COLMAP Files

New Features

• Improved human-readable consistency checks when configuring a reconstruction with rigs, cameras, frames, and images.
• Improved multi-GPU feature extraction & matching performance by avoiding global mutex.
• Improved robustness of pose prior mapper against outlier priors.
• Improved the performance of reconstruction initialization through parallelization.
• Added CUDA-enabled pycolmap package for Linux and automatic publishing to PyPI.
• Make the reconstruction process fully deterministic with a new random_seed parameter.
• Added support for filtering stationary points in two-view geometry estimation.
• Added option to perform geometric verification with rig constraints.
• Added option to skip matching for image pairs within the same frame.
• Added option to keep specific cameras or rigs constant during the reconstruction.
• Added option to clean two-view geometries in database_cleaner.
• Added option to specify timeout for incremental mapper.
• Added an abstract database interface for easier integration with other database backends.
• Added experimental support for feature sub-selection for global BA.
• Added testing tools for synthetic reconstruction noise and image generation.
• Added official support for Python 3.14.
• Added support for Qt6 while still fully supporting Qt5.

Bug Fixes

• Fixed various issues with new rig support.
• Fixed rare deadlocks in feature matching.
• Support for UTF-8 database paths in Windows.
• Fixed bundle adjustment performance regression due to changed Gauge behavior.
• Removed custom manifold from colmap to avoid issues with pyceres.
• Fixed rare crash of GUI when clearing the model viewer.
• Fixed focal length extraction from 35mm equivalent EXIF information.
• Fixed coordinate bug in ComputeEqualPartsBboxes.

Breaking Changes

• Dropped official support for Python 3.8.
• Dropped official support for MacOS x86.
• Upgraded to pybind11 3.X.
• Removed deprecated rig bundle adjuster command in favor of rig configurator and default bundle adjuster supporting the same functionality.
• Allow one-to-many matches in correspondence graph. Previously, only one-to-one matches were added to the correspondence graph and therefore other matches were not used during reconstruction.

Full Change List (sorted temporally)

• Autoselect compatible nvidia for docker by @MasahiroOgawa in https://github.com/colmap/colmap/pull/3454
• Add 3.12.1 changelog to main by @ahojnnes in https://github.com/colmap/colmap/pull/3461
• Add min_num_neighbors constraint for spatial matching by @StonerLing in https://github.com/colmap/colmap/pull/3463
• Refactor feature extraction/matching to support other features by @ahojnnes in https://github.com/colmap/colmap/pull/3465
• Define VisualIndex::Read as static in python bindings by @ahojnnes in https://github.com/colmap/colmap/pull/3467
• Only find C/CXX OpenMP components by @ahojnnes in https://github.com/colmap/colmap/pull/3469
• Remove unnecessary GPU checks in pycolmap by @sarlinpe in https://github.com/colmap/colmap/pull/3472
• Fix a bug affecting feature matching on GPU by @sarlinpe in https://github.com/colmap/colmap/pull/3473
• Add command line option for TwoViewGeometry.detect_watermark by @gareth-cross in https://github.com/colmap/colmap/pull/3476
• Add and test GetRelativePath by @sarlinpe in https://github.com/colmap/colmap/pull/3475
• Update GetPathBaseName to rely on std::filesystem by @sarlinpe in https://github.com/colmap/colmap/pull/3481
• Fix potential deadlock in job queue by @huluoboge in https://github.com/colmap/colmap/pull/3480
• Update FindMetis.cmake to also link GK_LIBRARIES by @yeicor in https://github.com/colmap/colmap/pull/3470
