.m ├── p4p_fr_iccv17 │ ├── coefs_p4p_fr_iccv17.m │ ├── inidata_num_p4p_fr_iccv17.m │ ├── red_28x40_p4p_fr_iccv17.m │ ├── std_28x40_colpiv_p4p_fr_iccv17.m │ └── test_num_p4p_fr_iccv17.m ├── p6pf_refract │ ├── coefs_p6pf_refract.m │ ├── inidata_num_p6pf_refract.m │ ├── red_40x61_p6pf_refract.m │ ├── std_126x162_colpiv_p6pf_refract.m │ └── test_num_p6pf_refract.m ├── parallel_robot_66 │ ├── coefs_parallel_robot_66.m │ ├── inidata_num_parallel_robot_66.m │ ├── red_293x362_parallel_robot_66.m │ └── test_num_parallel_robot_66.m ├── pose_35pt │ ├── coefs_pose_35pt.m │ ├── inidata_num_pose_35pt.m │ ├── red_12x26_pose_35pt.m │ ├── std_18x28_pose_35pt.m │ └── test_num_pose_35pt.m ├── pose_quiver │ ├── coefs_pose_quiver.m │ ├── inidata_num_pose_quiver.m │ ├── red_38x74_pose_quiver.m │ ├── std_65x85_colpiv_pose_quiver.m │ └── test_num_pose_quiver.m ├── r6p │ ├── coefs_r6p.m │ ├── inidata_num_r6p.m │ ├── red_66x92_r6p.m │ ├── std_120x140_colpiv_r6p.m │ └── test_num_r6p.m ├── rdist9p │ ├── coefs_rdist9p.m │ ├── inidata_num_rdist9p.m │ ├── red_73x97_rdist9p.m │ ├── std_76x100_colpiv_rdist9p.m │ └── test_num_rdist9p.m ├── refract5p │ ├── coefs_refract5p.m │ ├── inidata_num_refract5p.m │ ├── red_38x58_refract5p.m │ ├── std_57x73_colpiv_refract5p.m │ └── test_num_refract5p.m ├── relpose_4pt │ ├── coefs_relpose_4pt.m │ ├── inidata_num_relpose_4pt.m │ ├── red_72x108_relpose_4pt.m │ ├── std_99x119_colpiv_relpose_4pt.m │ └── test_num_relpose_4pt.m ├── relpose_6p_rad │ ├── coefs_relpose_6p_rad.m │ ├── inidata_num_relpose_6p_rad.m │ ├── nstd_39x95_colpiv_relpose_6p_rad.m │ ├── red_39x95_relpose_6p_rad.m │ └── test_num_relpose_6p_rad.m ├── relpose_6p_rad_1s │ ├── coefs_relpose_6p_rad_1s.m │ ├── inidata_num_relpose_6p_rad_1s.m │ ├── nstd_14x40_colpiv_relpose_6p_rad_1s.m │ ├── red_14x40_relpose_6p_rad_1s.m │ └── test_num_relpose_6p_rad_1s.m ├── relpose_7p_fr │ ├── coefs_relpose_7p_fr.m │ ├── inidata_num_relpose_7p_fr.m │ ├── red_138x210_relpose_7p_fr.m │ ├── std_209x277_colpiv_relpose_7p_fr.m │ └── test_num_relpose_7p_fr.m ├── relpose_7p_fr_1s │ ├── coefs_relpose_7p_fr_1s.m │ ├── inidata_num_relpose_7p_fr_1s.m │ ├── red_34x56_relpose_7p_fr_1s.m │ └── test_num_relpose_7p_fr_1s.m ├── relpose_7p_fr_1s_el │ ├── coefs_relpose_7p_fr_1s_el.m │ ├── inidata_num_relpose_7p_fr_1s_el.m │ ├── red_51x70_relpose_7p_fr_1s_el.m │ ├── std_51x70_colpiv_relpose_7p_fr_1s_el.m │ └── test_num_relpose_7p_fr_1s_el.m ├── relpose_7p_fr_1s_elr │ ├── coefs_relpose_7p_fr_1s_elr.m │ ├── inidata_num_relpose_7p_fr_1s_elr.m │ ├── nstd_22x41_colpiv_relpose_7p_fr_1s_elr.m │ ├── red_22x41_relpose_7p_fr_1s_elr.m │ └── test_num_relpose_7p_fr_1s_elr.m ├── relpose_7p_fuv_angle │ ├── coefs_relpose_7p_fuv_angle.m │ ├── inidata_num_relpose_7p_fuv_angle.m │ ├── red_26x33_relpose_7p_fuv_angle.m │ └── test_num_relpose_7p_fuv_angle.m ├── relpose_7p_r1r2 │ ├── coefs_relpose_7p_r1r2.m │ ├── inidata_num_relpose_7p_r1r2.m │ ├── red_204x289_relpose_7p_r1r2.m │ ├── std_436x512_colpiv_relpose_7p_r1r2.m │ └── test_num_relpose_7p_r1r2.m ├── relpose_9lines │ ├── coefs_relpose_9lines.m │ ├── inidata_num_relpose_9lines.m │ ├── red_1610x1726_relpose_9lines.m │ └── test_num_relpose_9lines.m ├── rollingshutter │ ├── coefs_rollingshutter.m │ ├── inidata_num_rollingshutter.m │ ├── red_40x52_rollingshutter.m │ ├── std_47x55_colpiv_rollingshutter.m │ └── test_num_rollingshutter.m ├── satellite_triang │ ├── coefs_satellite_triang.m │ ├── inidata_num_satellite_triang.m │ ├── red_74x104_satellite_triang.m │ ├── std_87x114_colpiv_satellite_triang.m │ └── test_num_satellite_triang.m ├── stitching │ ├── coefs_stitching.m │ ├── inidata_num_stitching.m │ ├── nstd_18x36_colpiv_stitching.m │ ├── red_6x30_stitching.m │ └── test_num_stitching.m ├── tdoa_pose_5pt │ ├── coefs_tdoa_pose_5pt.m │ ├── inidata_num_tdoa_pose_5pt.m │ ├── red_195x237_tdoa_pose_5pt.m │ └── test_num_tdoa_pose_5pt.m ├── toa2d_33 │ ├── coefs_toa2d_33.m │ ├── inidata_num_toa2d_33.m │ ├── red_18x28_toa2d_33.m │ └── test_num_toa2d_33.m ├── toa3d_46 │ ├── coefs_toa3d_46.m │ ├── inidata_num_toa3d_46.m │ ├── red_148x211_toa3d_46.m │ └── test_num_toa3d_46.m ├── toa_46 │ ├── coefs_toa_46.m │ ├── inidata_num_toa_46.m │ ├── red_427x475_toa_46.m │ └── test_num_toa_46.m ├── toa_55 │ ├── coefs_toa_55.m │ ├── inidata_num_toa_55.m │ ├── red_772x832_toa_55.m │ └── test_num_toa_55.m ├── toy │ ├── coefs_toy.m │ ├── inidata_num_toy.m │ ├── red_14x22_colpiv_toy.m │ ├── red_14x22_toy.m │ └── test_num_toy.m ├── toy_dim1 │ ├── coefs_toy_dim1.m │ ├── inidata_num_toy_dim1.m │ ├── red1_12x20_toy_dim1.m │ ├── red2_12x20_toy_dim1.m │ └── test_num_toy_dim1.m ├── unsynch_relpose │ ├── coefs_unsynch_relpose.m │ ├── inidata_num_unsynch_relpose.m │ ├── nstd_139x155_colpiv_unsynch_relpose.m │ ├── red_59x79_unsynch_relpose.m │ └── test_num_unsynch_relpose.m ├── wpnp │ ├── coefs_wpnp.m │ ├── inidata_num_wpnp.m │ ├── red_85x107_wpnp.m │ └── test_num_wpnp.m └── wpnp_2x2sym │ ├── coefs_wpnp_2x2sym.m │ ├── inidata_num_wpnp_2x2sym.m │ ├── nstd_18x34_colpiv_wpnp_2x2sym.m │ ├── red_10x20_wpnp_2x2sym.m │ └── test_num_wpnp_2x2sym.m └── solvers.python ├── README ├── _common ├── __init__.py ├── disp_stats.py ├── ini_stats.py ├── skew.py └── update_stats.py ├── py_4pra ├── __init__.py ├── coefs_4pra.py ├── inidata_num_4pra.py ├── red_12x36_4pra.py └── test_num_4pra.py ├── py_5p ├── __init__.py ├── coefs_5p.py ├── inidata_num_5p.py ├── red_10x20_5p.py └── test_num_5p.py ├── py_8ptF_radial ├── __init__.py ├── coefs_8ptF_radial.py ├── inidata_num_8ptF_radial.py ├── red_19x39_8ptF_radial.py └── test_num_8ptF_radial.py ├── py_8ptF_radial_1s ├── __init__.py ├── coefs_8ptF_radial_1s.py ├── inidata_num_8ptF_radial_1s.py ├── red_7x15_8ptF_radial_1s.py └── test_num_8ptF_radial_1s.py ├── py_IOD ├── __init__.py ├── coefs_IOD.py ├── inidata_num_IOD.py ├── red_481x561_IOD.py └── test_num_IOD.py ├── py_focal6p ├── __init__.py ├── coefs_focal6p.py ├── inidata_num_focal6p.py ├── red_11x26_focal6p.py └── test_num_focal6p.py ├── py_focal6p_1s ├── __init__.py ├── coefs_focal6p_1s.py ├── inidata_num_focal6p_1s.py ├── red_11x20_focal6p_1s.py └── test_num_focal6p_1s.py ├── py_gp4p_scale ├── __init__.py ├── coefs_gp4p_scale.py ├── inidata_num_gp4p_scale.py ├── red_40x52_gp4p_scale.py └── test_num_gp4p_scale.py ├── py_hyb51f ├── __init__.py ├── coefs_hyb51f.py ├── inidata_num_hyb51f.py ├── red_598x684_hyb51f.py └── test_num_hyb51f.py ├── py_l2_3view_triang ├── __init__.py ├── coefs_l2_3view_triang.py ├── inidata_num_l2_3view_triang.py ├── red_190x227_l2_3view_triang.py └── test_num_l2_3view_triang.py ├── py_opt_pnp_hesch ├── __init__.py ├── coefs_opt_pnp_hesch.py ├── inidata_num_opt_pnp_hesch.py ├── red_62x97_opt_pnp_hesch.py └── test_num_opt_pnp_hesch.py ├── py_opt_pnp_nakanoC ├── __init__.py ├── coefs_opt_pnp_nakanoC.py ├── inidata_num_opt_pnp_nakanoC.py ├── red_78x131_opt_pnp_nakanoC.py └── test_num_opt_pnp_nakanoC.py ├── py_opt_pnp_zheng ├── __init__.py ├── coefs_opt_pnp_zheng.py ├── inidata_num_opt_pnp_zheng.py ├── red_109x161_opt_pnp_zheng.py └── test_num_opt_pnp_zheng.py ├── py_opt_vanishingpoints ├── __init__.py ├── coefs_opt_vanishingpoints.py ├── inidata_num_opt_vanishingpoints.py ├── red_136x194_opt_vanishingpoints.py └── test_num_opt_vanishingpoints.py ├── py_optpose2pt_v2 ├── __init__.py ├── coefs_optpose2pt_v2.py ├── inidata_num_optpose2pt_v2.py ├── red_87x120_optpose2pt_v2.py └── test_num_optpose2pt_v2.py ├── py_optpose3pt_v2 ├── __init__.py ├── coefs_optpose3pt_v2.py ├── inidata_num_optpose3pt_v2.py ├── red_297x356_optpose3pt_v2.py └── test_num_optpose3pt_v2.py ├── py_optpose4pt_v2 ├── __init__.py ├── coefs_optpose4pt_v2.py ├── inidata_num_optpose4pt_v2.py ├── red_105x138_optpose4pt_v2.py └── test_num_optpose4pt_v2.py ├── py_p4p_fr ├── __init__.py ├── coefs_p4p_fr.py ├── inidata_num_p4p_fr.py ├── red_42x60_p4p_fr.py └── test_num_p4p_fr.py ├── py_p4p_fr_iccv17 ├── __init__.py ├── coefs_p4p_fr_iccv17.py ├── inidata_num_p4p_fr_iccv17.py ├── red_28x40_p4p_fr_iccv17.py └── test_num_p4p_fr_iccv17.py ├── py_parallel_robot_66 ├── __init__.py ├── coefs_parallel_robot_66.py ├── inidata_num_parallel_robot_66.py ├── red_293x362_parallel_robot_66.py └── test_num_parallel_robot_66.py ├── py_pose_35pt ├── __init__.py ├── coefs_pose_35pt.py ├── inidata_num_pose_35pt.py ├── red_12x26_pose_35pt.py └── test_num_pose_35pt.py ├── py_pose_quiver ├── __init__.py ├── coefs_pose_quiver.py ├── inidata_num_pose_quiver.py ├── red_38x74_pose_quiver.py └── test_num_pose_quiver.py ├── py_r6p ├── __init__.py ├── coefs_r6p.py ├── inidata_num_r6p.py ├── red_66x92_r6p.py └── test_num_r6p.py ├── py_rdist9p ├── __init__.py ├── coefs_rdist9p.py ├── inidata_num_rdist9p.py ├── red_73x97_rdist9p.py └── test_num_rdist9p.py ├── py_relpose_4pt ├── __init__.py ├── coefs_relpose_4pt.py ├── inidata_num_relpose_4pt.py ├── red_72x108_relpose_4pt.py └── test_num_relpose_4pt.py ├── py_relpose_6p_rad_1s ├── __init__.py ├── coefs_relpose_6p_rad_1s.py ├── inidata_num_relpose_6p_rad_1s.py ├── red_14x40_relpose_6p_rad_1s.py └── test_num_relpose_6p_rad_1s.py ├── py_relpose_7p_fuv_angle ├── __init__.py ├── coefs_relpose_7p_fuv_angle.py ├── inidata_num_relpose_7p_fuv_angle.py ├── red_26x33_relpose_7p_fuv_angle.py └── test_num_relpose_7p_fuv_angle.py ├── py_rollingshutter ├── __init__.py ├── coefs_rollingshutter.py ├── inidata_num_rollingshutter.py ├── red_40x52_rollingshutter.py └── test_num_rollingshutter.py ├── py_satellite_triang ├── __init__.py ├── coefs_satellite_triang.py ├── inidata_num_satellite_triang.py ├── 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