-
Notifications
You must be signed in to change notification settings - Fork 7
Expand file tree
/
Copy pathformat.html
More file actions
1030 lines (751 loc) · 48.8 KB
/
Copy pathformat.html
File metadata and controls
1030 lines (751 loc) · 48.8 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
<!DOCTYPE html>
<html lang="en" data-content_root="./" data-theme="auto">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="viewport" content="width=device-width, initial-scale=1" />
<meta property="og:title" content="Output Format" />
<meta property="og:type" content="website" />
<meta property="og:url" content="https://colmap.github.io/format.html" />
<meta property="og:site_name" content="COLMAP" />
<meta property="og:description" content="Binary File Format: Note that all binary data is stored using little endian byte ordering. All x86 processors are little endian and thus no special care has to be taken when reading COLMAP binary d..." />
<meta property="og:image" content="https://colmap.github.io/_static/og-image.png" />
<meta property="og:image:alt" content="COLMAP — Structure-from-Motion & Multi-View Stereo" />
<meta name="description" content="Binary File Format: Note that all binary data is stored using little endian byte ordering. All x86 processors are little endian and thus no special care has to be taken when reading COLMAP binary d..." />
<meta name="twitter:card" content="summary_large_image" />
<title>Output Format — COLMAP</title>
<script data-cfasync="false">
document.documentElement.dataset.mode = localStorage.getItem("mode") || "auto";
document.documentElement.dataset.theme = localStorage.getItem("theme") || "auto";
</script>
<!--
this give us a css class that will be invisible only if js is disabled
-->
<noscript>
<style>
.pst-js-only { display: none !important; }
</style>
</noscript>
<!-- Loaded before other Sphinx assets -->
<link href="_static/styles/theme.css?digest=90905a2f556bf617f1a9" rel="stylesheet" />
<link href="_static/styles/pydata-sphinx-theme.css?digest=90905a2f556bf617f1a9" rel="stylesheet" />
<link rel="stylesheet" type="text/css" href="_static/pygments.css?v=03e43079" />
<link rel="stylesheet" type="text/css" href="_static/sphinx-design.min.css?v=95c83b7e" />
<link rel="stylesheet" type="text/css" href="_static/custom.css?v=c4c8f65a" />
<link rel="stylesheet" type="text/css" href="_static/landing.css?v=1fe38c8d" />
<!-- So that users can add custom icons -->
<script defer src="_static/scripts/fontawesome.js?digest=90905a2f556bf617f1a9"></script>
<!-- Pre-loaded scripts that we'll load fully later -->
<link rel="preload" as="script" href="_static/scripts/bootstrap.js?digest=90905a2f556bf617f1a9" />
<link rel="preload" as="script" href="_static/scripts/pydata-sphinx-theme.js?digest=90905a2f556bf617f1a9" />
<script src="_static/documentation_options.js?v=72e9b2fb"></script>
<script src="_static/doctools.js?v=fd6eb6e6"></script>
<script src="_static/sphinx_highlight.js?v=6ffebe34"></script>
<script src="_static/design-tabs.js?v=f930bc37"></script>
<script>DOCUMENTATION_OPTIONS.pagename = 'format';</script>
<script>DOCUMENTATION_OPTIONS.search_as_you_type = false;</script>
<script src="_static/install_selector.js?v=94a4b0a5"></script>
<script src="_static/external_links.js?v=cd4e6f29"></script>
<link rel="canonical" href="https://colmap.github.io/format.html" />
<link rel="icon" href="_static/favicon.svg"/>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="next" title="Datasets" href="datasets.html" />
<link rel="prev" title="Rig Support" href="rigs.html" />
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta name="docsearch:language" content="en"/>
<meta name="docsearch:version" content="4.2.0.dev0 | 109ebdb (2026-07-21)" />
<script src="_static/searchtools.js"></script>
<script src="_static/language_data.js"></script>
<script src="searchindex.js"></script>
</head>
<body data-default-mode="auto">
<div id="pst-skip-link" class="skip-link d-print-none"><a href="#main-content">Skip to main content</a></div>
<div id="pst-scroll-pixel-helper"></div>
<button type="button" class="btn rounded-pill" id="pst-back-to-top">
<i class="fa-solid fa-arrow-up"></i>Back to top</button>
<dialog id="pst-search-dialog">
<form class="bd-search d-flex align-items-center"
action="search.html"
method="get">
<i class="fa-solid fa-magnifying-glass"></i>
<input type="search"
class="form-control"
name="q"
placeholder="Search the docs ..."
