├── .gitignore ├── CMakeLists.txt ├── README.md ├── UnitTest ├── CMakeLists.txt ├── InitializerTest.cpp ├── MapBuilderTest.cpp ├── RegisterGraphTest.cpp └── TimerTest.cpp ├── config ├── NEU.yaml ├── gerrard-hall.yaml ├── person-hall.yaml └── south-building.yaml ├── docs ├── result1.png ├── result2.png ├── result3.png ├── result4.png ├── result5.png └── result6.png ├── ext ├── CMakeLists.txt └── SQLite │ ├── CMakeLists.txt │ ├── shell.c │ ├── sqlite3.c │ ├── sqlite3.h │ └── sqlite3ext.h ├── include ├── Common │ ├── Timer.h │ └── Types.h ├── Database │ └── Database.h ├── Exportor │ ├── Exportor.h │ ├── OpenMVSExportor.h │ ├── OpenMVSInterface.h │ └── PLYExportor.h ├── Feature │ ├── FeatureExtraction.h │ ├── FeatureMatching.h │ └── FeatureUtils.h ├── Optimizer │ ├── BundleData.h │ └── CeresBundleOptimizer.h ├── Reconstruction │ ├── Image.h │ ├── Initializer.h │ ├── Map.h │ ├── MapBuilder.h │ ├── Point2D.h │ ├── Point3D.h │ ├── Projection.h │ ├── RegisterGraph.h │ ├── Registrant.h │ ├── SceneGraph.h │ ├── Track.h │ ├── Triangulator.h │ └── Utils.h └── Visualization │ └── Visualization.h ├── pipeline.py ├── sfm ├── CMakeLists.txt ├── CheckMatches.cpp ├── ComputeMatches.cpp ├── FeatureExtraction.cpp └── Reconstruction.cpp └── src ├── CMakeLists.txt ├── Common ├── CMakeLists.txt └── Timer.cpp ├── Database ├── CMakeLists.txt └── Database.cpp ├── Estimator └── CMakeLists.txt ├── Exportor ├── CMakeLists.txt ├── Exportor.cpp ├── OpenMVSExportor.cpp └── PLYExportor.cpp ├── Feature ├── CMakeLists.txt ├── FeatureExtraction.cpp ├── FeatureMatching.cpp └── FeatureUtils.cpp ├── Optimizer ├── BundleData.cpp ├── CMakeLists.txt └── CeresBundleOptimizer.cpp ├── Reconstruction ├── CMakeLists.txt ├── Image.cpp ├── Initializer.cpp ├── Map.cpp ├── MapBuilder.cpp ├── Point2D.cpp ├── Point3D.cpp ├── Projection.cpp ├── RegisterGraph.cpp ├── Registrant.cpp ├── SceneGraph.cpp ├── Track.cpp ├── Triangulator.cpp └── Utils.cpp └── Visualization ├── CMakeLists.txt └── Visualization.cpp 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