ceres-solver and colmap

.config/.last_opt_in_prompt.yaml

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+{}

.config/.last_survey_prompt.yaml

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+last_prompt_time: 1671567512.6059277

.config/.last_update_check.json

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+{"last_update_check_time": 1671567527.5556612, "last_update_check_revision": 20221209155815, "notifications": [], "last_nag_times": {}}

.config/active_config

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+default

.config/configurations/config_default

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+[component_manager]
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+
+[compute]
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+

.config/gce

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+False

.config/logs/2022.12.20/20.17.35.236470.log

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+  https://cloud.google.com/sdk/release_notes
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+
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+
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+Update done!
+
+
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.config/logs/2022.12.20/20.18.05.031957.log

@@ -0,0 +1,4 @@
+2022-12-20 20:18:05,033 DEBUG    root            Loaded Command Group: ['gcloud', 'components']
+2022-12-20 20:18:05,035 DEBUG    root            Loaded Command Group: ['gcloud', 'components', 'post_process']
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+2022-12-20 20:18:32,483 INFO     root            Display format: "none"

.config/logs/2022.12.20/20.18.33.478842.log

@@ -0,0 +1,165 @@
+2022-12-20 20:18:33,480 DEBUG    root            Loaded Command Group: ['gcloud', 'components']
+2022-12-20 20:18:33,483 DEBUG    root            Loaded Command Group: ['gcloud', 'components', 'update']
+2022-12-20 20:18:33,486 DEBUG    root            Running [gcloud.components.update] with arguments: [--quiet: "True", COMPONENT-IDS:8: "['gcloud', 'core', 'bq', 'gsutil', 'compute', 'preview', 'alpha', 'beta']"]
+2022-12-20 20:18:33,487 INFO     ___FILE_ONLY___ Beginning update. This process may take several minutes.
+
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+2022-12-20 20:18:33,590 WARNING  root            Component [compute] no longer exists.
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+
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+Your current Google Cloud CLI version is: 412.0.0
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+
+2022-12-20 20:18:33,595 INFO     ___FILE_ONLY___ ┌──────────────────────────────────────────────┐
+2022-12-20 20:18:33,595 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:33,595 INFO     ___FILE_ONLY___ │     These components will be installed.      │
+2022-12-20 20:18:33,595 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:33,595 INFO     ___FILE_ONLY___ ├───────────────────────┬────────────┬─────────┤
+2022-12-20 20:18:33,595 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:33,595 INFO     ___FILE_ONLY___ │          Name         │  Version   │   Size  │
+2022-12-20 20:18:33,596 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:33,596 INFO     ___FILE_ONLY___ ├───────────────────────┼────────────┼─────────┤
+2022-12-20 20:18:33,596 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:33,596 INFO     ___FILE_ONLY___ │ 
+2022-12-20 20:18:33,596 INFO     ___FILE_ONLY___ gcloud Alpha Commands
+2022-12-20 20:18:33,596 INFO     ___FILE_ONLY___  
+2022-12-20 20:18:33,596 INFO     ___FILE_ONLY___ │ 
+2022-12-20 20:18:33,597 INFO     ___FILE_ONLY___ 2022.12.09
+2022-12-20 20:18:33,597 INFO     ___FILE_ONLY___  
+2022-12-20 20:18:33,597 INFO     ___FILE_ONLY___ │ 
+2022-12-20 20:18:33,597 INFO     ___FILE_ONLY___ < 1 MiB
+2022-12-20 20:18:33,597 INFO     ___FILE_ONLY___  
+2022-12-20 20:18:33,597 INFO     ___FILE_ONLY___ │
+2022-12-20 20:18:33,597 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:33,597 INFO     ___FILE_ONLY___ │ 
+2022-12-20 20:18:33,598 INFO     ___FILE_ONLY___ gcloud Beta Commands 
+2022-12-20 20:18:33,598 INFO     ___FILE_ONLY___  
+2022-12-20 20:18:33,598 INFO     ___FILE_ONLY___ │ 
+2022-12-20 20:18:33,598 INFO     ___FILE_ONLY___ 2022.12.09
+2022-12-20 20:18:33,598 INFO     ___FILE_ONLY___  
+2022-12-20 20:18:33,598 INFO     ___FILE_ONLY___ │ 
+2022-12-20 20:18:33,598 INFO     ___FILE_ONLY___ < 1 MiB
+2022-12-20 20:18:33,598 INFO     ___FILE_ONLY___  
+2022-12-20 20:18:33,598 INFO     ___FILE_ONLY___ │
+2022-12-20 20:18:33,599 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:33,599 INFO     ___FILE_ONLY___ └───────────────────────┴────────────┴─────────┘
+2022-12-20 20:18:33,599 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:33,599 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:33,601 DEBUG    urllib3.connectionpool Starting new HTTPS connection (1): dl.google.com:443
+2022-12-20 20:18:33,674 DEBUG    urllib3.connectionpool https://dl.google.com:443 "GET /dl/cloudsdk/channels/rapid/RELEASE_NOTES HTTP/1.1" 200 916325
+2022-12-20 20:18:33,705 INFO     ___FILE_ONLY___ For the latest full release notes, please visit:
+  https://cloud.google.com/sdk/release_notes
+
+
+2022-12-20 20:18:33,712 INFO     ___FILE_ONLY___ ╔════════════════════════════════════════════════════════════╗
+
+2022-12-20 20:18:33,712 INFO     ___FILE_ONLY___ ╠═ Creating update staging area                             ═╣
+
+2022-12-20 20:18:33,713 INFO     ___FILE_ONLY___ ╚
+2022-12-20 20:18:33,713 INFO     ___FILE_ONLY___ ══════
+2022-12-20 20:18:35,027 INFO     ___FILE_ONLY___ ══════
+2022-12-20 20:18:35,028 INFO     ___FILE_ONLY___ ══════
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+2022-12-20 20:18:35,635 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:35,807 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:35,991 INFO     ___FILE_ONLY___ ═
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+2022-12-20 20:18:36,673 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:36,947 INFO     ___FILE_ONLY___ ═
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+2022-12-20 20:18:37,265 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:37,471 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:37,607 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:37,768 INFO     ___FILE_ONLY___ ═
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+2022-12-20 20:18:38,407 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:38,670 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:39,369 INFO     ___FILE_ONLY___ ═
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+2022-12-20 20:18:39,635 INFO     ___FILE_ONLY___ ═
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+2022-12-20 20:18:39,861 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:39,970 INFO     ___FILE_ONLY___ ═
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+2022-12-20 20:18:40,774 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:40,875 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:41,007 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:41,125 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:41,246 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:41,358 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:41,476 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:41,585 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:41,679 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:41,807 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:41,935 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:42,098 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:42,367 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:42,530 INFO     ___FILE_ONLY___ ═
+2022-12-20 20:18:42,530 INFO     ___FILE_ONLY___ ╝
+
+2022-12-20 20:18:47,407 INFO     ___FILE_ONLY___ ╔════════════════════════════════════════════════════════════╗
+
+2022-12-20 20:18:47,407 INFO     ___FILE_ONLY___ ╠═ Installing: gcloud Alpha Commands                        ═╣
+
+2022-12-20 20:18:47,407 INFO     ___FILE_ONLY___ ╚
+2022-12-20 20:18:47,412 DEBUG    urllib3.connectionpool Starting new HTTPS connection (1): dl.google.com:443
+2022-12-20 20:18:47,483 DEBUG    urllib3.connectionpool https://dl.google.com:443 "GET /dl/cloudsdk/channels/rapid/components/google-cloud-sdk-alpha-20221209155815.tar.gz HTTP/1.1" 200 800
+2022-12-20 20:18:47,484 INFO     ___FILE_ONLY___ ══════════════════════════════
+2022-12-20 20:18:47,487 INFO     ___FILE_ONLY___ ══════════════════════════════
+2022-12-20 20:18:47,487 INFO     ___FILE_ONLY___ ╝
+
+2022-12-20 20:18:47,502 INFO     ___FILE_ONLY___ ╔════════════════════════════════════════════════════════════╗
+
+2022-12-20 20:18:47,503 INFO     ___FILE_ONLY___ ╠═ Installing: gcloud Beta Commands                         ═╣
+
+2022-12-20 20:18:47,503 INFO     ___FILE_ONLY___ ╚
+2022-12-20 20:18:47,508 DEBUG    urllib3.connectionpool Starting new HTTPS connection (1): dl.google.com:443
+2022-12-20 20:18:47,533 DEBUG    urllib3.connectionpool https://dl.google.com:443 "GET /dl/cloudsdk/channels/rapid/components/google-cloud-sdk-beta-20221209155815.tar.gz HTTP/1.1" 200 797
+2022-12-20 20:18:47,534 INFO     ___FILE_ONLY___ ══════════════════════════════
+2022-12-20 20:18:47,535 INFO     ___FILE_ONLY___ ══════════════════════════════
+2022-12-20 20:18:47,535 INFO     ___FILE_ONLY___ ╝
+
+2022-12-20 20:18:47,548 INFO     ___FILE_ONLY___ ╔════════════════════════════════════════════════════════════╗
+
+2022-12-20 20:18:47,548 INFO     ___FILE_ONLY___ ╠═ Creating backup and activating new installation          ═╣
+
+2022-12-20 20:18:47,548 INFO     ___FILE_ONLY___ ╚
+2022-12-20 20:18:47,549 DEBUG    root            Attempting to move directory [/tools/google-cloud-sdk] to [/tools/google-cloud-sdk.staging/.install/.backup]
+2022-12-20 20:18:47,549 INFO     ___FILE_ONLY___ ══════════════════════════════
+2022-12-20 20:18:47,549 DEBUG    root            Attempting to move directory [/tools/google-cloud-sdk.staging] to [/tools/google-cloud-sdk]
+2022-12-20 20:18:47,549 INFO     ___FILE_ONLY___ ══════════════════════════════
+2022-12-20 20:18:47,549 INFO     ___FILE_ONLY___ ╝
+
+2022-12-20 20:18:47,555 DEBUG    root            Updating notification cache...
+2022-12-20 20:18:47,556 INFO     ___FILE_ONLY___ 
+
+2022-12-20 20:18:47,563 INFO     ___FILE_ONLY___ Performing post processing steps...
+2022-12-20 20:18:47,563 DEBUG    root            Executing command: ['python3', '-S', '/tools/google-cloud-sdk/lib/gcloud.py', 'components', 'post-process']
+2022-12-20 20:19:17,822 DEBUG    ___FILE_ONLY___ 
+2022-12-20 20:19:17,823 DEBUG    ___FILE_ONLY___ 
+2022-12-20 20:19:17,856 INFO     ___FILE_ONLY___ 
+Update done!
+
+
+2022-12-20 20:19:17,862 INFO     root            Display format: "none"

.config/logs/2022.12.20/20.18.48.288023.log

@@ -0,0 +1,4 @@
+2022-12-20 20:18:48,289 DEBUG    root            Loaded Command Group: ['gcloud', 'components']
+2022-12-20 20:18:48,292 DEBUG    root            Loaded Command Group: ['gcloud', 'components', 'post_process']
+2022-12-20 20:18:48,294 DEBUG    root            Running [gcloud.components.post-process] with arguments: []
+2022-12-20 20:19:17,710 INFO     root            Display format: "none"

.config/logs/2022.12.20/20.19.18.730018.log

@@ -0,0 +1,7 @@
+2022-12-20 20:19:18,732 DEBUG    root            Loaded Command Group: ['gcloud', 'config']
+2022-12-20 20:19:18,766 DEBUG    root            Loaded Command Group: ['gcloud', 'config', 'set']
+2022-12-20 20:19:18,769 DEBUG    root            Running [gcloud.config.set] with arguments: [SECTION/PROPERTY: "component_manager/disable_update_check", VALUE: "true"]
+2022-12-20 20:19:18,803 INFO     ___FILE_ONLY___ Updated property [component_manager/disable_update_check].
+
+2022-12-20 20:19:18,804 INFO     root            Display format: "default"
+2022-12-20 20:19:18,805 DEBUG    root            SDK update checks are disabled.

