Added

• Internal geometric solvers and RANSAC

Changed

• Undistorted images, masks and depthmaps are now under the undistorted folder. Use the bin/migrate_undistort.sh script to port old datasets to the new folder structure.
• Removed dependency on opengv
• Restructured c++ code

Improved

• Undistorting 16bit images now produces 16bit undistorted images. @pierotofy
• Fix bug on multiple reconstruction alignment. @linusmartensson

Added

• Matching:
  • Bag-of-words pair selection
  • VLAD pair selection
  • Words based matching

Changed

• Local bundle adjustment is used by default
• extract_metadata extracts exif only once
• Changed default FLANN parameters for faster, less precise matching
• Require cmake version 3 or later

Improved

• Faster local bundle adjustment by limiting the neighborhood and the number of iterations
• New GCP file format allows for GCPs without known world coordinates

Added

• Python 3 support. @spease
• Brown-Conrady camera model. @bdholt1
• reporting
• docs on coordinates systems and incremental reconstruction pipeline. @jdjakub, @bryanibit
• export reconstruction in proj4 geographic coordinates

Improved

• improved initialization for planar scenes
• support for recent (1.65+) versions of boost python. @spease
• fix bug when using GCP. @jhacsonmeza
• better navigation for 360 images. @mpetroff
• use loky for better exception handling when using multi-processing. @pierotofy

Added

• Add option local_bundle_radius to run bundle adjustment locally around the last added image
• Add optionoptimize_camera_parameters to optimize or not the internal camera parameters
• Add tools to split large datasets into multiple submodels and align them a posteriori

Changed

• run_all command is now named opensfm_run_all
• Features are now saved in the features folder. The feature type is no longer used to name the feature folder and files
• The option bundle_use_gps is now true by default.
• Update openMVS exporter with current master Interface.h

Improved

• Speed up the search for candidate matching images
• Open binary file in binary mode under Windows