aria-label="Search the docs ..."
autocomplete="off"
autocorrect="off"
autocapitalize="off"
spellcheck="false"/>
<span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd>K</kbd></span>
</form>
</dialog>
<div class="pst-async-banner-revealer d-none">
<aside id="bd-header-version-warning" class="d-none d-print-none" aria-label="Version warning"></aside>
</div>
<header id="pst-header" class="bd-header navbar navbar-expand-lg bd-navbar d-print-none">
<div class="bd-header__inner bd-page-width">
<button class="pst-navbar-icon sidebar-toggle primary-toggle" aria-label="Site navigation">
<span class="fa-solid fa-bars"></span>
</button>
<div class=" navbar-header-items__start">
<div class="navbar-item">
<a class="navbar-brand logo" href="index.html">
<img src="_static/colmap-logo.svg" class="logo__image only-light" alt=""/>
<img src="_static/colmap-logo-dark.svg" class="logo__image only-dark pst-js-only" alt=""/>
<p class="title logo__title">COLMAP</p>
</a></div>
</div>
<div class=" navbar-header-items">
<div class="me-auto navbar-header-items__center">
<div class="navbar-item">
<nav>
<ul class="bd-navbar-elements navbar-nav">
<li class="nav-item ">
<a class="nav-link nav-internal" href="install.html">
Installation
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="tutorial.html">
Tutorial
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="concepts.html">
Key Concepts
</a>
</li>
<li class="nav-item dropdown">
<button class="btn dropdown-toggle nav-item" type="button"
data-bs-toggle="dropdown" aria-expanded="false"
aria-controls="pst-nav-more-links">
More
</button>
<ul id="pst-nav-more-links" class="dropdown-menu">
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="features.html">
Feature Extraction and Matching
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="database.html">
Database Format
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="cameras.html">
Camera Models
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="rigs.html">
Rig Support
</a>
</li>
<li class=" current active">
<a class="nav-link dropdown-item nav-internal" href="#">
Output Format
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="datasets.html">
Datasets
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="gui.html">
Graphical User Interface
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="cli.html">
Command-line Interface
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="pycolmap/index.html">
PyCOLMAP
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="faq.html">
Frequently Asked Questions
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="changelog.html">
Changelog
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="contribution.html">
Contribution
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="license.html">
License
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="bibliography.html">
Bibliography
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="legacy.html">
Legacy Documentations
</a>
</li>
</ul>
</li>
</ul>
</nav></div>
</div>
<div class="navbar-header-items__end">
<div class="navbar-item navbar-persistent--container">
<button class="btn search-button-field search-button__button pst-js-only" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
<i class="fa-solid fa-magnifying-glass"></i>
<span class="search-button__default-text">Search</span>
<span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd class="kbd-shortcut__modifier">K</kbd></span>
</button>
</div>
<div class="navbar-item">
<div class="theme-switch-container dropdown pst-js-only" data-bs-toggle="tooltip" data-bs-placement="bottom" title="Color mode">
<button class="btn btn-sm nav-link pst-navbar-icon theme-switch-button dropdown-toggle" aria-label="Color mode" data-bs-toggle="dropdown">
<i class="theme-switch fa-solid fa-sun fa-lg fa-fw" data-mode="light" title="Light"></i>
<i class="theme-switch fa-solid fa-moon fa-lg fa-fw" data-mode="dark" title="Dark"></i>