.config/logs/2022.12.20/20.19.19.661684.log

@@ -0,0 +1,7 @@
+2022-12-20 20:19:19,663 DEBUG    root            Loaded Command Group: ['gcloud', 'config']
+2022-12-20 20:19:19,697 DEBUG    root            Loaded Command Group: ['gcloud', 'config', 'set']
+2022-12-20 20:19:19,700 DEBUG    root            Running [gcloud.config.set] with arguments: [SECTION/PROPERTY: "compute/gce_metadata_read_timeout_sec", VALUE: "0"]
+2022-12-20 20:19:19,701 INFO     ___FILE_ONLY___ Updated property [compute/gce_metadata_read_timeout_sec].
+
+2022-12-20 20:19:19,702 INFO     root            Display format: "default"
+2022-12-20 20:19:19,703 DEBUG    root            SDK update checks are disabled.

.gitattributes

@@ -168,3 +168,18 @@ ceres-bin/bin/ba_iterschur_cxsparse_clustjacobi_auto_threads_test filter=lfs dif
 ceres-bin/lib/libceres.a filter=lfs diff=lfs merge=lfs -text
 sample_data/mnist_train_small.csv filter=lfs diff=lfs merge=lfs -text
 sample_data/mnist_test.csv filter=lfs diff=lfs merge=lfs -text
+colmap/build/src/libcolmap.a filter=lfs diff=lfs merge=lfs -text
+colmap/build/src/libcolmap_cuda.a filter=lfs diff=lfs merge=lfs -text
+colmap/build/src/CMakeFiles/colmap_cuda.dir/mvs/patch_match_cuda.cu.o filter=lfs diff=lfs merge=lfs -text
+colmap/build/src/CMakeFiles/colmap.dir/feature/matching.cc.o filter=lfs diff=lfs merge=lfs -text
+colmap/build/src/CMakeFiles/colmap.dir/optim/bundle_adjustment.cc.o filter=lfs diff=lfs merge=lfs -text
+colmap/build/src/exe/colmap filter=lfs diff=lfs merge=lfs -text
+colmap/build/lib/PBA/libpba.a filter=lfs diff=lfs merge=lfs -text
+colmap/build/lib/PoissonRecon/libpoisson_recon.a filter=lfs diff=lfs merge=lfs -text
+colmap/build/lib/PoissonRecon/CMakeFiles/poisson_recon.dir/PoissonRecon.cpp.o filter=lfs diff=lfs merge=lfs -text
+colmap/build/lib/FLANN/libflann.a filter=lfs diff=lfs merge=lfs -text
+colmap/build/lib/FLANN/CMakeFiles/flann.dir/flann.cpp.o filter=lfs diff=lfs merge=lfs -text
+colmap/build/lib/SiftGPU/libsift_gpu.a filter=lfs diff=lfs merge=lfs -text
+colmap/build/lib/SQLite/libsqlite3.a filter=lfs diff=lfs merge=lfs -text
+colmap/build/lib/SQLite/CMakeFiles/sqlite3.dir/sqlite3.c.o filter=lfs diff=lfs merge=lfs -text
+colmap/doc/images/sparse.png filter=lfs diff=lfs merge=lfs -text

colmap/.azure-pipelines/build-mac.yaml

@@ -0,0 +1,48 @@
+parameters:
+  displayName: 'Mac 10.15'
+  macVersion: '10.15'
+  
+jobs:
+- job: mac_build_${{ replace(parameters.macVersion, '.', '') }}
+  displayName: '${{ parameters.displayName }}'
+  pool:
+    vmImage: 'macOS-${{ parameters.macVersion }}'
+  steps:
+  - script: |
+      brew install \
+        cmake \
+        ninja \
+        boost \
+        eigen \
+        freeimage \
+        metis \
+        glog \
+        gflags \
+        ceres-solver \
+        qt5 \
+        glew \
+        cgal
+    displayName: 'Install dependencies'
+
+  - script: |
+      export PATH="/usr/local/opt/qt@5/bin:$PATH"
+      cmake --version
+      mkdir build
+      cd build
+      cmake .. \
+        -GNinja \
+        -DTESTS_ENABLED=ON \
+        -DQt5_DIR=/usr/local/opt/qt/lib/cmake/Qt5
+      ninja
+    displayName: 'Configure and build'
+
+  - script: |
+      cd build
+      ctest
+      tests_pass=$?
+      if [ $tests_pass -ne 0 ]; then
+          echo "\n\n\nTests failed, rerunning with verbose output"
+          ctest --rerun-failed --output-on-failure
+      fi
+      exit $tests_pass
+    displayName: 'Run tests'

colmap/.azure-pipelines/build-ubuntu.yaml

@@ -0,0 +1,90 @@
+parameters:
+  displayName: 'Ubuntu 20.04'
+  ubuntuVersion: '20.04'
+  cudaEnabled: false
+  asanEnabled: false
+
+jobs:
+- job: ubuntu_build_${{ replace(parameters.ubuntuVersion, '.', '') }}_cuda_${{ parameters.cudaEnabled }}_asan_${{ parameters.asanEnabled }}
+  displayName: '${{ parameters.displayName }}'
+  pool:
+    vmImage: 'ubuntu-${{ parameters.ubuntuVersion }}'
+  steps:
+  - script: |
+      sudo apt-get update && sudo apt-get install -y \
+        build-essential \
+        ninja-build \
+        libboost-program-options-dev \
+        libboost-filesystem-dev \
+        libboost-graph-dev \
+        libboost-system-dev \
+        libboost-test-dev \
+        libeigen3-dev \
+        libceres-dev \
+        libfreeimage-dev \
+        libmetis-dev \
+        libgoogle-glog-dev \
+        libgflags-dev \
+        libglew-dev \
+        qtbase5-dev \
+        libqt5opengl5-dev \
+        libcgal-dev \
+        libcgal-qt5-dev \
+        libgl1-mesa-dri \
+        libunwind-dev \
+        xvfb
+    displayName: 'Install dependencies'
+  
+  - ${{ if eq(parameters.cudaEnabled, true) }}:
+    - ${{ if eq(parameters.ubuntuVersion, '22.04') }}:
+      - script: |
+          sudo apt-get install -y \
+            nvidia-cuda-toolkit \
+            nvidia-cuda-toolkit-gcc \
+            gcc-10 g++-10
+          echo '##vso[task.setvariable variable=CC]/usr/bin/gcc-10'
+          echo '##vso[task.setvariable variable=CXX]/usr/bin/g++-10'
+          echo '##vso[task.setvariable variable=CUDAHOSTCXX]/usr/bin/g++-10'
+        displayName: 'Install CUDA'
+    - ${{ if ne(parameters.ubuntuVersion, '22.04') }}:
+      - script: |
+          sudo apt-get install -y \
+            nvidia-cuda-toolkit \
+            nvidia-cuda-toolkit-gcc
+          echo '##vso[task.setvariable variable=CC]/usr/bin/cuda-gcc'
+          echo '##vso[task.setvariable variable=CXX]/usr/bin/cuda-g++'
+        displayName: 'Install CUDA'
+
+  - ${{ if eq(parameters.asanEnabled, true) }}:
+    - script: |
+        sudo apt-get install -y clang-10
+        echo '##vso[task.setvariable variable=CC]/usr/bin/clang'
+        echo '##vso[task.setvariable variable=CXX]/usr/bin/clang++'
+      displayName: 'Install Clang'
+
+  - script: |
+      cmake --version
+      mkdir build
+      cd build
+      cmake .. \
+        -GNinja \
+        -DTESTS_ENABLED=ON \
+        -DCUDA_ARCHS=5.0 \
+        -DASAN_ENABLED=${{ parameters.asanEnabled }}
+      ninja
+    displayName: 'Configure and build'
+
+  - script: |
+      export DISPLAY=":99.0"
+      export QT_QPA_PLATFORM="offscreen"
+      Xvfb :99 &
+      sleep 3
+      cd build
+      ctest -E "(feature/sift_test)|(util/opengl_utils_test)|(mvs/gpu_mat_test)"
+      tests_pass=$?
+      if [ $tests_pass -ne 0 ]; then
+          echo "Tests failed, rerunning with verbose output"
+          ctest --rerun-failed --output-on-failure
+      fi
+      exit $tests_pass
+    displayName: 'Run tests'

colmap/.azure-pipelines/build-windows-vcpkg.txt

@@ -0,0 +1,17 @@
+--triplet
+x64-windows
+boost-filesystem
+boost-graph
+boost-program-options
+boost-regex
+boost-system
+boost-test
+ceres[lapack,suitesparse]
+cgal
+eigen3
+freeimage
+metis
+gflags
+glew
+glog
+qt5-base

colmap/.azure-pipelines/build-windows.yaml

@@ -0,0 +1,62 @@
+parameters:
+  visualStudioVersion: '2019'
+
+jobs:
+- job: windows_build_${{ parameters.visualStudioVersion }}
+  displayName: 'Windows VS${{ parameters.visualStudioVersion }}'
+  timeoutInMinutes: 360
+  pool:
+    vmImage: 'windows-${{ parameters.visualStudioVersion }}'
+  variables:
+    vcpkgGitCommitId: 9b22b40c6c61bf0da2d46346dd44a11e90972cc9
+  steps:
+  - task: Cache@2
+    displayName: 'Cache vcpkg'
+    inputs:
+      key: $(Build.SourcesDirectory)/.azure-pipelines/build-windows-vcpkg.txt | "$(vcpkgGitCommitId)" | "$(Agent.OS)" | "${{ parameters.visualStudioVersion }}"
+      path: '$(Build.BinariesDirectory)/vcpkg'
+
+  - task: run-vcpkg@0
+    displayName: 'Run vcpkg'
+    inputs:
+      vcpkgArguments: '@$(Build.SourcesDirectory)/.azure-pipelines/build-windows-vcpkg.txt'
+      vcpkgGitCommitId: $(vcpkgGitCommitId)
+      vcpkgGitURL: https://github.com/microsoft/vcpkg
+
+  - pwsh: |
+      curl -L -o `
+        $(Build.BinariesDirectory)/ninja.zip `
+        https://github.com/ninja-build/ninja/releases/download/v1.10.2/ninja-win.zip
+      Expand-Archive -LiteralPath $(Build.BinariesDirectory)/ninja.zip -DestinationPath $(Build.BinariesDirectory)
+    displayName: Prepare build
+
+  - task: run-cmake@0
+    displayName: 'Configure and build'
+    inputs:
+      cmakeListsOrSettingsJson: 'CMakeListsTxtAdvanced'
+      cmakeListsTxtPath: '$(Build.SourcesDirectory)/CMakeLists.txt'
+      cmakeBuildType: 'Release'
+      cmakeGenerator: 'Ninja'
+      cmakeAppendedArgs: -GNinja -DCMAKE_MAKE_PROGRAM=$(Build.BinariesDirectory)/ninja.exe -DCMAKE_BUILD_TYPE=Release -DTESTS_ENABLED=ON
+      useVcpkgToolchainFile: true
+
+  - pwsh: |
+      $env:PATH = "$(Build.BinariesDirectory)/vcpkg/installed/x64-windows/release/bin/;$env:Path"
+      ctest
+      $tests_pass=$LastExitCode
+      if ($tests_pass -ne 0) {
+          echo "`n`n`nTests failed, rerunning with verbose output"
+          ctest --rerun-failed --output-on-failure
+      }
+      exit $tests_pass
+    workingDirectory: $(Build.ArtifactStagingDirectory)
+    displayName: 'Run tests'
+
+  - pwsh: |
+      # Deleting a directory that breaks the caching of vcpkg.
+      # Could potentially be disabled again in future vcpkg versions.
+      $path = "$(Build.BinariesDirectory)/vcpkg/installed/x64-windows/tools/meson/test cases"
+      if (Test-Path $path) {
+        Remove-Item -Recurse -Force $path
+      }
+    displayName: 'Cleanup environment'