• Remove check in database_cache.cc that breaks backwards compatibility with image_list_file_path by @pd-karoly-harsanyi in https://github.com/colmap/colmap/pull/3478
• Fix docker run script for GUI by @MasahiroOgawa in https://github.com/colmap/colmap/pull/3483
• Ensure UTF-8 encoding for database paths passed to SQLite open by @StonerLing in https://github.com/colmap/colmap/pull/3482
• Add changelog for 3.12.2 release by @ahojnnes in https://github.com/colmap/colmap/pull/3488
• Add changelog for 3.12.3 release by @ahojnnes in https://github.com/colmap/colmap/pull/3490
• Fix BundleAdjustmentConfig::SetConstantRigFromWorldPose by @whuaegeanse in https://github.com/colmap/colmap/pull/3501
• Add random_seed option to RANSACOptions for reproducible TwoViewGeometry estimation by @StonerLing in https://github.com/colmap/colmap/pull/3492
• Configure trivial rigs for unconfigured images by @ahojnnes in https://github.com/colmap/colmap/pull/3497
• Fix pycolmap test command by @ahojnnes in https://github.com/colmap/colmap/pull/3506
• Pano SFM example improvements and fixes by @ahojnnes in https://github.com/colmap/colmap/pull/3503
• Support Python 3.14 and retire 3.8 by @ahojnnes in https://github.com/colmap/colmap/pull/3518
• Upgrade ruff and automatically apply fixes by @ahojnnes in https://github.com/colmap/colmap/pull/3515
• Update point3D errors after bundle adjustment or SfM by @whuaegeanse in https://github.com/colmap/colmap/pull/3500
• Add option to filter stationary points in two-view geometry estimation by @ahojnnes in https://github.com/colmap/colmap/pull/3521
• Add unit test for watermark detection by @ahojnnes in https://github.com/colmap/colmap/pull/3524
• Fix comment for FilterStationaryMatches by @sarlinpe in https://github.com/colmap/colmap/pull/3525
• Ignore compile_commands.json in git by @ahojnnes in https://github.com/colmap/colmap/pull/3526
• Fix bundle adjustment performance regression due to changed Gauge by @ahojnnes in https://github.com/colmap/colmap/pull/3527
• Bind CUDA utils in pycolmap by @ahojnnes in https://github.com/colmap/colmap/pull/3532
• Add explicit tests for fixing gauge freedom and bugfix by @ahojnnes in https://github.com/colmap/colmap/pull/3533
• Fix format specifier overflow in WriteSnapshot() timestamp by @StonerLing in https://github.com/colmap/colmap/pull/3534
• Change input in cost function to log scale and remove custom manifold from colmap. by @B1ueber2y in https://github.com/colmap/colmap/pull/3538
• Throw exception when image.SetFramePtr() sets a frame without the image listed as its data. by @B1ueber2y in https://github.com/colmap/colmap/pull/3540
• Avoid frame having data from a sensor that does not exist in its associated rig. by @B1ueber2y in https://github.com/colmap/colmap/pull/3543
• Revert scale changes for metric reconstruction in rig sfm. by @B1ueber2y in https://github.com/colmap/colmap/pull/3530
• Fix comment for C++20 support. by @B1ueber2y in https://github.com/colmap/colmap/pull/3547
• Clean up unused includes in scene folder by @ahojnnes in https://github.com/colmap/colmap/pull/3548
• Add random_seed to IncrementalMapper to control all RANSAC seeds for improved SfM reproducibility by @StonerLing in https://github.com/colmap/colmap/pull/3544
• Throw exception at counting registered images when an image in the frame does not exist in the reconstruction. by @B1ueber2y in https://github.com/colmap/colmap/pull/3546
• Clean up unused includes in retrieval folder by @ahojnnes in https://github.com/colmap/colmap/pull/3549
• Clean up unused includes in optim folder by @ahojnnes in https://github.com/colmap/colmap/pull/3550
• Fix ModelViewerWidget::ClearReconstruction by @whuaegeanse in https://github.com/colmap/colmap/pull/3552
• Fix build with Boost 1.89.0 by @cho-m in https://github.com/colmap/colmap/pull/3553