<i class="theme-switch fa-solid fa-circle-half-stroke fa-lg fa-fw" data-mode="auto" title="System Settings"></i>
</button>
<ul class="dropdown-menu dropdown-menu-end">
<li><button class="dropdown-item d-flex align-items-center theme-change-button" data-mode="auto"><i class="fa-solid fa-circle-half-stroke fa-lg fa-fw me-1"></i>System Settings</button></li>
<li><button class="dropdown-item d-flex align-items-center theme-change-button" data-mode="light"><i class="fa-solid fa-sun fa-lg fa-fw me-1"></i>Light</button></li>
<li><button class="dropdown-item d-flex align-items-center theme-change-button" data-mode="dark"><i class="fa-solid fa-moon fa-lg fa-fw me-1"></i>Dark</button></li>
</ul>
</div></div>
<div class="navbar-item"><ul class="navbar-icon-links"
aria-label="Icon Links">
<li class="nav-item">
<a href="https://github.com/colmap/colmap" title="GitHub" class="nav-link pst-navbar-icon" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><i class="fa-brands fa-github fa-lg" aria-hidden="true"></i><span class="visually-hidden">GitHub</span></a>
</li>
<li class="nav-item">
<a href="https://pypi.org/project/pycolmap/" title="PyPI" class="nav-link pst-navbar-icon" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><i class="fa-brands fa-python fa-lg" aria-hidden="true"></i><span class="visually-hidden">PyPI</span></a>
</li>
<li class="nav-item">
<a href="https://hub.docker.com/r/colmap/colmap" title="Docker Hub" class="nav-link pst-navbar-icon" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><i class="fa-brands fa-docker fa-lg" aria-hidden="true"></i><span class="visually-hidden">Docker Hub</span></a>
</li>
</ul></div>
</div>
</div>
<div class="navbar-persistent--mobile">
<button class="btn search-button-field search-button__button pst-js-only" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
<i class="fa-solid fa-magnifying-glass"></i>
<span class="search-button__default-text">Search</span>
<span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd class="kbd-shortcut__modifier">K</kbd></span>
</button>
</div>
<button class="pst-navbar-icon sidebar-toggle secondary-toggle" aria-label="On this page">
<span class="fa-solid fa-outdent"></span>
</button>
</div>
</header>
<div class="bd-container">
<div class="bd-container__inner bd-page-width">
<dialog id="pst-primary-sidebar-modal"></dialog>
<div id="pst-primary-sidebar" class="bd-sidebar-primary bd-sidebar">
<div class="sidebar-header-items sidebar-primary__section">
<div class="sidebar-header-items__center">
<div class="navbar-item">
<nav>
<ul class="bd-navbar-elements navbar-nav">
<li class="nav-item ">
<a class="nav-link nav-internal" href="install.html">
Installation
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="tutorial.html">
Tutorial
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="concepts.html">
Key Concepts
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="features.html">
Feature Extraction and Matching
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="database.html">
Database Format
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="cameras.html">
Camera Models
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="rigs.html">
Rig Support
</a>
</li>
<li class="nav-item current active">
<a class="nav-link nav-internal" href="#">
Output Format
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="datasets.html">
Datasets
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="gui.html">
Graphical User Interface
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="cli.html">
Command-line Interface
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="pycolmap/index.html">
PyCOLMAP
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="faq.html">
Frequently Asked Questions
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="changelog.html">
Changelog
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="contribution.html">