colmap/.azure-pipelines/build.yaml

@@ -0,0 +1,42 @@
+trigger:
+  - dev
+
+jobs:
+  - template: build-windows.yaml
+    parameters:
+      visualStudioVersion: 2019
+  # Temporarily disabled, because of issue of compiling Eigen with VS2022.
+  # - template: build-windows.yaml
+  #   parameters:
+  #     visualStudioVersion: 2022
+  - template: build-ubuntu.yaml
+    parameters:
+      displayName: 'Ubuntu 20.04'
+      ubuntuVersion: 20.04
+  - template: build-ubuntu.yaml
+    parameters:
+      displayName: 'Ubuntu 20.04 (CUDA)'
+      ubuntuVersion: 20.04
+      cudaEnabled: true
+  - template: build-ubuntu.yaml
+    parameters:
+      displayName: 'Ubuntu 20.04 (ASan)'
+      ubuntuVersion: 20.04
+      asanEnabled: true
+  - template: build-ubuntu.yaml
+    parameters:
+      displayName: 'Ubuntu 22.04'
+      ubuntuVersion: 22.04
+  - template: build-ubuntu.yaml
+    parameters:
+      displayName: 'Ubuntu 22.04 (CUDA)'
+      ubuntuVersion: 22.04
+      cudaEnabled: true
+  - template: build-mac.yaml
+    parameters:
+      displayName: 'Mac 11'
+      macVersion: 11
+  - template: build-mac.yaml
+    parameters:
+      displayName: 'Mac 12'
+      macVersion: 12

colmap/.clang-format

@@ -0,0 +1,67 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: true
+AlignConsecutiveAssignments: false
+AlignEscapedNewlinesLeft: true
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
+IndentCaseLabels: true
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+TabWidth:        8
+UseTab:          Never
+...
+

colmap/.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,35 @@
+---
+name: Bug report
+about: Create a report to help us improve
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. iOS]
+ - Browser [e.g. chrome, safari]
+ - Version [e.g. 22]
+
+**Smartphone (please complete the following information):**
+ - Device: [e.g. iPhone6]
+ - OS: [e.g. iOS8.1]
+ - Browser [e.g. stock browser, safari]
+ - Version [e.g. 22]
+
+**Additional context**
+Add any other context about the problem here.

colmap/.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,17 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

colmap/.gitignore

@@ -0,0 +1,43 @@
+# Custom files
+LocalConfig.cmake
+src/util/version.h
+
+# Custom directories
+.idea/
+.vscode
+.DS_Store
+build*/
+install-debug/
+install-release/
+data/
+doc/_build
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+*.pyc
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app

colmap/.gitmodules

@@ -0,0 +1,4 @@
+[submodule "doc/_build/html"]
+	path = doc/_build/html
+	url = https://github.com/colmap/colmap.github.io.git
+	ignore = all