• Clean up unused includes in util folder by @ahojnnes in https://github.com/colmap/colmap/pull/3551
• Retire Mac x86 support by @ahojnnes in https://github.com/colmap/colmap/pull/3555
• Update database bindings by @ahojnnes in https://github.com/colmap/colmap/pull/3556
• Throw exception for Frame::SetRigId when rig pointer is available. by @B1ueber2y in https://github.com/colmap/colmap/pull/3558
• Fix rig configuration with differing IDs between database and reconstruction by @ahojnnes in https://github.com/colmap/colmap/pull/3557
• Removing the Global Lock in SiftGPUFeatureMatcher for CUDA backend by @yimingc in https://github.com/colmap/colmap/pull/3561
• Add option to skip matching for image pairs in same frame by @ahojnnes in https://github.com/colmap/colmap/pull/3563
• Add option to keep specific cameras constant by @ahojnnes in https://github.com/colmap/colmap/pull/3565
• Throw exception if any camera in the rig does not exist in the reconstruction. by @B1ueber2y in https://github.com/colmap/colmap/pull/3564
• Clean up unused includes in controllers folder by @ahojnnes in https://github.com/colmap/colmap/pull/3566
• Extract image pair conversion functions into type utils by @ahojnnes in https://github.com/colmap/colmap/pull/3568
• Clean up unused includes in estimators folder by @ahojnnes in https://github.com/colmap/colmap/pull/3567
• Expect error threshold for generalized relative pose in pixel space by @ahojnnes in https://github.com/colmap/colmap/pull/3571
• Add function to read number of matches by @ahojnnes in https://github.com/colmap/colmap/pull/3572
• Add a test to ensure THROW_CHECK conditions are evaluated exactly once by @ahojnnes in https://github.com/colmap/colmap/pull/3573
• Simplify and reuse feature matcher thread creation by @ahojnnes in https://github.com/colmap/colmap/pull/3575
• Increase exhaustive matching cache size by @ahojnnes in https://github.com/colmap/colmap/pull/3576
• Add option to clean two-view geometries by @ahojnnes in https://github.com/colmap/colmap/pull/3577
• Decouple feature matching and two-view geometry options by @ahojnnes in https://github.com/colmap/colmap/pull/3578
• Display CLI floating-point defaults with 3 significant digits by @StonerLing in https://github.com/colmap/colmap/pull/3579
• Make use_log_scale an option for Point3DAlignmentCost. by @B1ueber2y in https://github.com/colmap/colmap/pull/3574
• Cache max number of keypoints by @ahojnnes in https://github.com/colmap/colmap/pull/3583
• Add tool for geometric verification by @ahojnnes in https://github.com/colmap/colmap/pull/3581
• Minor perf and code quality improvements for visual inverted index by @ahojnnes in https://github.com/colmap/colmap/pull/3584
• Upgrade pybind11 to 3.0.0 by @ahojnnes in https://github.com/colmap/colmap/pull/3523
• Fix missing colmap namespace in sqlite3 macro. by @B1ueber2y in https://github.com/colmap/colmap/pull/3587
• Use pybind smart holder for all classes by @ahojnnes in https://github.com/colmap/colmap/pull/3542
• Add option to perform geometric verification with rig constraints by @ahojnnes in https://github.com/colmap/colmap/pull/3498
• Use Qt QSettings to remember last-used paths across file dialogs by @MotivaCG in https://github.com/colmap/colmap/pull/3585
• Fix MaybeLoadImages by @whuaegeanse in https://github.com/colmap/colmap/pull/3586
• Sync 3.12 changelog changes by @ahojnnes in https://github.com/colmap/colmap/pull/3591
• Document rig-related feature matching options and change rig verification defaults by @ahojnnes in https://github.com/colmap/colmap/pull/3592
• Abstract database interface and sqlite implementation by @ahojnnes in https://github.com/colmap/colmap/pull/3541
• Share feature extraction max_image_size option by @ahojnnes in https://github.com/colmap/colmap/pull/3600
