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COLMAP 3.12.0 (06/30/2025)

New Features

  • Support for modeling sensor rigs (and thus multi-camera rigs and panoramas). For more details and usage examples, see: https://colmap.github.io/rigs.html.
  • Automatic download and caching of vocabulary trees and other resources.
  • Support for converting between LLA and UTM coordinates.
  • Improved minimal solvers for affine transform and generalized absolute/relative pose.
  • Improved absolute pose estimation by minimizing pixel error in image space.
  • Replaced FLANN with faiss for fast approximate nearest neighbor search for improved speed in CPU-based feature matching and vocabulary tree-based image retrieval.
  • Support for propagating relative pose covariance.
  • Support visualization of models with arbitrary origin and scale (e.g., in GPS space).
  • Reconstruction benchmark for ETH3D, IMC, BlendedMVS datasets.
  • Measure and report code test coverage in CI.

Bug Fixes

  • Fixed RANSAC stopping criterion, see https://arxiv.org/pdf/2503.07829.
  • Fixed and improved two-view pose and triangulation angle estimation.
  • Fix rare deadlock during vocab tree feature matching.
  • For other bug fixes, see full list of changes below.

Breaking Changes

  • Serialization of reconstruction and database contains a new abstraction: rigs and frames. The reconstruction output contains two new files rigs.{bin,txt} and frames.{bin,txt}. The database contains new tables: rigs, rig_sensors, frames, frames_data. Reading from existing reconstructions and databases (without rigs/frames) is fully backwards compatible and vice versa reading new reconstructions (with rigs/frames) using old code is fully forwards compatible.
  • Sensor poses (and thus image poses) are now composed as: sensor_from_world = sensor_from_rig * rig_from_world. Previously, image.cam_from_world returned a reference to the pose parameters. Now it returns a copy of the pose composition: image.cam_from_world() = image.frame.rig.sensor_from_rig(image.camera.sensor_id) * image.frame.rig_from_world with the underlying pose parameters stored in the rig and frame objects.
  • Default bundle adjuster supports sensor rigs and thus rig bundle adjuster is deprecated.
  • FLANN-based vocabulary trees are incompatible with faiss. New trees automatically downloaded, if no vocab_tree_path is provided, otherwise manual download and update required.
  • Removed official support for Ubuntu 20.04, MacOS 13, and Visual Studio 2019.

Full Change List (sorted temporally)

Source: README.md, updated 2025-06-30