colmap/CHANGELOG.txt

@@ -0,0 +1,277 @@
+COLMAP 3.7 (01/26/2022)
+-----------------------
+* Allow to save fused point cloud in colmap format when using command line by @boitumeloruf in https://github.com/colmap/colmap/pull/799
+* Fix typos in image.h by @Pascal-So in https://github.com/colmap/colmap/pull/936
+* Fix for EPnP estimator by @vlarsson in https://github.com/colmap/colmap/pull/943
+* Visualize models using Python in Open3D by @ahojnnes in https://github.com/colmap/colmap/pull/948
+* Update tutorial.rst by @ignacio-rocco in https://github.com/colmap/colmap/pull/953
+* 8 point algorithm internal contraint fix by @mihaidusmanu in https://github.com/colmap/colmap/pull/982
+* Python script for writing depth/normal arrays by @SBCV in https://github.com/colmap/colmap/pull/957
+* BuildImageModel: use std::vector instead of numbered arguments by @Pascal-So in https://github.com/colmap/colmap/pull/949
+* Fix bugs of sift feature matching by @whuaegeanse in https://github.com/colmap/colmap/pull/985
+* script for modifying fused results by @SBCV in https://github.com/colmap/colmap/pull/984
+* fix camera model query by @Pascal-So in https://github.com/colmap/colmap/pull/997
+* fixed small bug in visualize_model.py by @sniklaus in https://github.com/colmap/colmap/pull/1007
+* Update .travis.yml by @srinivas32 in https://github.com/colmap/colmap/pull/989
+* Ensure DecomposeHomographyMatrix() always returns rotations by @daithimaco in https://github.com/colmap/colmap/pull/1040
+* Remove deprecated qt foreach by @UncleGene in https://github.com/colmap/colmap/pull/1039
+* Fix AMD/Windows GUI visualization bug by @drkoller in https://github.com/colmap/colmap/pull/1079
+* include colmap_cuda in COLMAP_LIBRARIES when compiled with cuda by @ClementPinard in https://github.com/colmap/colmap/pull/1084
+* Fix runtime crash when sparsesuite is missing from ceres by @anmatako in https://github.com/colmap/colmap/pull/1115
+* Store relative poses in two_view_geometry table by @Ahmed-Salama in https://github.com/colmap/colmap/pull/1103
+* search src images for patch_match from all set, not only referenced subset by @DaniilSNikulin in https://github.com/colmap/colmap/pull/1038
+* Replace Travis CI with Azure Pipelines for Linux/Mac builds by @ahojnnes in https://github.com/colmap/colmap/pull/1119
+* Allow ReadPly to handle double precision files by @anmatako in https://github.com/colmap/colmap/pull/1131
+* Update GPSTransform calculations to improve accuracy by @anmatako in https://github.com/colmap/colmap/pull/1132
+* Add scale template flag in SimilarityTransform3::Estimate by @anmatako in https://github.com/colmap/colmap/pull/1133
+* Add CopyFile utility that can copy or hard/soft-link files by @anmatako in https://github.com/colmap/colmap/pull/1134
+* Expose BA options in IncrementalMapper by @anmatako in https://github.com/colmap/colmap/pull/1139
+* Allow configurable paths for mvs::Model by @anmatako in https://github.com/colmap/colmap/pull/1141
+* Change ReconstructionMaanger to write larger recons first by @anmatako in https://github.com/colmap/colmap/pull/1137
+* Setup Azure pipelines for Windows build by @ahojnnes in https://github.com/colmap/colmap/pull/1150
+* Add fixed extrinsics in rig config by @anmatako in https://github.com/colmap/colmap/pull/1144
+* Allow custom config and missing dependencies for patch-match by @anmatako in https://github.com/colmap/colmap/pull/1142
+* Update print statements for Python 3 compatibility by @UncleGene in https://github.com/colmap/colmap/pull/1126
+* Allow cleanup of SQLite tables using new database_cleaner command by @anmatako in https://github.com/colmap/colmap/pull/1136
+* Extend SceneClustering to support non-hierarchical (flat) clusters by @anmatako in https://github.com/colmap/colmap/pull/1140
+* Support more formats in model_converter by @anmatako in https://github.com/colmap/colmap/pull/1147
+* Fix Mac 10.15 build due to changed Qt5 path by @ahojnnes in https://github.com/colmap/colmap/pull/1157
+* Fix bug in ReadCameraRigConfig when reading extrinsics by @anmatako in https://github.com/colmap/colmap/pull/1158
+* Add utility to compare poses between two sparse models by @ahojnnes in https://github.com/colmap/colmap/pull/1159
+* Modularize executable main functions into separate sources by @ahojnnes in https://github.com/colmap/colmap/pull/1160
+* Fix unnecessary copies in for range loops by @ahojnnes in https://github.com/colmap/colmap/pull/1162
+* Add script to clang-format all source code by @ahojnnes in https://github.com/colmap/colmap/pull/1163
+* Add back new options and formats for model_converter by @anmatako in https://github.com/colmap/colmap/pull/1164
+* ImageReder new option and bug fix in GPS priors by @anmatako in https://github.com/colmap/colmap/pull/1146
+* Parallelize stereo fusion; needs pre-loading of entire workspace by @anmatako in https://github.com/colmap/colmap/pull/1148
+* Refactoring and new functionality in Reconstruction class by @anmatako in https://github.com/colmap/colmap/pull/1169
+* Add new functionality in image_undistorter by @anmatako in https://github.com/colmap/colmap/pull/1168
+* Add new CMake option to disable GUI by @anmatako in https://github.com/colmap/colmap/pull/1165
+* Fix the memory leak caused by not releasing the memory of the PRNG at the end of the thread by @whuaegeanse in https://github.com/colmap/colmap/pull/1170
+* Fix fusion segfault bug by @anmatako in https://github.com/colmap/colmap/pull/1176
+* Update SiftGPU to use floorf for floats by @anmatako in https://github.com/colmap/colmap/pull/1182
+* fix typo in extraction.cc by @iuk in https://github.com/colmap/colmap/pull/1191
+* Improvements to NVM, Cam, Recon3D, and Bundler exporters by @drkoller in https://github.com/colmap/colmap/pull/1187
+* Update model_aligner functionality by @anmatako in https://github.com/colmap/colmap/pull/1177
+* Add new model_cropper and model_splitter commands by @anmatako in https://github.com/colmap/colmap/pull/1179
+* use type point2D_t instead of image_t by @iuk in https://github.com/colmap/colmap/pull/1199
+* Fix radial distortion in Cam format exporter by @drkoller in https://github.com/colmap/colmap/pull/1196
+* Add new model_transformer command by @anmatako in https://github.com/colmap/colmap/pull/1178
+* Fix error of using urllib to download eigen from gitlab by @whuaegeanse in https://github.com/colmap/colmap/pull/1194
+* Multi-line string fix in Python model script by @mihaidusmanu in https://github.com/colmap/colmap/pull/1217
+* added visibility_sigma to CLI input options for delaunay_mesher. by @Matstah in https://github.com/colmap/colmap/pull/1236
+* Backwards compatibility of model_aligner by @tsattler in https://github.com/colmap/colmap/pull/1240
+* [update undistortion] update dumped commands by @hiakru in https://github.com/colmap/colmap/pull/1276
+* Compute reprojection error in generalized absolute solver by @Skydes in https://github.com/colmap/colmap/pull/1257
+* Modifying scripts/python/flickr_downloader.py to create files with correct extensions by @snavely in https://github.com/colmap/colmap/pull/1275
+* revise Dockerfile and readme. by @MasahiroOgawa in https://github.com/colmap/colmap/pull/1281
+* Update to latest vcpkg version by @ahojnnes in https://github.com/colmap/colmap/pull/1319
+* Fix compiler warnings reported by GCC by @ahojnnes in https://github.com/colmap/colmap/pull/1317
+* Auto-rotate JPEG images based on EXIF orientation by @ahojnnes in https://github.com/colmap/colmap/pull/1318
+* Upgrade vcpkg to fix CI build issues by @ahojnnes in https://github.com/colmap/colmap/pull/1331
+* Added descriptor normalization argument to feature_extractor. by @mihaidusmanu in https://github.com/colmap/colmap/pull/1332
+* Fix memory leak in the function of StringAppendV by @whuaegeanse in https://github.com/colmap/colmap/pull/1337
+* Add CUDA_SAFE_CALL to cudaGetDeviceCount. by @chpatrick in https://github.com/colmap/colmap/pull/1334
+* Add missing include in case CUDA/GUI is not available by @ahojnnes in https://github.com/colmap/colmap/pull/1329
+* Fix wrong WGS84 model and test cases in GPSTransform by @Freeverc in https://github.com/colmap/colmap/pull/1333
+* Fixes bug in sprt.cc: num_inliers was not set. by @rmbrualla in https://github.com/colmap/colmap/pull/1360
+* Prevent a divide by zero corner case. by @rmbrualla in https://github.com/colmap/colmap/pull/1361
+* Adds missing header. by @rmbrualla in https://github.com/colmap/colmap/pull/1362
+* Require Qt in COLMAPConfig only if GUI is enabled by @Skydes in https://github.com/colmap/colmap/pull/1365
+* Keep precision in the process of storing in text. by @whuaegeanse in https://github.com/colmap/colmap/pull/1363
+* Expose exe internals by @Skydes in https://github.com/colmap/colmap/pull/1366
+* Fix inliers matches extraction in EstimateUncalibrated function. by @ferreram in https://github.com/colmap/colmap/pull/1369
+* Expose exe internals - fix by @Skydes in https://github.com/colmap/colmap/pull/1368
+* Remove deprecated Mac OSX 10.14 image in ADO pipeline by @ahojnnes in https://github.com/colmap/colmap/pull/1383
+* Add Mac OSX 11 ADO pipeline job by @ahojnnes in https://github.com/colmap/colmap/pull/1384
+* Fix warnings for latest compiler/libraries by @ahojnnes in https://github.com/colmap/colmap/pull/1382
+* Fix clang compiler warnings by @ahojnnes in https://github.com/colmap/colmap/pull/1387
+* Add Address Sanitizer options and fix reported issues by @ahojnnes in https://github.com/colmap/colmap/pull/1390
+* User/joschonb/asan cleanup by @ahojnnes in https://github.com/colmap/colmap/pull/1391
+* Add ADO pipeline for Visual Studio 2022 by @ahojnnes in https://github.com/colmap/colmap/pull/1392
+* Add ccache option by @ahojnnes in https://github.com/colmap/colmap/pull/1395
+* Update ModelAligner to handle GPS and custom coords. and more by @ferreram in https://github.com/colmap/colmap/pull/1371
+
+
+COLMAP 3.6 (07/24/2020)
+-----------------------
+- Improved robustness and faster incremental reconstruction process
+- Add ``image_deleter`` command to remove images from sparse model
+- Add ``image_filter`` command to filter bad registrations from sparse model
+- Add ``point_filtering`` command to filter sparse model point clouds
+- Add ``database_merger`` command to merge two databases, which is
+  useful to parallelize matching across different machines
+- Add ``image_undistorter_standalone`` to enable undistorting images
+  without a pre-existing full sparse model
+- Improved undistortion for fisheye cameras and FOV camera model
+- Support for masking input images in feature extraction stage
+- Improved HiDPI support in GUI for high-resolution monitors
+- Import sparse model when launching GUI from CLI
+- Faster CPU-based matching using approximate NN search
+- Support for bundle adjustment with fixed extrinsics
+- Support for fixing existing images when continuing reconstruction
+- Camera model colors in viewer can be customized
+- Support for latest GPU architectures in CUDA build
+- Support for writing sparse models in Python scripts
+- Scripts for building and running COLMAP in Docker
+- Many more bug fixes and improvements to code and documentation
+
+
+COLMAP 3.5 (08/22/2018)
+-----------------------
+- COLMAP is now released under the BSD license instead of the GPL
+- COLMAP is now installed as a library, whose headers can be included and
+  libraries linked against from other C/C++ code
+- Add hierarchical mapper for parallelized reconstruction or large scenes
+- Add sparse and dense Delaunay meshing algorithms, which reconstruct a
+  watertight surface using a graph cut on the Delaunay triangulation of the
+  reconstructed sparse or dense point cloud
+- Improved robustness when merging different models
+- Improved pre-trained vocabulary trees available for download
+- Add COLMAP as a software entry under Linux desktop systems
+- Add support to compile COLMAP on ARM platforms
+- Add example Python script to read/write COLMAP database
+- Add region of interest (ROI) cropping in image undistortion
+- Several import bug fixes for spatial verification in image retrieval
+- Add more extensive continuous integration across more compilation scenarios
+- Many more bug fixes and improvements to code and documentation
+
+
+COLMAP 3.4 (01/29/2018)
+-----------------------
+- Unified command-line interface: The functionality of previous executables have
+  been merged into the ``src/exe/colmap.cc`` executable. The GUI can now be
+  started using the command ``colmap gui`` and other commands are available
+  as ``colmap [command]``. For example, the feature extractor is now available
+  as ``colmap feature_extractor [args]`` while all command-line arguments stay
+  the same as before. This should result in much faster project compile times
+  and smaller disk space usage of the program. More details about the new
+  interface are documented at https://colmap.github.io/cli.html
+- More complete depth and normal maps with larger patch sizes
+- Faster dense stereo computation by skipping rows/columns in patch match,
+  improved random sampling in patch match, and faster bilateral NCC
+- Better high DPI screen support for the graphical user interface
+- Improved model viewer under Windows, which now requires Qt 5.4
+- Save computed two-view geometries in database
+- Images (keypoint/matches visualization, depth and normal maps) can now be
+  saved from the graphical user interface
+- Support for PMVS format without sparse bundler file
+- Faster covariant feature detection
+- Many more bug fixes and improvements
+
+
+COLMAP 3.3 (11/21/2017)
+-----------------------
+- Add DSP (Domain Size Pooling) SIFT implementation. DSP-SIFT outperforms
+  standard SIFT in most cases, as shown in "Comparative Evaluation of
+  Hand-Crafted and Learned Local Features", Schoenberger et al., CVPR 2017
+- Improved parameters dense reconstruction of smaller models
+- Improved compile times due to various code optimizations
+- Add option to specify camera model in automatic reconstruction
+- Add new model orientation alignment based on upright image assumption
+- Improved numerical stability for generalized absolute pose solver
+- Support for image range specification in PMVS dense reconstruction format
+- Support for older Python versions in automatic build script
+- Fix OpenCV Fisheye camera model to exactly match OpenCV specifications
+
+
+COLMAP 3.2 (9/2/2017)
+----------------------
+- Fully automatic cross-platform build script (Windows, Mac, Linux)
+- Add multi-GPU feature extraction if multiple CUDA devices are available
+- Configurable dimension and data type for vocabulary tree implementation
+- Add new sequential matching mode for image sequences with high frame-rate
+- Add generalized relative pose solver for multi-camera systems
+- Add sparse least absolute deviation solver
+- Add CPU/GPU options to automatic reconstruction tool
+- Add continuous integration system under Windows, Mac, Linux through Github
+- Many more bug fixes and improvements
+
+
+COLMAP 3.1 (6/15/2017)
+----------------------
+- Add fast spatial verification to image retrieval module
+- Add binary file format for sparse models by default. Old text format still
+  fully compatible and possible conversion in GUI and CLI
+- Add cross-platform little endian binary file reading and writing
+- Faster and less memory hungry stereo fusion by computing consistency on demand
+  and possible limitation of image size in fusion
+- Simpler geometric stereo processing interface.
+  Now geometric stereo output can be computed using a single pass
+- Faster and multi-architecture CUDA compilation
+- Add medium quality option in automatic reconstructor
+- Many more bug fixes and improvements
+
+
+COLMAP 3.0 (5/22/2017)
+----------------------
+- Add automatic end-to-end reconstruction tool that automatically performs
+  sparse and dense reconstruction on a given set of images
+- Add multi-GPU dense stereo if multiple CUDA devices are available
+- Add multi-GPU feature matching if multiple CUDA devices are available
+- Add Manhattan-world / gravity alignment using line detection
+- Add CUDA-based feature extraction useful for usage on clusters
+- Add CPU-based feature matching for machines without GPU
+- Add new THIN_PRISM_FISHEYE camera model with tangential/radial correction
+- Add binary to triangulate existing/empty sparse reconstruction
+- Add binary to print summary statistics about sparse reconstruction
+- Add transitive feature matching to transitively complete match graph
+- Improved scalability of dense reconstruction by using caching
+- More stable GPU-based feature matching with informative warnings
+- Faster vocabulary tree matching using dynamic scheduling in FLANN
+- Faster spatial feature matching using linear index instead of kd-tree
+- More stable camera undistortion using numerical Newton iteration
+- Improved option parsing with some backwards incompatible option renaming
+- Faster compile times by optimizing includes and CUDA flags
+- More stable view selection for small baseline scenario in dense reconstruction
+- Many more bug fixes and improvements
+
+
+COLMAP 2.1 (12/7/2016)
+----------------------
+- Support to only index and match specific images in vocabulary tree matching
+- Support to perform image retrieval using vocabulary tree
+- Several bug fixes and improvements for multi-view stereo module
+- Improved Structure-from-Motion initialization strategy
+- Support to only reconstruct the scene using specific images in the database
+- Add support to merge two models using overlapping registered images
+- Add support to geo-register/align models using known camera locations
+- Support to only extract specific images in feature extraction module
+- Support for snapshot model export during reconstruction
+- Skip already undistorted images if they exist in output directory
+- Support to limit the number of features in image retrieval for improved speed
+- Miscellaneous bug fixes and improvements
+
+
+COLMAP 2.0 (9/8/2016)
+---------------------
+- Implementation of dense reconstruction pipeline
+- Improved feature matching performance
+- New bundle adjuster for rigidly mounted multi-camera systems
+- New generalized absolute pose solver for multi-camera systems
+- New executable to extract colors from all images
+- Boost can now be linked in shared and static mode
+- Various bug fixes and performance improvements
+
+
+COLMAP 1.1 (5/19/2016)
+----------------------
+- Implementation of state-of-the-art image retrieval system using Hamming
+  embedding for vocabulary tree matching. This should lead to much improved
+  matching results as compared to the previous implementation.
+- Guided matching as an optional functionality.
+- New demo datasets for download.
+- Automatically switch to PBA if supported by the project.
+- Implementation of EPNP solver for local pose optimization in RANSAC.
+- Add option to extract upright SIFT features.
+- Saving JPEGs in superb quality by default in export.
+- Add option to clear matches and inlier matches in the project.
+- New fisheye camera models, including the FOV camera model used by Google
+  Project Tango (Thomas Schoeps).
+- Extended documentation based on user feedback.
+- Fixed typo in documentation (Thomas Schoeps).
+
+
+COLMAP 1.0 (4/4/2016)
+---------------------
+- Initial release of COLMAP.