• Support for reading RGB or grayscale images for feature extraction by @ahojnnes in https://github.com/colmap/colmap/pull/3603
• Support both Qt5 and Qt6 by @zhouzq-thu in https://github.com/colmap/colmap/pull/3597
• Add option to fix individual rigs by @ahojnnes in https://github.com/colmap/colmap/pull/3604
• Ensure download support on Ubuntu by installing libssl-dev for crypto by @ahojnnes in https://github.com/colmap/colmap/pull/3607
• Update pybind11 to 3.0.1 by @ahojnnes in https://github.com/colmap/colmap/pull/3609
• Fix focal length extraction from 35mm equivalent by @ahojnnes in https://github.com/colmap/colmap/pull/3617
• Update to Windows 2025 runners and pin pycolmap image versions by @ahojnnes in https://github.com/colmap/colmap/pull/3618
• Update to latest vcpkg by @ahojnnes in https://github.com/colmap/colmap/pull/3619
• Add bindings for mvs::model for covisibility support in pycolmap by @B1ueber2y in https://github.com/colmap/colmap/pull/3621
• Fix inconsistent pycolmap naming for RegisterFrame and DeRegisterFrame. by @B1ueber2y in https://github.com/colmap/colmap/pull/3623
• Add Conda package installation instructions by @Tobias-Fischer in https://github.com/colmap/colmap/pull/3624
• Call Retriangulate irrespective of the logging level by @sarlinpe in https://github.com/colmap/colmap/pull/3626
• Add missing rig and frame interfaces for pycolmap database. by @B1ueber2y in https://github.com/colmap/colmap/pull/3629
• Throw exception when the rig configurations of the database and existing reconstruction are inconsistent. by @B1ueber2y in https://github.com/colmap/colmap/pull/3628
• Improve the Gauge logic for fixing two views. by @B1ueber2y in https://github.com/colmap/colmap/pull/3627
• Add changelog for 3.12.6 release. by @B1ueber2y in https://github.com/colmap/colmap/pull/3632
• Ensure min/max_focal_length_ratio and max_extra_param are piped to triangulation by @ahojnnes in https://github.com/colmap/colmap/pull/3637
• Fix broken logic of removing cameras at Reconstruction::TearDown(). by @B1ueber2y in https://github.com/colmap/colmap/pull/3634
• Minor: resolve -Wsign-compare warning for min_num_inliers. by @B1ueber2y in https://github.com/colmap/colmap/pull/3639
• Remove redundant binding of feature module in pycolmap by @ahojnnes in https://github.com/colmap/colmap/pull/3640
• Remove plyfile python package copy due to GNU license by @ahojnnes in https://github.com/colmap/colmap/pull/3644
• rig_from_world and sensor_from_rig in pycolmap should return reference rather than copy. by @B1ueber2y in https://github.com/colmap/colmap/pull/3645
• Also replace mask file extension to .png instead of appending by @Dawars in https://github.com/colmap/colmap/pull/3611
• Fix crash when built without GPU support by @sarlinpe in https://github.com/colmap/colmap/pull/3649
• Replace custom filtering with image filter view by @ahojnnes in https://github.com/colmap/colmap/pull/3651
• Expose image_ids filter view in frame in pycolmap by @ahojnnes in https://github.com/colmap/colmap/pull/3652
• Simplify and fix updating cameras with priors in benchmarking by @ahojnnes in https://github.com/colmap/colmap/pull/3653
• Fix typo in patch match options documentation by @ahojnnes in https://github.com/colmap/colmap/pull/3655
• Consistently name local BA options and deduplicate local_ba_num_images by @ahojnnes in https://github.com/colmap/colmap/pull/3657
• Adjust reconstruction consistency checks by @ahojnnes in https://github.com/colmap/colmap/pull/3658
• Improve the doc for loop_detection_period. by @sarlinpe in https://github.com/colmap/colmap/pull/3661
• Expose comparison operators in Python bindings by @jhacsonmeza in https://github.com/colmap/colmap/pull/3663
