COLMAP Files

New Features

• Added Caspar, a GPU-accelerated bundle adjustment backend, selectable as an alternative to the default Ceres solver. Includes rig support, GPU device selection, and pycolmap bindings for choosing the bundle adjustment and mapper backends. Caspar is often 1-2 orders of magnitude faster than the Ceres CUDA backend for medium- to large-scale problems, leading to drastic speedups especially for the incremental mapper.
• Added the spherical (equirectangular) camera models. This enables native reconstruction of 360 panoramic images and is generally faster but less accurate than rendering perspective views, as performed in the panorama_sfm example.
• Extended the panorama_sfm example to now convert perspective cameras back to equirectangular and added global mapping support.
• Added Enhanced Unified Camera Model (EUCM).
• Added advancing-front surface reconstruction meshing.
• Added support for extracting gravity pose priors from EXIF orientation tags.
• Added CamRayFromImg bearing-vector unprojection interface and bindings.
• Estimate separate fx/fy in the p4pf solver for two-focal camera models.
• Added a new version CLI command to print the COLMAP version.
• Added MVS_ENABLED build option to compile without the MVS module.
• Added GlobalMapper.keep_max_num_tracks option to bound the number of established tracks.
• Added rotation averaging options to the GlobalMapper configuration.
• Added pycolmap bindings for ReprojectionErrorType and additional point filter methods.
• Added support for showing camera up vector in the viewer.
• Replaced the GUI icons with Material Symbols (Apache 2.0).
• Added keyboard shortcuts for model import/export in the GUI.

Improvements

• Accelerated the exhaustive matcher by using IndexIVFScalarQuantizer instead of IndexIVFFlat.
• Accelerated extraction of colors through parallelization across all images.
• Accelerated incremental triangulator through reused BFS allocations and simplified merge_trials_.
• Added and updated sensor specs to the camera database.
• Avoided a forced copy in mvs::Image::SetBitmap.
• Support incremental CorrespondenceGraph and ObservationManager construction, decoupling reg_stats from ObservationManager.
• Return std::optional from Bitmap::GetPixel/Interpolate*.
• Refit missing E/F/H in MaybeDecomposeRelativePoses for old databases.
• Inherit all bundle adjustment options in the global mapper.
• Guard against frame mutation after reconstruction insertion via FinalizeDataIds().
• Move semantics for SetPoints2D (take Point2D vector by value).
• Conditional initialization of Google logging.
• Numerous benchmarking improvements: live progress display, --fast mode, better parallelism and per-step logging, per-dataset/overall summary rows, GT-covisibility-based filtering, and dynamic scheduling.
• Added compiler warning flags and a WERROR option to the pycolmap build.
• Robustified gravity-aligned rotation averaging against 180deg flips.
• Clipping extreme pixels in fisheye undistortion.
• Various tutorial and docstring improvements.
• For other minor improvements, see the full list of changes below.

Bug Fixes

• Fix sequential matching hang with loop detection verification.
• Fix SiftGPU device selection to include device 0.
• Fix vocab tree selection in the UI.
• Fix broken integration of SIFT features with the LightGlue matcher.
• Fix global_mapper point3D.error units for model_analyzer.
• Fix PoissonRecon num_threads handling and undefined behavior.
• Fix pycolmap.Database() abort on garbage collection.
• Fix Windows Unicode path handling in Bitmap::Read/Bitmap::Write.
• Fix NaN failures in rotation averaging from non-PD Cholesky.
• Fix rotation averaging crash with multi-image rigs.
• Fix missing rig pose manifold in RefineGeneralizedAbsolutePose and only set the manifold when residuals exist.
• Fix applying refine_sensor_from_rig to all stages of the global mapper.
• Fix mesh_texturer occlusion check edge case.
• Fix SIGABRT in RegisterNextStructureLessImage when NumRegImages < 2.
• Fix thread pool worker processes crashing on shutdown.
• Fix onnxruntime DLL copy error in Findonnxruntime.cmake.
• Change std::filesystem::relative to lexically_relative for NormalizePath.
• Fix crash in AdjustGlobalBundle after aggressive frame filtering.
• Fix stale reg_stats/observation stats and add underflow guards in mapper bookkeeping, and clear num_reg_images.
• Fix empty PatchMatch results on Blackwell GPUs (sm_100+).
• Fix locale-dependent float parsing/formatting.
• Fix thread oversubscription in the hierarchical mapper.
• Fix mask usage log never printing in the feature writer thread.
• Fix pyceres .problem attribute on CeresBundleAdjuster factory.
• Fix conditional Eigen alignment for the 3.4.0 pre-release version.
• Fix optional access in guided matching.
• Fix reading of dynamic matrices in the SQLite database.
• Fix using the ALIKED feature extractor with pycolmap and ALIKED min_score keypoint filtering.
• Fix various pycolmap and PoissonRecon installation/build issues.
• Fix missing mesh simplification reset and duplicate sources.
• Add destructor to ModelViewerWidget to call makeCurrent().
• Fix checks in the GpuMat constructor.
• Add missing LightGlue matcher type to the GUI.
• Log an error instead of crashing on unknown EXIF orientation.