colmap/CMakeLists.txt

@@ -0,0 +1,501 @@
+# Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#     * Redistributions of source code must retain the above copyright
+#       notice, this list of conditions and the following disclaimer.
+#
+#     * Redistributions in binary form must reproduce the above copyright
+#       notice, this list of conditions and the following disclaimer in the
+#       documentation and/or other materials provided with the distribution.
+#
+#     * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
+#       its contributors may be used to endorse or promote products derived
+#       from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
+
+cmake_minimum_required(VERSION 3.1)
+
+project(COLMAP LANGUAGES C CXX)
+
+set(COLMAP_VERSION "3.8")
+set(COLMAP_VERSION_NUMBER "3800")
+
+################################################################################
+# Include CMake dependencies
+################################################################################
+
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+
+include(CheckCXXCompilerFlag)
+
+# Include helper macros and commands, and allow the included file to override
+# the CMake policies in this file
+include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/CMakeHelper.cmake NO_POLICY_SCOPE)
+
+
+################################################################################
+# Options
+################################################################################
+
+option(SIMD_ENABLED "Whether to enable SIMD optimizations" ON)
+option(OPENMP_ENABLED "Whether to enable OpenMP parallelization" ON)
+option(IPO_ENABLED "Whether to enable interprocedural optimization" ON)
+option(CUDA_ENABLED "Whether to enable CUDA, if available" ON)
+option(GUI_ENABLED "Whether to enable the graphical UI" ON)
+option(OPENGL_ENABLED "Whether to enable OpenGL, if available" ON)
+option(TESTS_ENABLED "Whether to build test binaries" OFF)
+option(ASAN_ENABLED "Whether to enable AddressSanitizer flags" OFF)
+option(PROFILING_ENABLED "Whether to enable google-perftools linker flags" OFF)
+option(CCACHE_ENABLED "Whether to enable compiler caching, if available" ON)
+option(CGAL_ENABLED "Whether to enable the CGAL library" ON)
+option(BOOST_STATIC "Whether to enable static boost library linker flags" ON)
+set(CUDA_ARCHS "5.0" CACHE STRING "List of CUDA architectures for which to \
+generate code, e.g., 5.0, 6.0, 7.5, ...")
+
+if(TESTS_ENABLED)
+    enable_testing()
+endif()
+
+if(BOOST_STATIC)
+    set(Boost_USE_STATIC_LIBS ON)
+else()
+    add_definitions("-DBOOST_TEST_DYN_LINK")
+endif()
+
+################################################################################
+# Find packages
+################################################################################
+
+if(OPENMP_ENABLED)
+    find_package(OpenMP QUIET)
+endif()
+
+find_package(Ceres REQUIRED)
+
+find_package(Boost REQUIRED COMPONENTS
+             program_options
+             filesystem
+             graph
+             system
+             unit_test_framework)
+
+find_package(Eigen3 REQUIRED)
+
+find_package(FreeImage REQUIRED)
+
+find_package(Metis REQUIRED)
+
+find_package(Glog REQUIRED)
+
+set(OpenGL_GL_PREFERENCE GLVND)
+find_package(OpenGL REQUIRED)
+find_package(Glew REQUIRED)
+find_package(Git)
+
+if(CGAL_ENABLED)
+    set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
+    # We do not use CGAL data. This prevents an unnecessary warning by CMake.
+    set(CGAL_DATA_DIR "unused")
+    find_package(CGAL QUIET)
+endif()
+
+set(CUDA_MIN_VERSION "7.0")
+if(CUDA_ENABLED)
+    if(${CMAKE_VERSION} VERSION_LESS "3.17.0")
+	    find_package(CUDA ${CUDA_MIN_VERSION} QUIET)
+    else()
+	    find_package(CUDAToolkit ${CUDA_MIN_VERSION} QUIET)
+    endif()
+endif()
+
+if(GUI_ENABLED)
+    find_package(Qt5 5.4 COMPONENTS Core OpenGL Widgets)
+    if(Qt5_FOUND)
+        message(STATUS "Found Qt")
+        message(STATUS "  Module : ${Qt5Core_DIR}")
+        message(STATUS "  Module : ${Qt5OpenGL_DIR}")
+        message(STATUS "  Module : ${Qt5Widgets_DIR}")
+    else()
+        set(GUI_ENABLED OFF)
+    endif()
+endif()
+
+if(OPENGL_ENABLED AND NOT GUI_ENABLED)
+    message(STATUS "Disabling GUI will also disable OpenGL")
+    set(OPENGL_ENABLED OFF)
+endif()
+
+if(CGAL_FOUND)
+    list(APPEND CGAL_LIBRARY ${CGAL_LIBRARIES})
+    message(STATUS "Found CGAL")
+    message(STATUS "  Includes : ${CGAL_INCLUDE_DIRS}")
+    message(STATUS "  Libraries : ${CGAL_LIBRARY}")
+endif()
+
+
+################################################################################
+# Compiler specific configuration
+################################################################################
+
+if(CMAKE_BUILD_TYPE)
+    message(STATUS "Build type specified as ${CMAKE_BUILD_TYPE}")
+else()
+    message(STATUS "Build type not specified, using Release")
+    set(CMAKE_BUILD_TYPE Release)
+    set(IS_DEBUG OFF)
+endif()
+
+if(IS_MSVC)
+    # Some fixes for the Glog library.
+    add_definitions("-DGLOG_NO_ABBREVIATED_SEVERITIES")
+    add_definitions("-DGL_GLEXT_PROTOTYPES")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc")
+    # Enable object level parallel builds in Visual Studio.
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /MP")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP")
+endif()
+
+if(IS_GNU)
+    if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9)
+        message(FATAL_ERROR "GCC version 4.8 or older not supported")
+    endif()
+
+    # Hide incorrect warnings for uninitialized Eigen variables under GCC.
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-maybe-uninitialized")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-maybe-uninitialized")
+endif()
+
+if(IS_DEBUG)
+    add_definitions("-DEIGEN_INITIALIZE_MATRICES_BY_NAN")
+endif()
+
+if(SIMD_ENABLED)
+    message(STATUS "Enabling SIMD support")
+else()
+    message(STATUS "Disabling SIMD support")
+endif()
+
+if(OPENMP_ENABLED AND OPENMP_FOUND)
+    message(STATUS "Enabling OpenMP support")
+    add_definitions("-DOPENMP_ENABLED")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+else()
+    message(STATUS "Disabling OpenMP support")
+endif()
+
+if(IPO_ENABLED AND NOT IS_DEBUG AND NOT IS_GNU)
+    message(STATUS "Enabling interprocedural optimization")
+    set_property(DIRECTORY PROPERTY INTERPROCEDURAL_OPTIMIZATION 1)
+else()
+    message(STATUS "Disabling interprocedural optimization")
+endif()
+
+if(ASAN_ENABLED)
+    message(STATUS "Enabling ASan support")
+    if(IS_CLANG OR IS_GNU)
+        add_compile_options(-fsanitize=address -fno-omit-frame-pointer -fsanitize-address-use-after-scope)
+        add_link_options(-fsanitize=address)
+    else()
+        message(FATAL_ERROR "Unsupported compiler for ASan mode")
+    endif()
+endif()
+
+if(CUDAToolkit_FOUND)
+    string(REPLACE "." "" CMAKE_CUDA_ARCHITECTURES "${CUDA_ARCHS}")
+    enable_language(CUDA)
+    set(CUDA_FOUND TRUE)
+    set(CUDA_VERSION_STRING "${CUDAToolkit_VERSION}")
+endif()
+
+if(CUDA_FOUND)
+    if(CUDA_ENABLED)
+        add_definitions("-DCUDA_ENABLED")
+
+        # Fix for some combinations of CUDA and GCC (e.g. under Ubuntu 16.04).
+        set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -D_FORCE_INLINES")
+        # Do not show warnings if the architectures are deprecated.
+        set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -Wno-deprecated-gpu-targets")
+        # Do not show warnings if cuda library functions are deprecated.
+        set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -Wno-deprecated-declarations")
+
+        if(CUDAToolkit_FOUND)
+            set(CUDA_ARCH_FLAGS_readable "${CMAKE_CUDA_ARCHITECTURES}")
+        else()
+            set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} ${CMAKE_CUDA_FLAGS}")
+            include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/SelectCudaComputeArch.cmake)
+            CUDA_SELECT_NVCC_ARCH_FLAGS(CUDA_ARCH_FLAGS ${CUDA_ARCHS})
+            set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} ${CUDA_ARCH_FLAGS}")
+        endif()
+
+        message(STATUS "Enabling CUDA support (version: ${CUDA_VERSION_STRING},"
+                       " archs: ${CUDA_ARCH_FLAGS_readable})")
+    else()
+        set(CUDA_FOUND OFF)
+        message(STATUS "Disabling CUDA support")
+    endif()
+else()
+    set(CUDA_ENABLED OFF)
+    if(CUDA_VERSION_STRING)
+        message(STATUS "Disabling CUDA support (found version "
+                "${CUDA_VERSION_STRING} but >= ${CUDA_MIN_VERSION} required)")
+    else()
+        message(STATUS "Disabling CUDA support")
+    endif()
+endif()
+
+if(GUI_ENABLED AND Qt5_FOUND)
+    add_definitions("-DGUI_ENABLED")
+    message(STATUS "Enabling GUI support")
+else()
+    message(STATUS "Disabling GUI support")
+endif()
+
+if(OPENGL_ENABLED)
+    add_definitions("-DOPENGL_ENABLED")
+    message(STATUS "Enabling OpenGL support")
+else()
+    message(STATUS "Disabling OpenGL support")
+endif()
+
+if(CCACHE_ENABLED)
+    find_program(CCACHE ccache)
+    if(CCACHE)
+        message(STATUS "Enabling ccache support")
+        set(CMAKE_C_COMPILER_LAUNCHER ${CCACHE})
+        set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE})
+    else()
+        message(STATUS "Disabling ccache support")
+    endif()
+else()
+    message(STATUS "Disabling ccache support")
+endif()
+
+if(PROFILING_ENABLED)
+    message(STATUS "Enabling profiling support")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -lprofiler -ltcmalloc")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -lprofiler -ltcmalloc")
+else()
+    message(STATUS "Disabling profiling support")
+endif()
+
+if(CGAL_FOUND AND CGAL_ENABLED)
+    message(STATUS "Enabling CGAL support")
+    add_definitions("-DCGAL_ENABLED")
+else()
+    message(STATUS "Disabling CGAL support")
+    set(CGAL_ENABLED OFF)
+endif()
+
+if(Qt5_FOUND)
+    # Qt5 was built with -reduce-relocations.
+    if(Qt5_POSITION_INDEPENDENT_CODE)
+        set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+        # Workaround for Qt5 CMake config bug under Ubuntu 20.04: https://gitlab.kitware.com/cmake/cmake/-/issues/16915
+        if(${Qt5_VERSION} VERSION_EQUAL "5.12.8" AND TARGET Qt5::Core)
+            get_property(core_options TARGET Qt5::Core PROPERTY INTERFACE_COMPILE_OPTIONS)
+            string(REPLACE "-fPIC" "" new_qt5_core_options ${core_options})
+            set_property(TARGET Qt5::Core PROPERTY INTERFACE_COMPILE_OPTIONS ${new_qt5_core_options})
+            set_property(TARGET Qt5::Core PROPERTY INTERFACE_POSITION_INDEPENDENT_CODE "ON")
+            set(CMAKE_CXX_COMPILE_OPTIONS_PIE "-fPIC")
+        endif()
+    endif()
+
+    # Enable automatic compilation of Qt resource files.
+    set(CMAKE_AUTORCC ON)
+endif()
+
+################################################################################
+# Add sources
+################################################################################
+
+# Generate source file with version definitions.
+include(GenerateVersionDefinitions)
+
+set(COLMAP_INCLUDE_DIRS
+    ${Boost_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
+    ${GLOG_INCLUDE_DIRS}
+    ${FREEIMAGE_INCLUDE_DIRS}
+    ${CERES_INCLUDE_DIRS}
+    ${METIS_INCLUDE_DIRS}
+    ${GLEW_INCLUDE_DIRS}
+)
+
+set(COLMAP_LINK_DIRS
+    ${Boost_LIBRARY_DIRS}
+)
+
+set(COLMAP_EXTERNAL_LIBRARIES
+    ${CMAKE_DL_LIBS}
+    ${Boost_FILESYSTEM_LIBRARY}
+    ${Boost_PROGRAM_OPTIONS_LIBRARY}
+    ${Boost_SYSTEM_LIBRARY}
+    ${GLOG_LIBRARIES}
+    ${FREEIMAGE_LIBRARIES}
+    ${METIS_LIBRARIES}
+    ${CERES_LIBRARIES}
+    ${OPENGL_LIBRARIES}
+)
+
+if(OPENMP_FOUND)
+    list(APPEND COLMAP_EXTERNAL_LIBRARIES ${OpenMP_libomp_LIBRARY})
+endif()
+
+if(Qt5_FOUND)
+    list(APPEND COLMAP_INCLUDE_DIRS ${Qt5Core_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS})
+    list(APPEND COLMAP_EXTERNAL_LIBRARIES ${Qt5Core_LIBRARIES} ${Qt5OpenGL_LIBRARIES} ${Qt5Widgets_LIBRARIES})
+endif()
+
+if(CGAL_FOUND)
+    list(APPEND COLMAP_INCLUDE_DIRS ${CGAL_INCLUDE_DIRS} ${GMP_INCLUDE_DIR})
+    list(APPEND COLMAP_EXTERNAL_LIBRARIES ${CGAL_LIBRARY} ${GMP_LIBRARIES})
+    list(APPEND COLMAP_LINK_DIRS ${CGAL_LIBRARIES_DIR})
+endif()
+
+if(UNIX)
+    list(APPEND COLMAP_EXTERNAL_LIBRARIES pthread)
+endif()
+
+set(COLMAP_INTERNAL_LIBRARIES
+    flann
+    lsd
+    pba
+    poisson_recon
+    sqlite3
+    sift_gpu
+    vlfeat
+)
+
+include_directories(
+    lib
+    src
+    ${COLMAP_INCLUDE_DIRS}
+)
+
+link_directories(${COLMAP_LINK_DIRS})
+
+add_subdirectory(lib)
+add_subdirectory(src)
+
+
+################################################################################
+# Generate source groups for Visual Studio, XCode, etc.
+################################################################################
+
+COLMAP_ADD_SOURCE_DIR(lib/FLANN LIB_FLANN_SRCS *.h *.cpp *.hpp *.cu)
+COLMAP_ADD_SOURCE_DIR(lib/LSD LIB_LSD_SRCS *.h *.c)
+COLMAP_ADD_SOURCE_DIR(lib/PBA LIB_PBA_SRCS *.h *.cpp *.cu)
+COLMAP_ADD_SOURCE_DIR(lib/PoissonRecon LIB_POISSON_RECON_SRCS *.h *.cpp *.inl)
+COLMAP_ADD_SOURCE_DIR(lib/SiftGPU LIB_SIFT_GPU_SRCS *.h *.cpp *.cu)
+COLMAP_ADD_SOURCE_DIR(lib/SQLite LIB_SQLITE_SRCS *.h *.c)
+COLMAP_ADD_SOURCE_DIR(lib/VLFeat LIB_VLFEAT_SRCS *.h *.c *.tc)
+
+COLMAP_ADD_SOURCE_DIR(src/base BASE_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/controllers CONTROLLERS_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/estimators ESTIMATORS_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/exe EXE_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/feature FEATURE_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/mvs MVS_SRCS *.h *.cc *.cu)
+COLMAP_ADD_SOURCE_DIR(src/optim OPTIM_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/retrieval RETRIEVAL_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/sfm SFM_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/tools TOOLS_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/ui UI_SRCS *.h *.cc)
+COLMAP_ADD_SOURCE_DIR(src/util UTIL_SRCS *.h *.cc)
+
+# Add all of the source files to a regular library target, as using a custom
+# target does not allow us to set its C++ include directories (and thus
+# intellisense can't find any of the included files).
+add_library(
+    ${COLMAP_SRC_ROOT_FOLDER}
+    ${LIB_FLANN_SRCS}
+    ${LIB_LSD_SRCS}
+    ${LIB_PBA_SRCS}
+    ${LIB_POISSON_RECON_SRCS}
+    ${LIB_SIFT_GPU_SRCS}
+    ${LIB_SQLITE_SRCS}
+    ${LIB_VLFEAT_SRCS}
+    ${BASE_SRCS}
+    ${CONTROLLERS_SRCS}
+    ${ESTIMATORS_SRCS}
+    ${EXE_SRCS}
+    ${FEATURE_SRCS}
+    ${MVS_SRCS}
+    ${OPTIM_SRCS}
+    ${RETRIEVAL_SRCS}
+    ${SFM_SRCS}
+    ${TOOLS_SRCS}
+    ${UI_SRCS}
+    ${UTIL_SRCS}
+)
+
+# Prevent the library from being compiled automatically.
+set_target_properties(
+    ${COLMAP_SRC_ROOT_FOLDER} PROPERTIES
+    EXCLUDE_FROM_ALL 1
+    EXCLUDE_FROM_DEFAULT_BUILD 1)
+
+
+################################################################################
+# Install and uninstall scripts
+################################################################################
+
+# Install header files.
+install(DIRECTORY src/
+        DESTINATION include/colmap
+        FILES_MATCHING PATTERN "*.h")
+install(DIRECTORY lib/
+        DESTINATION include/colmap/lib
+        FILES_MATCHING REGEX ".*[.]h|.*[.]hpp|.*[.]inl")
+
+# Generate and install CMake configuration.
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/CMakeConfig.cmake.in"
+               "${CMAKE_CURRENT_BINARY_DIR}/COLMAPConfig.cmake" @ONLY)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/COLMAPConfig.cmake"
+        DESTINATION "share/colmap")
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/CMakeConfigVersion.cmake.in"
+               "${CMAKE_CURRENT_BINARY_DIR}/COLMAPConfigVersion.cmake" @ONLY)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/COLMAPConfigVersion.cmake"
+        DESTINATION "share/colmap")
+
+# Install find_package scripts for dependencies.
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/cmake
+        DESTINATION share/colmap
+        FILES_MATCHING PATTERN "Find*.cmake")
+
+# Install batch scripts under Windows.
+if(IS_MSVC)
+    install(FILES "scripts/shell/COLMAP.bat" "scripts/shell/RUN_TESTS.bat"
+            PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE
+                        GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
+            DESTINATION "/")
+endif()
+
+# Install application meny entry under Linux/Unix.
+if(UNIX AND NOT APPLE)
+    install(FILES "doc/COLMAP.desktop" DESTINATION "share/applications")
+endif()
+
+# Configure the uninstallation script.
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/CMakeUninstall.cmake.in"
+               "${CMAKE_CURRENT_BINARY_DIR}/CMakeUninstall.cmake"
+               IMMEDIATE @ONLY)
+add_custom_target(uninstall COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/CMakeUninstall.cmake)
+set_target_properties(uninstall PROPERTIES FOLDER ${CMAKE_TARGETS_ROOT_FOLDER})