Contribution
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="license.html">
License
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="bibliography.html">
Bibliography
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="legacy.html">
Legacy Documentations
</a>
</li>
</ul>
</nav></div>
</div>
<div class="sidebar-header-items__end">
<div class="navbar-item">
<div class="theme-switch-container dropdown pst-js-only" data-bs-toggle="tooltip" data-bs-placement="bottom" title="Color mode">
<button class="btn btn-sm nav-link pst-navbar-icon theme-switch-button dropdown-toggle" aria-label="Color mode" data-bs-toggle="dropdown">
<i class="theme-switch fa-solid fa-sun fa-lg fa-fw" data-mode="light" title="Light"></i>
<i class="theme-switch fa-solid fa-moon fa-lg fa-fw" data-mode="dark" title="Dark"></i>
<i class="theme-switch fa-solid fa-circle-half-stroke fa-lg fa-fw" data-mode="auto" title="System Settings"></i>
</button>
<ul class="dropdown-menu dropdown-menu-end">
<li><button class="dropdown-item d-flex align-items-center theme-change-button" data-mode="auto"><i class="fa-solid fa-circle-half-stroke fa-lg fa-fw me-1"></i>System Settings</button></li>
<li><button class="dropdown-item d-flex align-items-center theme-change-button" data-mode="light"><i class="fa-solid fa-sun fa-lg fa-fw me-1"></i>Light</button></li>
<li><button class="dropdown-item d-flex align-items-center theme-change-button" data-mode="dark"><i class="fa-solid fa-moon fa-lg fa-fw me-1"></i>Dark</button></li>
</ul>
</div></div>
<div class="navbar-item"><ul class="navbar-icon-links"
aria-label="Icon Links">
<li class="nav-item">
<a href="https://github.com/colmap/colmap" title="GitHub" class="nav-link pst-navbar-icon" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><i class="fa-brands fa-github fa-lg" aria-hidden="true"></i><span class="visually-hidden">GitHub</span></a>
</li>
<li class="nav-item">
<a href="https://pypi.org/project/pycolmap/" title="PyPI" class="nav-link pst-navbar-icon" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><i class="fa-brands fa-python fa-lg" aria-hidden="true"></i><span class="visually-hidden">PyPI</span></a>
</li>
<li class="nav-item">
<a href="https://hub.docker.com/r/colmap/colmap" title="Docker Hub" class="nav-link pst-navbar-icon" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><i class="fa-brands fa-docker fa-lg" aria-hidden="true"></i><span class="visually-hidden">Docker Hub</span></a>
</li>
</ul></div>
</div>
</div>
<div class="sidebar-primary-items__start sidebar-primary__section">
<div class="sidebar-primary-item pst-sidebar-collapse"><button id="pst-collapse-sidebar-button" aria-expanded="true" aria-controls="pst-primary-sidebar">
<svg class="pst-icon" role="img" aria-hidden="true" focusable="false" viewBox="0 0 16 16" xmlns="http://www.w3.org/2000/svg">
<path fill="currentColor" d="M3 15.5C2.36232 15.5 1.74874 15.2564 1.28478 14.8189C0.820828 14.3815 0.541576 13.7832 0.504167 13.1467L0.5 13L0.5 3C0.499965 2.36232 0.743605 1.74874 1.18107 1.28478C1.61854 0.820828 2.21676 0.541576 2.85333 0.504167L3 0.5L13 0.5C13.6377 0.499965 14.2513 0.743605 14.7152 1.18107C15.1792 1.61854 15.4584 2.21676 15.4958 2.85333L15.5 3L15.5 13C15.5 13.6377 15.2564 14.2513 14.8189 14.7152C14.3815 15.1792 13.7832 15.4584 13.1467 15.4958L13 15.5L3 15.5ZM3 13.8333L10.5 13.8333L10.5 2.16667L3 2.16667C2.79589 2.16669 2.59889 2.24163 2.44636 2.37726C2.29383 2.5129 2.19638 2.69979 2.1725 2.9025L2.16667 3L2.16667 13C2.16669 13.2041 2.24163 13.4011 2.37726 13.5536C2.5129 13.7062 2.69979 13.8036 2.9025 13.8275L3 13.8333ZM6.65583 10.325L6.5775 10.2558L4.91083 8.58917C4.76735 8.44567 4.68116 8.25476 4.66843 8.05223C4.65569 7.84971 4.71729 7.6495 4.84167 7.48917L4.91083 7.41083L6.5775 5.74417C6.72747 5.59471 6.9287 5.50794 7.14032 5.50148C7.35194 5.49502 7.55809 5.56935 7.7169 5.70937C7.8757 5.8494 7.97525 6.04463 7.99533 6.25539C8.01541 6.46616 7.95451 6.67667 7.825 6.84417L7.75583 6.9225L6.67917 8L7.75583 9.0775C7.89931 9.22099 7.98551 9.41191 7.99824 9.61443C8.01097 9.81695 7.94938 10.0172 7.825 10.1775L7.75583 10.2558C7.61234 10.3993 7.42142 10.4855 7.2189 10.4982C7.01638 10.511 6.81617 10.4494 6.65583 10.325Z"/>
