├── README.md ├── base ├── CMakeLists.txt ├── camera.cc ├── camera.h ├── camera_database.cc ├── camera_database_test.cc ├── camera_models.cc ├── camera_models.h ├── camera_models_test.cc ├── camera_rig.cc ├── camera_rig.h ├── camera_rig_test.cc ├── camera_test.cc ├── correspondence_graph.cc ├── correspondence_graph.h ├── cost_functions.h ├── cost_functions_test.cc ├── database.cc ├── database.h ├── database_cache.h ├── database_cache_test.cc ├── essential_matrix.cc ├── essential_matrix.h ├── gps.cc ├── gps.h ├── gps_test.cc ├── graph_cut.cc ├── graph_cut_test.cc ├── homography_matrix.cc ├── homography_matrix.h ├── homography_matrix_test.cc ├── image.cc ├── image.h ├── line.cc ├── line.h ├── line_test.cc ├── point2d.h ├── point2d_test.cc ├── point3d.h ├── point3d_test.cc ├── polynomial.h ├── pose.h ├── projection.h ├── projection_test.cc ├── reconstruction.cc ├── reconstruction.h ├── reconstruction_manager.h ├── reconstruction_manager_test.cc ├── reconstruction_test.cc ├── scene_clustering.cc ├── scene_clustering.h ├── scene_clustering_test.cc ├── similarity_transform.h ├── similarity_transform_test.cc ├── track.cc ├── track_test.cc ├── triangulation.cc ├── triangulation.h ├── triangulation_test.cc ├── undistortion.cc ├── undistortion.h ├── undistortion_test.cc ├── visibility_pyramid.cc ├── warp.cc ├── warp.h └── warp_test.cc ├── controllers ├── CMakeLists.txt ├── automatic_reconstruction.cc ├── automatic_reconstruction.h ├── bundle_adjustment.cc ├── bundle_adjustment.h ├── hierarchical_mapper.cc ├── hierarchical_mapper.h ├── incremental_mapper.cc └── incremental_mapper.h ├── example ├── 3D_from_prior_pose.sh ├── model │ ├── 3D.sh │ ├── cameras.txt │ └── images.txt └── trans.py └── optim ├── CMakeLists.txt ├── bundle_adjustment.cc ├── bundle_adjustment.h ├── bundle_adjustment_test.cc ├── combination_sampler.cc ├── combination_sampler.h ├── combination_sampler_test.cc ├── least_absolute_deviations.cc ├── least_absolute_deviations.h ├── 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