colmap/CONTRIBUTING.md

@@ -0,0 +1,15 @@
+Contributing
+------------
+
+Contributions (bug reports, bug fixes, improvements, etc.) are very welcome and
+should be submitted in the form of new issues and/or pull requests on GitHub.
+
+Please, adhere to the Google coding style guide:
+
+    https://google.github.io/styleguide/cppguide.html
+
+by using the provided ".clang-format" file.
+
+Document code, functions, methods, classes, etc. Make sure to add unit tests for
+all newly added code and make sure that algorithmic "improvements" generalize
+and actually improve the results of the pipeline on a variety of datasets.

colmap/COPYING.txt

@@ -0,0 +1,35 @@
+The COLMAP library is licensed under the new BSD license. Note that this text
+refers only to the license for COLMAP itself, independent of its dependencies,
+which are separately licensed. Building COLMAP with these dependencies may
+affect the resulting COLMAP license.
+
+    Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+
+        * Redistributions of source code must retain the above copyright
+          notice, this list of conditions and the following disclaimer.
+
+        * Redistributions in binary form must reproduce the above copyright
+          notice, this list of conditions and the following disclaimer in the
+          documentation and/or other materials provided with the distribution.
+
+        * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
+          its contributors may be used to endorse or promote products derived
+          from this software without specific prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+    AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+    IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+    ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
+    LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+    CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+    SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+    INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+    CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+    ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+    POSSIBILITY OF SUCH DAMAGE.
+
+    Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)