• Feature sub-selection for global BA by @ahojnnes in https://github.com/colmap/colmap/pull/3650
• Compute alignment RANSAC max_error from RMS stddev and chi-square by @StonerLing in https://github.com/colmap/colmap/pull/3664
• Address clang-tidy 21 errors by @ahojnnes in https://github.com/colmap/colmap/pull/3668
• Extract synthetic reconstruction noise functionality into separate utility by @ahojnnes in https://github.com/colmap/colmap/pull/3670
• Fix copy assignment of image by @ahojnnes in https://github.com/colmap/colmap/pull/3671
• Add gmock matcher for checking approximate reconstruction equality by @ahojnnes in https://github.com/colmap/colmap/pull/3672
• Add gmock matcher for checking reconstruction equality by @ahojnnes in https://github.com/colmap/colmap/pull/3673
• Include cassert by @FlexW in https://github.com/colmap/colmap/pull/3674
• Parallelize incremental mapper initialization by @ahojnnes in https://github.com/colmap/colmap/pull/3675
• Add timeout option for incremental mapper by @ahojnnes in https://github.com/colmap/colmap/pull/3676
• Implement equals operator for FeatureKeypoint/Match by @ahojnnes in https://github.com/colmap/colmap/pull/3678
• Add method to update keypoints in database by @ahojnnes in https://github.com/colmap/colmap/pull/3679
• Fix noise synthesis to consistently update database keypoints by @ahojnnes in https://github.com/colmap/colmap/pull/3680
• Add missing binding for Reconstruction::DeleteAllPoints2DAndPoints3D. by @B1ueber2y in https://github.com/colmap/colmap/pull/3682
• Fix BA convergence setting bug during initialization by @ahojnnes in https://github.com/colmap/colmap/pull/3677
• Add notice of the version of panorama_sfm.py by @sarlinpe in https://github.com/colmap/colmap/pull/3685
• Cuda-Enabled Pip Package (Linux x86-64 only) by @Tobias314 in https://github.com/colmap/colmap/pull/3608
• Update to CUDA 12.9.1 in CI by @ahojnnes in https://github.com/colmap/colmap/pull/3610
• Add test for BA controller by @ahojnnes in https://github.com/colmap/colmap/pull/3683
• Add tests for option manager by @ahojnnes in https://github.com/colmap/colmap/pull/3684
• Add tests for feature matching controllers by @ahojnnes in https://github.com/colmap/colmap/pull/3686
• Remove unused variable in reconstruction test by @ahojnnes in https://github.com/colmap/colmap/pull/3691
• Update the logic of duplicate correspondence to support one-to-many matches. by @B1ueber2y in https://github.com/colmap/colmap/pull/3681
• Some misc code improvements for ObservationManager by @ahojnnes in https://github.com/colmap/colmap/pull/3689
• Update PyPI publishing by @sarlinpe in https://github.com/colmap/colmap/pull/3692
• Update deprecated Eigen JacobiSVD usage by @ahojnnes in https://github.com/colmap/colmap/pull/3690
• Add unit test for feature extraction controller by @ahojnnes in https://github.com/colmap/colmap/pull/3693
• Update to latest clang-format 20.1.5 by @ahojnnes in https://github.com/colmap/colmap/pull/3694
• Add function to synthesize images by @ahojnnes in https://github.com/colmap/colmap/pull/3696
• Remove deprecated rig bundle adjuster by @B1ueber2y in https://github.com/colmap/colmap/pull/3698
• Fix coordinate bug in ComputeEqualPartsBboxes by @ahojnnes in https://github.com/colmap/colmap/pull/3700
• Create unit test for automatic reconstruction controller by @ahojnnes in https://github.com/colmap/colmap/pull/3697
• Add unit test for HammingDistanceWeightFunctor by @ahojnnes in https://github.com/colmap/colmap/pull/3702
• Add unit test for option manager parsing and move sys exit to call sites by @ahojnnes in https://github.com/colmap/colmap/pull/3703
• Add unit test for feature importer controller by @ahojnnes in https://github.com/colmap/colmap/pull/3704