├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── Doxyfile ├── License.txt ├── Makefile.ros ├── README.md ├── cmake ├── CXX11.cmake └── CheckCXXCompilerFlag.cmake ├── doc └── addons │ ├── 01_installation.dox │ ├── 02_how_to_use.dox │ ├── 03_matlab.dox │ ├── 04_how_to_contribute.dox │ ├── 05_contact.dox │ ├── 06_references.dox │ ├── images │ ├── absolute_central.dia │ ├── absolute_central.eps │ ├── absolute_central.pdf │ ├── absolute_central.png │ ├── absolute_noncentral.dia │ ├── absolute_noncentral.eps │ ├── absolute_noncentral.pdf │ ├── absolute_noncentral.png │ ├── central.dia │ ├── central.eps │ ├── central.pdf │ ├── central.png │ ├── multi_viewpoint.dia │ ├── multi_viewpoint.eps │ ├── multi_viewpoint.pdf │ ├── multi_viewpoint.png │ ├── noncentral.dia │ ├── noncentral.eps │ ├── noncentral.pdf │ ├── noncentral.png │ ├── nonoverlapping.dia │ ├── nonoverlapping.eps │ ├── nonoverlapping.pdf │ ├── nonoverlapping.png │ ├── point_cloud.dia │ ├── point_cloud.eps │ ├── point_cloud.pdf │ ├── point_cloud.png │ ├── relative_central.dia │ ├── relative_central.eps │ ├── relative_central.pdf │ ├── relative_central.png │ ├── relative_noncentral.dia │ ├── relative_noncentral.eps │ ├── relative_noncentral.pdf │ ├── relative_noncentral.png │ ├── reprojectionError.dia │ ├── reprojectionError.eps │ ├── reprojectionError.pdf │ ├── reprojectionError.png │ ├── triangulation_central.dia │ ├── triangulation_central.eps │ ├── triangulation_central.pdf │ ├── triangulation_central.png │ ├── triangulation_noncentral.dia │ ├── triangulation_noncentral.eps │ ├── triangulation_noncentral.pdf │ └── triangulation_noncentral.png │ └── mainpage.dox ├── include └── opengv │ ├── Indices.hpp │ ├── OptimizationFunctor.hpp │ ├── absolute_pose │ ├── AbsoluteAdapterBase.hpp │ ├── AbsoluteMultiAdapterBase.hpp │ ├── CentralAbsoluteAdapter.hpp │ ├── MACentralAbsolute.hpp │ ├── MANoncentralAbsolute.hpp │ ├── NoncentralAbsoluteAdapter.hpp │ ├── NoncentralAbsoluteMultiAdapter.hpp │ ├── methods.hpp │ └── modules │ │ ├── Epnp.hpp │ │ ├── gp3p │ │ └── modules.hpp │ │ ├── gpnp1 │ │ └── modules.hpp │ │ ├── gpnp2 │ │ └── modules.hpp │ │ ├── gpnp3 │ │ └── modules.hpp │ │ ├── gpnp4 │ │ └── modules.hpp │ │ ├── gpnp5 │ │ └── modules.hpp │ │ ├── main.hpp │ │ ├── mlpnp.hpp │ │ ├── upnp2.hpp │ │ └── upnp4.hpp │ ├── math │ ├── Sturm.hpp │ ├── arun.hpp │ ├── cayley.hpp │ ├── gauss_jordan.hpp │ ├── quaternion.hpp │ ├── rodrigues.hpp │ └── roots.hpp │ ├── point_cloud │ ├── MAPointCloud.hpp │ ├── PointCloudAdapter.hpp │ ├── PointCloudAdapterBase.hpp │ └── methods.hpp │ ├── relative_pose │ ├── CentralRelativeAdapter.hpp │ ├── CentralRelativeMultiAdapter.hpp │ ├── CentralRelativeWeightingAdapter.hpp │ ├── MACentralRelative.hpp │ ├── MANoncentralRelative.hpp │ ├── MANoncentralRelativeMulti.hpp │ ├── NoncentralRelativeAdapter.hpp │ ├── NoncentralRelativeMultiAdapter.hpp │ ├── RelativeAdapterBase.hpp │ ├── RelativeMultiAdapterBase.hpp │ ├── methods.hpp │ └── modules │ │ ├── eigensolver │ │ └── modules.hpp │ │ ├── fivept_kneip │ │ └── modules.hpp │ │ ├── fivept_nister │ │ └── modules.hpp │ │ ├── fivept_stewenius │ │ └── modules.hpp │ │ ├── ge │ │ └── modules.hpp │ │ ├── main.hpp │ │ ├── sixpt │ │ └── modules.hpp │ │ └── sixpt_ventura │ │ ├── Polynomial.hpp │ │ ├── PolynomialInternal.hpp │ │ └── approx_relpose_generalized_fast_computeA.h │ ├── sac │ ├── MultiRansac.hpp │ ├── MultiSampleConsensus.hpp │ ├── MultiSampleConsensusProblem.hpp │ ├── Ransac.hpp │ ├── SampleConsensus.hpp │ ├── SampleConsensusProblem.hpp │ └── implementation │ │ ├── MultiRansac.hpp │ │ ├── MultiSampleConsensus.hpp │ │ ├── MultiSampleConsensusProblem.hpp │ │ ├── Ransac.hpp │ │ ├── SampleConsensus.hpp │ │ └── SampleConsensusProblem.hpp │ ├── sac_problems │ ├── absolute_pose │ │ ├── AbsolutePoseSacProblem.hpp │ │ └── MultiNoncentralAbsolutePoseSacProblem.hpp │ ├── point_cloud │ │ └── PointCloudSacProblem.hpp │ └── relative_pose │ │ ├── CentralRelativePoseSacProblem.hpp │ │ ├── EigensolverSacProblem.hpp │ │ ├── MultiCentralRelativePoseSacProblem.hpp │ │ ├── MultiNoncentralRelativePoseSacProblem.hpp │ │ ├── NoncentralRelativePoseSacProblem.hpp │ │ ├── RotationOnlySacProblem.hpp │ │ └── TranslationOnlySacProblem.hpp │ ├── triangulation │ └── methods.hpp │ └── types.hpp ├── manifest.xml ├── matlab ├── benchmark_absolute_pose.m ├── benchmark_absolute_pose_cov.m ├── benchmark_absolute_pose_execution_times.m ├── benchmark_absolute_pose_noncentral.m ├── benchmark_absolute_pose_noncentral_execution_timing.m ├── benchmark_relative_pose.m ├── benchmark_relative_pose_execution_times.m ├── benchmark_relative_pose_noncentral.m ├── benchmark_relative_pose_noncentral2.m ├── benchmark_relative_pose_noncentral_execution_times.m ├── benchmark_relative_pose_noncentral_execution_times2.m ├── compile_ogv_matlab_wrappers.m ├── helpers │ ├── addNoise.m │ ├── cayley2rot.m │ ├── create2D2DExperiment.m │ ├── create2D2DExperiment_baseline.m │ ├── create2D2DOmniExperiment.m │ ├── create2D3DExperiment.m │ ├── create2D3DExperimentCov1Cam.m │ ├── createMulti2D2DExperiment.m │ ├── createMulti2D2DOmniExperiment.m │ ├── evaluateRotationError.m │ ├── evaluateTransformationError.m │ ├── generateBoundedR.m │ ├── generateRandomR.m │ ├── perturb.m │ ├── rodrigues.m │ ├── rot2cayley.m │ └── transformEssentials.m ├── opengv.cpp ├── opengv.mexw64 ├── opengv_donotuse.cpp ├── opengv_experimental1.cpp ├── opengv_experimental2.cpp ├── plot_arun_error.m ├── plot_expected_iterations.m ├── plot_ge_costfunction.m ├── ransac_experiment.m ├── ransac_experiment2.m ├── ransac_experiment3.m └── ransac_test.m ├── modules ├── FindEigen.cmake └── FindNumPy.cmake ├── python ├── CMakeLists.txt ├── pyopengv.cpp ├── tests.py └── types.hpp ├── resource ├── mean_pos_error.png ├── mean_rot_error.png ├── median_pos_error.png ├── median_rot_error.png ├── rel_ori_median_rot_error.png └── rel_ori_runtime.png ├── src ├── absolute_pose │ ├── CentralAbsoluteAdapter.cpp │ ├── MACentralAbsolute.cpp │ ├── MANoncentralAbsolute.cpp │ ├── NoncentralAbsoluteAdapter.cpp │ ├── NoncentralAbsoluteMultiAdapter.cpp │ ├── methods.cpp │ └── modules │ │ ├── Epnp.cpp │ │ ├── gp3p │ │ ├── code.cpp │ │ ├── init.cpp │ │ ├── reductors.cpp │ │ └── spolynomials.cpp │ │ ├── gpnp1 │ │ ├── code.cpp │ │ ├── init.cpp │ │ ├── reductors.cpp │ │ └── spolynomials.cpp │ │ ├── gpnp2 │ │ ├── code.cpp │ │ ├── init.cpp │ │ ├── reductors.cpp │ │ └── spolynomials.cpp │ │ ├── gpnp3 │ │ ├── code.cpp │ │ ├── init.cpp │ │ ├── reductors.cpp │ │ └── spolynomials.cpp │ │ ├── gpnp4 │ │ ├── code.cpp │ │ ├── init.cpp │ │ ├── reductors.cpp │ │ └── spolynomials.cpp │ │ ├── gpnp5 │ │ ├── code.cpp │ │ ├── init.cpp │ │ ├── reductors.cpp │ │ └── spolynomials.cpp │ │ ├── main.cpp │ │ ├── mlpnp │ │ ├── mlpnp.cpp │ │ └── mlpnp_lm.cpp │ │ ├── upnp2.cpp │ │ └── upnp4.cpp ├── math │ ├── Sturm.cpp │ ├── arun.cpp │ ├── cayley.cpp │ ├── gauss_jordan.cpp │ ├── quaternion.cpp │ ├── rodrigues.cpp │ └── roots.cpp ├── point_cloud │ ├── MAPointCloud.cpp │ ├── PointCloudAdapter.cpp │ └── methods.cpp ├── relative_pose │ ├── CentralRelativeAdapter.cpp │ ├── CentralRelativeMultiAdapter.cpp │ ├── CentralRelativeWeightingAdapter.cpp │ ├── MACentralRelative.cpp │ ├── MANoncentralRelative.cpp │ ├── MANoncentralRelativeMulti.cpp │ ├── NoncentralRelativeAdapter.cpp │ ├── NoncentralRelativeMultiAdapter.cpp │ ├── methods.cpp │ └── modules │ │ ├── eigensolver │ │ └── modules.cpp │ │ ├── fivept_kneip │ │ ├── code.cpp │ │ ├── init.cpp │ │ ├── reductors.cpp │ │ └── spolynomials.cpp │ │ ├── fivept_nister │ │ └── modules.cpp │ │ ├── fivept_stewenius │ │ └── modules.cpp │ │ ├── ge │ │ └── modules.cpp │ │ ├── main.cpp │ │ ├── sixpt │ │ └── modules2.cpp │ │ └── sixpt_ventura │ │ └── approx_relpose_generalized_fast_computeA.cpp ├── sac_problems │ ├── absolute_pose │ │ ├── AbsolutePoseSacProblem.cpp │ │ └── MultiNoncentralAbsolutePoseSacProblem.cpp │ ├── point_cloud │ │ └── PointCloudSacProblem.cpp │ └── relative_pose │ │ ├── CentralRelativePoseSacProblem.cpp │ │ ├── EigensolverSacProblem.cpp │ │ ├── MultiCentralRelativePoseSacProblem.cpp │ │ ├── MultiNoncentralRelativePoseSacProblem.cpp │ │ ├── NoncentralRelativePoseSacProblem.cpp │ │ ├── RotationOnlySacProblem.cpp │ │ └── TranslationOnlySacProblem.cpp └── triangulation │ └── methods.cpp ├── test ├── experiment_helpers.cpp ├── experiment_helpers.hpp ├── random_generators.cpp ├── random_generators.hpp ├── test_Sturm.cpp ├── test_absolute_pose.cpp ├── test_absolute_pose_sac.cpp ├── test_eigensolver.cpp ├── test_eigensolver_sac.cpp ├── test_multi_noncentral_absolute_pose_sac.cpp ├── test_multi_noncentral_relative_pose_sac.cpp ├── test_noncentral_absolute_pose.cpp ├── test_noncentral_absolute_pose_sac.cpp ├── test_noncentral_relative_pose.cpp ├── test_noncentral_relative_pose_sac.cpp ├── test_point_cloud.cpp ├── test_point_cloud_sac.cpp ├── test_relative_pose.cpp ├── test_relative_pose_rotationOnly.cpp ├── test_relative_pose_rotationOnly_sac.cpp ├── test_relative_pose_sac.cpp ├── test_triangulation.cpp ├── time_measurement.cpp └── time_measurement.hpp └── third_party ├── Eigen ├── Array ├── CMakeLists.txt ├── Cholesky ├── CholmodSupport ├── Core ├── Dense ├── Eigen ├── Eigen2Support ├── Eigenvalues ├── Geometry ├── Householder ├── IterativeLinearSolvers ├── Jacobi ├── LU ├── LeastSquares ├── MetisSupport ├── OrderingMethods ├── PaStiXSupport ├── PardisoSupport ├── QR ├── QtAlignedMalloc ├── SPQRSupport ├── SVD ├── Sparse ├── SparseCholesky ├── SparseCore ├── SparseLU ├── SparseQR ├── StdDeque ├── StdList ├── StdVector ├── SuperLUSupport ├── UmfPackSupport └── src │ ├── CMakeLists.txt │ ├── Cholesky │ ├── CMakeLists.txt │ ├── LDLT.h │ ├── LLT.h │ └── LLT_MKL.h │ ├── CholmodSupport │ ├── CMakeLists.txt │ └── CholmodSupport.h │ ├── Core │ ├── Array.h │ ├── ArrayBase.h │ ├── ArrayWrapper.h │ ├── Assign.h │ ├── Assign_MKL.h │ ├── BandMatrix.h │ ├── Block.h │ ├── BooleanRedux.h │ ├── CMakeLists.txt │ ├── CommaInitializer.h │ ├── CoreIterators.h │ ├── CwiseBinaryOp.h │ ├── CwiseNullaryOp.h │ ├── CwiseUnaryOp.h │ ├── CwiseUnaryView.h │ ├── DenseBase.h │ ├── DenseCoeffsBase.h │ ├── DenseStorage.h │ ├── Diagonal.h │ ├── DiagonalMatrix.h │ ├── DiagonalProduct.h │ ├── Dot.h │ ├── EigenBase.h │ ├── Flagged.h │ ├── ForceAlignedAccess.h │ ├── Functors.h │ ├── Fuzzy.h │ ├── GeneralProduct.h │ ├── GenericPacketMath.h │ ├── GlobalFunctions.h │ ├── IO.h │ ├── Map.h │ ├── MapBase.h │ ├── MathFunctions.h │ ├── Matrix.h │ ├── MatrixBase.h │ ├── NestByValue.h │ ├── NoAlias.h │ ├── NumTraits.h │ ├── PermutationMatrix.h │ ├── PlainObjectBase.h │ ├── ProductBase.h │ ├── Random.h │ ├── Redux.h │ ├── Ref.h │ ├── Replicate.h │ ├── ReturnByValue.h │ ├── Reverse.h │ ├── Select.h │ ├── SelfAdjointView.h │ ├── SelfCwiseBinaryOp.h │ ├── SolveTriangular.h │ ├── StableNorm.h │ ├── Stride.h │ ├── Swap.h │ ├── Transpose.h │ ├── Transpositions.h │ ├── TriangularMatrix.h │ ├── VectorBlock.h │ ├── VectorwiseOp.h │ ├── Visitor.h │ ├── arch │ │ ├── AltiVec │ │ │ ├── CMakeLists.txt │ │ │ ├── Complex.h │ │ │ └── PacketMath.h │ │ ├── CMakeLists.txt │ │ ├── Default │ │ │ ├── CMakeLists.txt │ │ │ └── Settings.h │ │ ├── NEON │ │ │ ├── CMakeLists.txt │ │ │ ├── Complex.h │ │ │ └── PacketMath.h │ │ └── SSE │ │ │ ├── CMakeLists.txt │ │ │ ├── Complex.h │ │ │ ├── MathFunctions.h │ │ │ └── PacketMath.h │ ├── products │ │ ├── CMakeLists.txt │ │ ├── CoeffBasedProduct.h │ │ ├── GeneralBlockPanelKernel.h │ │ ├── GeneralMatrixMatrix.h │ │ ├── GeneralMatrixMatrixTriangular.h │ │ ├── GeneralMatrixMatrixTriangular_MKL.h │ │ ├── GeneralMatrixMatrix_MKL.h │ │ ├── GeneralMatrixVector.h │ │ ├── GeneralMatrixVector_MKL.h │ │ ├── Parallelizer.h │ │ ├── SelfadjointMatrixMatrix.h │ │ ├── SelfadjointMatrixMatrix_MKL.h │ │ ├── SelfadjointMatrixVector.h │ │ ├── SelfadjointMatrixVector_MKL.h │ │ ├── SelfadjointProduct.h │ │ ├── SelfadjointRank2Update.h │ │ ├── TriangularMatrixMatrix.h │ │ ├── TriangularMatrixMatrix_MKL.h │ │ ├── TriangularMatrixVector.h │ │ ├── TriangularMatrixVector_MKL.h │ │ ├── TriangularSolverMatrix.h │ │ ├── TriangularSolverMatrix_MKL.h │ │ └── TriangularSolverVector.h │ └── util │ │ ├── BlasUtil.h │ │ ├── CMakeLists.txt │ │ ├── Constants.h │ │ ├── DisableStupidWarnings.h │ │ ├── ForwardDeclarations.h │ │ ├── MKL_support.h │ │ ├── Macros.h │ │ ├── Memory.h │ │ ├── Meta.h │ │ ├── NonMPL2.h │ │ ├── ReenableStupidWarnings.h │ │ ├── StaticAssert.h │ │ └── XprHelper.h │ ├── Eigen2Support │ ├── Block.h │ ├── CMakeLists.txt │ ├── Cwise.h │ ├── CwiseOperators.h │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── All.h │ │ ├── AngleAxis.h │ │ ├── CMakeLists.txt │ │ ├── Hyperplane.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ └── Translation.h │ ├── LU.h │ ├── Lazy.h │ ├── LeastSquares.h │ ├── Macros.h │ ├── MathFunctions.h │ ├── Memory.h │ ├── Meta.h │ ├── Minor.h │ ├── QR.h │ ├── SVD.h │ ├── TriangularSolver.h │ └── VectorBlock.h │ ├── Eigenvalues │ ├── CMakeLists.txt │ ├── ComplexEigenSolver.h │ ├── ComplexSchur.h │ ├── ComplexSchur_MKL.h │ ├── EigenSolver.h │ ├── GeneralizedEigenSolver.h │ ├── GeneralizedSelfAdjointEigenSolver.h │ ├── HessenbergDecomposition.h │ ├── MatrixBaseEigenvalues.h │ ├── RealQZ.h │ ├── RealSchur.h │ ├── RealSchur_MKL.h │ ├── SelfAdjointEigenSolver.h │ ├── SelfAdjointEigenSolver_MKL.h │ └── Tridiagonalization.h │ ├── Geometry │ ├── AlignedBox.h │ ├── AngleAxis.h │ ├── CMakeLists.txt │ ├── EulerAngles.h │ ├── Homogeneous.h │ ├── Hyperplane.h │ ├── OrthoMethods.h │ ├── ParametrizedLine.h │ ├── Quaternion.h │ ├── Rotation2D.h │ ├── RotationBase.h │ ├── Scaling.h │ ├── Transform.h │ ├── Translation.h │ ├── Umeyama.h │ └── arch │ │ ├── CMakeLists.txt │ │ └── Geometry_SSE.h │ ├── Householder │ ├── BlockHouseholder.h │ ├── CMakeLists.txt │ ├── Householder.h │ └── HouseholderSequence.h │ ├── IterativeLinearSolvers │ ├── BasicPreconditioners.h │ ├── BiCGSTAB.h │ ├── CMakeLists.txt │ ├── ConjugateGradient.h │ ├── IncompleteLUT.h │ └── IterativeSolverBase.h │ ├── Jacobi │ ├── CMakeLists.txt │ └── Jacobi.h │ ├── LU │ ├── CMakeLists.txt │ ├── Determinant.h │ ├── FullPivLU.h │ ├── Inverse.h │ ├── PartialPivLU.h │ ├── PartialPivLU_MKL.h │ └── arch │ │ ├── CMakeLists.txt │ │ └── Inverse_SSE.h │ ├── MetisSupport │ ├── CMakeLists.txt │ └── MetisSupport.h │ ├── OrderingMethods │ ├── Amd.h │ ├── CMakeLists.txt │ ├── Eigen_Colamd.h │ └── Ordering.h │ ├── PaStiXSupport │ ├── CMakeLists.txt │ └── PaStiXSupport.h │ ├── PardisoSupport │ ├── CMakeLists.txt │ └── PardisoSupport.h │ ├── QR │ ├── CMakeLists.txt │ ├── ColPivHouseholderQR.h │ ├── ColPivHouseholderQR_MKL.h │ ├── FullPivHouseholderQR.h │ ├── HouseholderQR.h │ └── HouseholderQR_MKL.h │ ├── SPQRSupport │ ├── CMakeLists.txt │ └── SuiteSparseQRSupport.h │ ├── SVD │ ├── CMakeLists.txt │ ├── JacobiSVD.h │ ├── JacobiSVD_MKL.h │ └── UpperBidiagonalization.h │ ├── SparseCholesky │ ├── CMakeLists.txt │ ├── SimplicialCholesky.h │ └── SimplicialCholesky_impl.h │ ├── SparseCore │ ├── AmbiVector.h │ ├── CMakeLists.txt │ ├── CompressedStorage.h │ ├── ConservativeSparseSparseProduct.h │ ├── MappedSparseMatrix.h │ ├── SparseBlock.h │ ├── SparseColEtree.h │ ├── SparseCwiseBinaryOp.h │ ├── SparseCwiseUnaryOp.h │ ├── SparseDenseProduct.h │ ├── SparseDiagonalProduct.h │ ├── SparseDot.h │ ├── SparseFuzzy.h │ ├── SparseMatrix.h │ ├── SparseMatrixBase.h │ ├── SparsePermutation.h │ ├── SparseProduct.h │ ├── SparseRedux.h │ ├── SparseSelfAdjointView.h │ ├── SparseSparseProductWithPruning.h │ ├── SparseTranspose.h │ ├── SparseTriangularView.h │ ├── SparseUtil.h │ ├── SparseVector.h │ ├── SparseView.h │ └── TriangularSolver.h │ ├── SparseLU │ ├── CMakeLists.txt │ ├── SparseLU.h │ ├── SparseLUImpl.h │ ├── SparseLU_Memory.h │ ├── SparseLU_Structs.h │ ├── SparseLU_SupernodalMatrix.h │ ├── SparseLU_Utils.h │ ├── SparseLU_column_bmod.h │ ├── SparseLU_column_dfs.h │ ├── SparseLU_copy_to_ucol.h │ ├── SparseLU_gemm_kernel.h │ ├── SparseLU_heap_relax_snode.h │ ├── SparseLU_kernel_bmod.h │ ├── SparseLU_panel_bmod.h │ ├── SparseLU_panel_dfs.h │ ├── SparseLU_pivotL.h │ ├── SparseLU_pruneL.h │ └── SparseLU_relax_snode.h │ ├── SparseQR │ ├── CMakeLists.txt │ └── SparseQR.h │ ├── StlSupport │ ├── CMakeLists.txt │ ├── StdDeque.h │ ├── StdList.h │ ├── StdVector.h │ └── details.h │ ├── SuperLUSupport │ ├── CMakeLists.txt │ └── SuperLUSupport.h │ ├── UmfPackSupport │ ├── CMakeLists.txt │ └── UmfPackSupport.h │ ├── misc │ ├── CMakeLists.txt │ ├── Image.h │ ├── Kernel.h │ ├── Solve.h │ ├── SparseSolve.h │ └── blas.h │ └── plugins │ ├── ArrayCwiseBinaryOps.h │ ├── ArrayCwiseUnaryOps.h │ ├── BlockMethods.h │ ├── CMakeLists.txt │ ├── CommonCwiseBinaryOps.h │ ├── CommonCwiseUnaryOps.h │ ├── MatrixCwiseBinaryOps.h │ └── MatrixCwiseUnaryOps.h └── eigen3 └── unsupported ├── CMakeLists.txt ├── Eigen ├── AdolcForward ├── AlignedVector3 ├── ArpackSupport ├── AutoDiff ├── BVH ├── CMakeLists.txt ├── FFT ├── IterativeSolvers ├── KroneckerProduct ├── LevenbergMarquardt ├── MPRealSupport ├── MatrixFunctions ├── MoreVectorization ├── NonLinearOptimization ├── NumericalDiff ├── OpenGLSupport ├── Polynomials ├── SVD ├── Skyline ├── SparseExtra ├── Splines └── src │ ├── AutoDiff │ ├── AutoDiffJacobian.h │ ├── AutoDiffScalar.h │ ├── AutoDiffVector.h │ └── CMakeLists.txt │ ├── BVH │ ├── BVAlgorithms.h │ ├── CMakeLists.txt │ └── KdBVH.h │ ├── CMakeLists.txt │ ├── Eigenvalues │ └── ArpackSelfAdjointEigenSolver.h │ ├── FFT │ ├── CMakeLists.txt │ ├── ei_fftw_impl.h │ └── ei_kissfft_impl.h │ ├── IterativeSolvers │ ├── CMakeLists.txt │ ├── ConstrainedConjGrad.h │ ├── DGMRES.h │ ├── GMRES.h │ ├── IncompleteCholesky.h │ ├── IncompleteLU.h │ ├── IterationController.h │ ├── MINRES.h │ └── Scaling.h │ ├── KroneckerProduct │ ├── CMakeLists.txt │ └── KroneckerTensorProduct.h │ ├── LevenbergMarquardt │ ├── CMakeLists.txt │ ├── CopyrightMINPACK.txt │ ├── LMcovar.h │ ├── LMonestep.h │ ├── LMpar.h │ ├── LMqrsolv.h │ └── LevenbergMarquardt.h │ ├── MatrixFunctions │ ├── CMakeLists.txt │ ├── MatrixExponential.h │ ├── MatrixFunction.h │ ├── MatrixFunctionAtomic.h │ ├── MatrixLogarithm.h │ ├── MatrixPower.h │ ├── MatrixSquareRoot.h │ └── StemFunction.h │ ├── MoreVectorization │ ├── CMakeLists.txt │ └── MathFunctions.h │ ├── NonLinearOptimization │ ├── CMakeLists.txt │ ├── HybridNonLinearSolver.h │ ├── LevenbergMarquardt.h │ ├── chkder.h │ ├── covar.h │ ├── dogleg.h │ ├── fdjac1.h │ ├── lmpar.h │ ├── qrsolv.h │ ├── r1mpyq.h │ ├── r1updt.h │ └── rwupdt.h │ ├── NumericalDiff │ ├── CMakeLists.txt │ └── NumericalDiff.h │ ├── Polynomials │ ├── CMakeLists.txt │ ├── Companion.h │ ├── PolynomialSolver.h │ └── PolynomialUtils.h │ ├── SVD │ ├── BDCSVD.h │ ├── CMakeLists.txt │ ├── JacobiSVD.h │ ├── SVDBase.h │ ├── TODOBdcsvd.txt │ └── doneInBDCSVD.txt │ ├── Skyline │ ├── CMakeLists.txt │ ├── SkylineInplaceLU.h │ ├── SkylineMatrix.h │ ├── SkylineMatrixBase.h │ ├── SkylineProduct.h │ ├── SkylineStorage.h │ └── SkylineUtil.h │ ├── SparseExtra │ ├── BlockOfDynamicSparseMatrix.h │ ├── CMakeLists.txt │ ├── DynamicSparseMatrix.h │ ├── MarketIO.h │ ├── MatrixMarketIterator.h │ └── RandomSetter.h │ └── Splines │ ├── CMakeLists.txt │ ├── Spline.h │ ├── SplineFitting.h │ └── SplineFwd.h ├── README.txt ├── bench └── bench_svd.cpp ├── doc ├── CMakeLists.txt ├── Overview.dox ├── eigendoxy_layout.xml.in ├── examples │ ├── BVH_Example.cpp │ ├── CMakeLists.txt │ ├── FFT.cpp │ ├── MatrixExponential.cpp │ ├── MatrixFunction.cpp │ ├── MatrixLogarithm.cpp │ ├── MatrixPower.cpp │ ├── MatrixPower_optimal.cpp │ ├── MatrixSine.cpp │ ├── MatrixSinh.cpp │ ├── MatrixSquareRoot.cpp │ ├── PolynomialSolver1.cpp │ └── PolynomialUtils1.cpp └── snippets │ └── CMakeLists.txt └── test ├── BVH.cpp ├── CMakeLists.txt ├── FFT.cpp ├── FFTW.cpp ├── NonLinearOptimization.cpp ├── NumericalDiff.cpp ├── alignedvector3.cpp ├── autodiff.cpp ├── bdcsvd.cpp ├── dgmres.cpp ├── forward_adolc.cpp ├── gmres.cpp ├── jacobisvd.cpp ├── kronecker_product.cpp ├── levenberg_marquardt.cpp ├── matrix_exponential.cpp ├── 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