colmap/README.md

@@ -0,0 +1,127 @@
+COLMAP
+======
+
+About
+-----
+
+COLMAP is a general-purpose Structure-from-Motion (SfM) and Multi-View Stereo
+(MVS) pipeline with a graphical and command-line interface. It offers a wide
+range of features for reconstruction of ordered and unordered image collections.
+The software is licensed under the new BSD license. If you use this project for
+your research, please cite:
+
+    @inproceedings{schoenberger2016sfm,
+        author={Sch\"{o}nberger, Johannes Lutz and Frahm, Jan-Michael},
+        title={Structure-from-Motion Revisited},
+        booktitle={Conference on Computer Vision and Pattern Recognition (CVPR)},
+        year={2016},
+    }
+
+    @inproceedings{schoenberger2016mvs,
+        author={Sch\"{o}nberger, Johannes Lutz and Zheng, Enliang and Pollefeys, Marc and Frahm, Jan-Michael},
+        title={Pixelwise View Selection for Unstructured Multi-View Stereo},
+        booktitle={European Conference on Computer Vision (ECCV)},
+        year={2016},
+    }
+
+If you use the image retrieval / vocabulary tree engine, please also cite:
+
+    @inproceedings{schoenberger2016vote,
+        author={Sch\"{o}nberger, Johannes Lutz and Price, True and Sattler, Torsten and Frahm, Jan-Michael and Pollefeys, Marc},
+        title={A Vote-and-Verify Strategy for Fast Spatial Verification in Image Retrieval},
+        booktitle={Asian Conference on Computer Vision (ACCV)},
+        year={2016},
+    }
+
+The latest source code is available at https://github.com/colmap/colmap. COLMAP
+builds on top of existing works and when using specific algorithms within
+COLMAP, please also cite the original authors, as specified in the source code.
+
+
+Download
+--------
+
+Executables for Windows and Mac and other resources can be downloaded from
+https://demuc.de/colmap/. Executables for Linux/Unix/BSD are available at
+https://repology.org/metapackage/colmap/versions. To build COLMAP from source,
+please see https://colmap.github.io/install.html.
+
+Getting Started
+---------------
+
+1. Download the pre-built binaries from https://demuc.de/colmap/ or build the
+   library manually as described in the documentation.
+2. Download one of the provided datasets at https://demuc.de/colmap/datasets/
+   or use your own images.
+3. Use the **automatic reconstruction** to easily build models
+   with a single click or command.
+
+
+Documentation
+-------------
+
+The documentation is available at https://colmap.github.io/.
+
+
+Support
+-------
+
+Please, use the COLMAP Google Group at
+https://groups.google.com/forum/#!forum/colmap (colmap@googlegroups.com) for
+questions and the GitHub issue tracker at https://github.com/colmap/colmap for
+bug reports, feature requests/additions, etc.
+
+
+Acknowledgments
+---------------
+
+The library was written by Johannes L. Schönberger (https://demuc.de/). Funding
+was provided by his PhD advisors Jan-Michael Frahm (http://frahm.web.unc.edu/)
+and Marc Pollefeys (https://people.inf.ethz.ch/pomarc/).
+
+
+Contribution
+------------
+
+Contributions (bug reports, bug fixes, improvements, etc.) are very welcome and
+should be submitted in the form of new issues and/or pull requests on GitHub.
+
+
+License
+-------
+
+The COLMAP library is licensed under the new BSD license. Note that this text
+refers only to the license for COLMAP itself, independent of its dependencies,
+which are separately licensed. Building COLMAP with these dependencies may
+affect the resulting COLMAP license.
+
+    Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
+    All rights reserved.
+
+    Redistribution and use in source and binary forms, with or without
+    modification, are permitted provided that the following conditions are met:
+
+        * Redistributions of source code must retain the above copyright
+          notice, this list of conditions and the following disclaimer.
+
+        * Redistributions in binary form must reproduce the above copyright
+          notice, this list of conditions and the following disclaimer in the
+          documentation and/or other materials provided with the distribution.
+
+        * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
+          its contributors may be used to endorse or promote products derived
+          from this software without specific prior written permission.
+
+    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+    AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+    IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+    ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
+    LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+    CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+    SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+    INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+    CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+    ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+    POSSIBILITY OF SUCH DAMAGE.
+
+    Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)

colmap/build/CMakeCache.txt

@@ -0,0 +1,1171 @@
+# This is the CMakeCache file.
+# For build in directory: /content/colmap/build
+# It was generated by CMake: /usr/local/lib/python3.8/dist-packages/cmake/data/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
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+
+########################
+# EXTERNAL cache entries
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+//Whether to enable compiler caching, if available
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+//The directory containing a CMake configuration file for CGAL.
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+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
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+
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+//Flags used by the CUDA compiler during RELWITHDEBINFO builds.
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+//CXX compiler
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+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
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+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
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+//Flags used by the CXX compiler during all build types.
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+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
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+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-7
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+//Flags used by the C compiler during all build types.
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+//Flags used by the C compiler during DEBUG builds.
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+
+//Flags used by the C compiler during RELEASE builds.
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+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
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+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
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+//Flags used by the linker during MINSIZEREL builds.
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+
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+
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+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
+CMAKE_SHARED_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
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+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
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+
+//Flags used by the linker during the creation of shared libraries
+// during RELWITHDEBINFO builds.
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+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
+// during all build types.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during DEBUG builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
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+
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+// during RELWITHDEBINFO builds.
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+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
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+//Value Computed by CMake
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+
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+
+//Path to a library.
+CUDAToolkit_rt_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so
+
+//List of CUDA architectures for which to generate code, e.g.,
+// 5.0, 6.0, 7.5, ...
+CUDA_ARCHS:STRING=5.0
+
+//Path to a library.
+CUDA_CUDART:FILEPATH=/usr/local/cuda/lib64/libcudart.so
+
+//Whether to enable CUDA, if available
+CUDA_ENABLED:BOOL=ON
+
+//Path to a library.
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+
+//Path to a library.
+CUDA_cublasLt_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libcublasLt.so
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+//Path to a library.
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+
+//Path to a library.
+CUDA_cublas_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libcublas.so
+
+//Path to a library.
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+
+//Path to a library.
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+//Path to a library.
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+
+//Path to a library.
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+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
+CUDA_nppicom_static_LIBRARY:FILEPATH=CUDA_nppicom_static_LIBRARY-NOTFOUND
+
+//Path to a library.
+CUDA_nppidei_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnppidei.so
+
+//Path to a library.
+CUDA_nppidei_static_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnppidei_static.a
+
+//Path to a library.
+CUDA_nppif_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnppif.so
+
+//Path to a library.
+CUDA_nppif_static_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnppif_static.a
+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
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+
+//Path to a library.
+CUDA_nppim_static_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnppim_static.a
+
+//Path to a library.
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+
+//Path to a library.
+CUDA_nppist_static_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnppist_static.a
+
+//Path to a library.
+CUDA_nppisu_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnppisu.so
+
+//Path to a library.
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+
+//Path to a library.
+CUDA_nppitc_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnppitc.so
+
+//Path to a library.
+CUDA_nppitc_static_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnppitc_static.a
+
+//Path to a library.
+CUDA_npps_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnpps.so
+
+//Path to a library.
+CUDA_npps_static_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnpps_static.a
+
+//Path to a library.
+CUDA_nvToolsExt_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnvToolsExt.so
+
+//Path to a library.
+CUDA_nvgraph_LIBRARY:FILEPATH=CUDA_nvgraph_LIBRARY-NOTFOUND
+
+//Path to a library.
+CUDA_nvgraph_static_LIBRARY:FILEPATH=CUDA_nvgraph_static_LIBRARY-NOTFOUND
+
+//Path to a library.
+CUDA_nvjpeg_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnvjpeg.so
+
+//Path to a library.
+CUDA_nvjpeg_static_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnvjpeg_static.a
+
+//Path to a library.
+CUDA_nvml_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libnvidia-ml.so
+
+//Path to a library.
+CUDA_nvrtc_LIBRARY:FILEPATH=/usr/local/cuda/lib64/libnvrtc.so
+
+//The directory containing a CMake configuration file for CXSparse.
+CXSparse_DIR:PATH=CXSparse_DIR-NOTFOUND
+
+//Path to a file.
+CXSparse_INCLUDE_DIR:PATH=/usr/include/suitesparse
+
+//Path to a library.
+CXSparse_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcxsparse.so
+
+//The directory containing a CMake configuration file for Ceres.
+Ceres_DIR:PATH=/usr/local/lib/cmake/Ceres
+
+//Path to a file.
+EIGEN3_INCLUDE_DIRS:PATH=/usr/include/eigen3
+
+//Eigen include directory
+EIGEN3_INCLUDE_DIR_HINTS:PATH=
+
+//The directory containing a CMake configuration file for Eigen3.
+Eigen3_DIR:PATH=/usr/lib/cmake/eigen3
+
+//Path to a file.
+FREEIMAGE_INCLUDE_DIRS:PATH=/usr/include
+
+//FreeImage include directory
+FREEIMAGE_INCLUDE_DIR_HINTS:PATH=
+
+//Path to a library.
+FREEIMAGE_LIBRARIES:FILEPATH=/usr/lib/x86_64-linux-gnu/libfreeimage.so
+
+//FreeImage library directory
+FREEIMAGE_LIBRARY_DIR_HINTS:PATH=
+
+//Git command line client
+GIT_EXECUTABLE:FILEPATH=/usr/bin/git
+
+//Path to a library.
+GK_LIBRARIES:FILEPATH=GK_LIBRARIES-NOTFOUND
+
+//Path to a file.
+GLEW_INCLUDE_DIRS:PATH=/usr/include
+
+//Glew include directory
+GLEW_INCLUDE_DIR_HINTS:PATH=
+
+//Path to a library.
+GLEW_LIBRARIES:FILEPATH=/usr/lib/x86_64-linux-gnu/libGLEW.so
+
+//Glew library directory
+GLEW_LIBRARY_DIR_HINTS:PATH=
+
+//Path to a file.
+GLOG_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a file.
+GLOG_INCLUDE_DIRS:PATH=/usr/include
+
+//Glog include directory
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+
+//Path to a library.
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+
+//Path to a library.
+GLOG_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libglog.so
+
+//Glog library directory
+GLOG_LIBRARY_DIR_HINTS:PATH=
+
+//Whether to enable the graphical UI
+GUI_ENABLED:BOOL=ON
+
+//Whether to enable interprocedural optimization
+IPO_ENABLED:BOOL=ON
+
+//METIS include directory
+METIS_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a file.
+METIS_INCLUDE_DIRS:PATH=/usr/include
+
+//Metis include directory
+METIS_INCLUDE_DIR_HINTS:PATH=
+
+//Path to a library.
+METIS_LIBRARIES:FILEPATH=/usr/lib/x86_64-linux-gnu/libmetis.so
+
+//METIS library
+METIS_LIBRARY:STRING=debug;/usr/lib/x86_64-linux-gnu/libmetis.so;optimized;/usr/lib/x86_64-linux-gnu/libmetis.so
+
+//METIS debug library
+METIS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libmetis.so
+
+//Metis library directory
+METIS_LIBRARY_DIR_HINTS:PATH=
+
+//METIS release library
+METIS_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libmetis.so
+
+//Path to a file.
+OPENGL_EGL_INCLUDE_DIR:PATH=/usr/include
+
+//Whether to enable OpenGL, if available
+OPENGL_ENABLED:BOOL=ON
+
+//Path to a file.
+OPENGL_GLX_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a file.
+OPENGL_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+OPENGL_egl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libEGL.so
+
+//Path to a library.
+OPENGL_glu_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libGLU.so
+
+//Path to a library.
+OPENGL_glx_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libGLX.so
+
+//Path to a library.
+OPENGL_opengl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libOpenGL.so
+
+//Path to a file.
+OPENGL_xmesa_INCLUDE_DIR:PATH=OPENGL_xmesa_INCLUDE_DIR-NOTFOUND
+
+//Whether to enable OpenMP parallelization
+OPENMP_ENABLED:BOOL=ON
+
+//CXX compiler flags for OpenMP parallelization
+OpenMP_CXX_FLAGS:STRING=-fopenmp
+
+//CXX compiler libraries for OpenMP parallelization
+OpenMP_CXX_LIB_NAMES:STRING=gomp;pthread
+
+//C compiler flags for OpenMP parallelization
+OpenMP_C_FLAGS:STRING=-fopenmp
+
+//C compiler libraries for OpenMP parallelization
+OpenMP_C_LIB_NAMES:STRING=gomp;pthread
+
+//Path to the gomp library for OpenMP
+OpenMP_gomp_LIBRARY:FILEPATH=/usr/lib/gcc/x86_64-linux-gnu/7/libgomp.so
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+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

colmap/build/CMakeFiles/3.22.6/CompilerIdCUDA/CMakeCUDACompilerId.cu

@@ -0,0 +1,435 @@
+#ifndef __CUDACC__
+# error "A C or C++ compiler has been selected for CUDA"
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__NVCC__)
+# define COMPILER_ID "NVIDIA"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# elif defined(__clang__)
+#  define SIMULATE_ID "Clang"
+# elif defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+# if defined(__CUDACC_VER_MAJOR__)
+#  define COMPILER_VERSION_MAJOR DEC(__CUDACC_VER_MAJOR__)
+#  define COMPILER_VERSION_MINOR DEC(__CUDACC_VER_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__CUDACC_VER_BUILD__)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# elif defined(__clang__)
+#  define SIMULATE_VERSION_MAJOR DEC(__clang_major__)
+#  define SIMULATE_VERSION_MINOR DEC(__clang_minor__)
+# elif defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+const char* info_language_standard_default = "INFO" ":" "standard_default["
+#if __cplusplus > 202002L
+  "23"
+#elif __cplusplus > 201703L
+  "20"
+#elif __cplusplus >= 201703L
+  "17"
+#elif __cplusplus >= 201402L
+  "14"
+#elif __cplusplus >= 201103L
+  "11"
+#else
+  "03"
+#endif
+"]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__)) &&                              \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}

colmap/build/CMakeFiles/3.22.6/CompilerIdCUDA/tmp/CMakeCUDACompilerId.cudafe1.c

@@ -0,0 +1,35 @@
+# 1 "CMakeCUDACompilerId.cu"
+# 64 "CMakeCUDACompilerId.cu"
+extern const char *info_compiler;
+
+extern const char *info_simulate;
+# 336 "CMakeCUDACompilerId.cu"
+static const char info_version[50];
+# 365 "CMakeCUDACompilerId.cu"
+static const char info_simulate_version[41];
+# 385 "CMakeCUDACompilerId.cu"
+extern const char *info_platform;
+extern const char *info_arch;
+
+
+
+extern const char *info_language_standard_default;
+# 406 "CMakeCUDACompilerId.cu"
+extern const char *info_language_extensions_default;
+# 64 "CMakeCUDACompilerId.cu"
+const char *info_compiler = ((const char *)"INFO:compiler[NVIDIA]");
+
+const char *info_simulate = ((const char *)"INFO:simulate[GNU]");
+# 336 "CMakeCUDACompilerId.cu"
+static const char info_version[50] = {((char)73),((char)78),((char)70),((char)79),((char)58),((char)99),((char)111),((char)109),((char)112),((char)105),((char)108),((char)101),((char)114),((char)95),((char)118),((char)101),((char)114),((char)115),((char)105),((char)111),((char)110),((char)91),((char)48),((char)48),((char)48),((char)48),((char)48),((char)48),((char)49),((char)49),((char)46),((char)48),((char)48),((char)48),((char)48),((char)48),((char)48),((char)48),((char)50),((char)46),((char)48),((char)48),((char)48),((char)48),((char)48),((char)49),((char)53),((char)50),((char)93),((char)0)};
+# 365 "CMakeCUDACompilerId.cu"
+static const char info_simulate_version[41] = {((char)73),((char)78),((char)70),((char)79),((char)58),((char)115),((char)105),((char)109),((char)117),((char)108),((char)97),((char)116),((char)101),((char)95),((char)118),((char)101),((char)114),((char)115),((char)105),((char)111),((char)110),((char)91),((char)48),((char)48),((char)48),((char)48),((char)48),((char)48),((char)48),((char)55),((char)46),((char)48),((char)48),((char)48),((char)48),((char)48),((char)48),((char)48),((char)53),((char)93),((char)0)};
+# 385 "CMakeCUDACompilerId.cu"
+const char *info_platform = ((const char *)"INFO:platform[Linux]");
+const char *info_arch = ((const char *)"INFO:arch[]");
+
+
+
+const char *info_language_standard_default = ((const char *)"INFO:standard_default[14]");
+# 406 "CMakeCUDACompilerId.cu"
+const char *info_language_extensions_default = ((const char *)"INFO:extensions_default[ON]");

colmap/build/CMakeFiles/3.22.6/CompilerIdCUDA/tmp/CMakeCUDACompilerId.cudafe1.gpu

@@ -0,0 +1,101 @@
+typedef char __nv_bool;
+# 216 "/usr/lib/gcc/x86_64-linux-gnu/7/include/stddef.h" 3
+typedef unsigned long size_t;
+#include "crt/device_runtime.h"
+# 231 "/usr/include/x86_64-linux-gnu/c++/7/bits/c++config.h" 3
+typedef unsigned long _ZSt6size_t;
+# 75 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaMalloc(void **, size_t);
+# 80 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaFuncGetAttributes(struct cudaFuncAttributes *, const void *);
+# 85 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaDeviceGetAttribute(int *, enum cudaDeviceAttr, int);
+# 90 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaGetDevice(int *);
+# 95 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaOccupancyMaxActiveBlocksPerMultiprocessor(int *, const void *, int, size_t);
+# 100 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaOccupancyMaxActiveBlocksPerMultiprocessorWithFlags(int *, const void *, int, size_t, unsigned);
+#include "common_functions.h"
+# 75 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaMalloc(
+# 75 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+void **p, 
+# 75 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+size_t s){
+# 76 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+{
+# 77 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+return cudaErrorUnknown;
+# 78 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+}}
+# 80 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaFuncGetAttributes(
+# 80 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+struct cudaFuncAttributes *p, 
+# 80 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+const void *c){
+# 81 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+{
+# 82 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+return cudaErrorUnknown;
+# 83 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+}}
+# 85 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaDeviceGetAttribute(
+# 85 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+int *value, 
+# 85 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+enum cudaDeviceAttr attr, 
+# 85 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+int device){
+# 86 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+{
+# 87 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+return cudaErrorUnknown;
+# 88 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+}}
+# 90 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaGetDevice(
+# 90 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+int *device){
+# 91 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+{
+# 92 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+return cudaErrorUnknown;
+# 93 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+}}
+# 95 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaOccupancyMaxActiveBlocksPerMultiprocessor(
+# 95 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+int *numBlocks, 
+# 95 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+const void *func, 
+# 95 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+int blockSize, 
+# 95 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+size_t dynamicSmemSize){
+# 96 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+{
+# 97 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+return cudaErrorUnknown;
+# 98 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+}}
+# 100 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+___device__(static  __no_sc__) enum cudaError cudaOccupancyMaxActiveBlocksPerMultiprocessorWithFlags(
+# 100 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+int *numBlocks, 
+# 100 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+const void *func, 
+# 100 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+int blockSize, 
+# 100 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+size_t dynamicSmemSize, 
+# 100 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+unsigned flags){
+# 101 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+{
+# 102 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+return cudaErrorUnknown;
+# 103 "/usr/local/cuda/bin/../targets/x86_64-linux/include/cuda_device_runtime_api.h"
+}}

colmap/build/CMakeFiles/3.22.6/CompilerIdCUDA/tmp/CMakeCUDACompilerId.cudafe1.stub.c

@@ -0,0 +1,15 @@
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-function"
+#pragma GCC diagnostic ignored "-Wcast-qual"
+#define __NV_CUBIN_HANDLE_STORAGE__ static
+#if !defined(__CUDA_INCLUDE_COMPILER_INTERNAL_HEADERS__)
+#define __CUDA_INCLUDE_COMPILER_INTERNAL_HEADERS__
+#endif
+#include "crt/host_runtime.h"
+#include "CMakeCUDACompilerId.fatbin.c"
+static void __nv_cudaEntityRegisterCallback(void **);
+static void __sti____cudaRegisterAll(void) __attribute__((__constructor__));
+static void __nv_cudaEntityRegisterCallback(void **__T0){__nv_dummy_param_ref(__T0);__nv_save_fatbinhandle_for_managed_rt(__T0);}
+static void __sti____cudaRegisterAll(void){__cudaRegisterBinary(__nv_cudaEntityRegisterCallback);}
+
+#pragma GCC diagnostic pop

colmap/build/CMakeFiles/3.22.6/CompilerIdCUDA/tmp/CMakeCUDACompilerId.fatbin.c

@@ -0,0 +1,57 @@
+#ifndef __SKIP_INTERNAL_FATBINARY_HEADERS
+#include "fatbinary_section.h"
+#endif
+#define __CUDAFATBINSECTION  ".nvFatBinSegment"
+#define __CUDAFATBINDATASECTION  ".nv_fatbin"
+asm(
+".section .nv_fatbin, \"a\"\n"
+".align 8\n"
+"fatbinData:\n"
+".quad 0x00100001ba55ed50,0x00000000000003f0,0x0000004001010002,0x00000000000003b0\n"
+".quad 0x0000000000000000,0x0000003200010007,0x0000000000000000,0x0000000000000011\n"
+".quad 0x0000000000000000,0x0000000000000000,0x33010102464c457f,0x0000000000000007\n"
+".quad 0x0000007000be0002,0x0000000000000000,0x0000000000000308,0x00000000000001c8\n"
+".quad 0x0038004000320532,0x0001000500400003,0x7472747368732e00,0x747274732e006261\n"
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+".quad 0x0000000000000000,0x0000000000000000,0x0004000300000032,0x0000000000000000\n"
+".quad 0x0000000000000000,0x000000000000004b,0x222f0a1008020200,0x0000000008000000\n"
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+".quad 0x0000000008080001,0x0000000008100001,0x0000000008180001,0x0000000008200001\n"
+".quad 0x0000000008280001,0x0000000008300001,0x0000000008380001,0x0000000008000002\n"
+".quad 0x0000000008080002,0x0000000008100002,0x0000000008180002,0x0000000008200002\n"
+".quad 0x0000000008280002,0x0000000008300002,0x0000000008380002,0x0000000000000000\n"
+".quad 0x0000000000000000,0x0000000000000000,0x0000000000000000,0x0000000000000000\n"
+".quad 0x0000000000000000,0x0000000000000000,0x0000000000000000,0x0000000300000001\n"
+".quad 0x0000000000000000,0x0000000000000000,0x0000000000000040,0x0000000000000041\n"
+".quad 0x0000000000000000,0x0000000000000001,0x0000000000000000,0x000000030000000b\n"
+".quad 0x0000000000000000,0x0000000000000000,0x0000000000000081,0x0000000000000041\n"
+".quad 0x0000000000000000,0x0000000000000001,0x0000000000000000,0x0000000200000013\n"
+".quad 0x0000000000000000,0x0000000000000000,0x00000000000000c8,0x0000000000000030\n"
+".quad 0x0000000100000002,0x0000000000000008,0x0000000000000018,0x7000000b00000032\n"
+".quad 0x0000000000000000,0x0000000000000000,0x00000000000000f8,0x00000000000000d0\n"
+".quad 0x0000000000000000,0x0000000000000008,0x0000000000000008,0x0000000500000006\n"
+".quad 0x0000000000000308,0x0000000000000000,0x0000000000000000,0x00000000000000a8\n"
+".quad 0x00000000000000a8,0x0000000000000008,0x0000000500000001,0x0000000000000000\n"
+".quad 0x0000000000000000,0x0000000000000000,0x0000000000000000,0x0000000000000000\n"
+".quad 0x0000000000000008,0x0000000600000001,0x0000000000000000,0x0000000000000000\n"
+".quad 0x0000000000000000,0x0000000000000000,0x0000000000000000,0x0000000000000008\n"
+".text\n");
+#ifdef __cplusplus
+extern "C" {
+#endif
+extern const unsigned long long fatbinData[128];
+#ifdef __cplusplus
+}
+#endif
+#ifdef __cplusplus
+extern "C" {
+#endif
+static const __fatBinC_Wrapper_t __fatDeviceText __attribute__ ((aligned (8))) __attribute__ ((section (__CUDAFATBINSECTION)))= 
+	{ 0x466243b1, 1, fatbinData, 0 };
+#ifdef __cplusplus
+}
+#endif