</svg>
<span class="pst-collapse-sidebar-label">Collapse Sidebar</span>
<span class="pst-expand-sidebar-label">Expand Sidebar</span>
</button></div>
<div class="sidebar-primary-item">
<nav class="bd-docs-nav bd-links"
aria-label="Section Navigation">
<p class="bd-links__title" role="heading" aria-level="1">Section Navigation</p>
<div class="bd-toc-item navbar-nav"></div>
</nav></div>
</div>
<div class="sidebar-primary-items__end sidebar-primary__section">
<div class="sidebar-primary-item">
<div id="ethical-ad-placement"
class="flat"
data-ea-publisher="readthedocs"
data-ea-type="readthedocs-sidebar"
data-ea-manual="true">
</div></div>
</div>
</div>
<main id="main-content" class="bd-main" role="main">
<div class="bd-content">
<div class="bd-article-container">
<div class="bd-header-article d-print-none">
<div class="header-article-items header-article__inner">
<div class="header-article-items__start">
<div class="header-article-item">
<nav aria-label="Breadcrumb" class="d-print-none">
<ul class="bd-breadcrumbs">
<li class="breadcrumb-item breadcrumb-home">
<a href="index.html" class="nav-link" aria-label="Home">
<i class="fa-solid fa-home"></i>
</a>
</li>
<li class="breadcrumb-item active" aria-current="page"><span class="ellipsis">Output Format</span></li>
</ul>
</nav>
</div>
</div>
</div>
</div>
<div id="searchbox"></div>
<article class="bd-article">
<section id="output-format">
<span id="id1"></span><h1>Output Format<a class="headerlink" href="#output-format" title="Link to this heading">#</a></h1>
<section id="binary-file-format">
<h2>Binary File Format<a class="headerlink" href="#binary-file-format" title="Link to this heading">#</a></h2>
<p>Note that all binary data is stored using little endian byte ordering. All x86
processors are little endian and thus no special care has to be taken when
reading COLMAP binary data on most platforms. The data can be most conveniently
parsed using the C++ reconstruction API under <code class="docutils literal notranslate"><span class="pre">src/colmap/scene/reconstruction_io.h</span></code>
or using the Python API provided by pycolmap.</p>
</section>
<section id="indices-and-identifiers">
<h2>Indices and Identifiers<a class="headerlink" href="#indices-and-identifiers" title="Link to this heading">#</a></h2>
<p>Any variable name ending with <code class="docutils literal notranslate"><span class="pre">*_idx</span></code> should be considered as an ordered,
contiguous zero-based index. In general, any variable name ending with <code class="docutils literal notranslate"><span class="pre">*_id</span></code>
should be considered as an unordered, non-contiguous identifier.</p>
<p>For example, the unique identifiers of cameras (<code class="docutils literal notranslate"><span class="pre">CAMERA_ID</span></code>), images
(<code class="docutils literal notranslate"><span class="pre">IMAGE_ID</span></code>), and 3D points (<code class="docutils literal notranslate"><span class="pre">POINT3D_ID</span></code>) are unordered and are most likely not
contiguous. This also means that the maximum <code class="docutils literal notranslate"><span class="pre">POINT3D_ID</span></code> does not necessarily
correspond to the number 3D points, since some <code class="docutils literal notranslate"><span class="pre">POINT3D_ID</span></code>’s are missing due to
filtering during the reconstruction, etc.</p>
</section>
<section id="sparse-reconstruction">
<h2>Sparse Reconstruction<a class="headerlink" href="#sparse-reconstruction" title="Link to this heading">#</a></h2>
<p>By default, COLMAP uses a binary file format (machine-readable, fast) for
storing sparse models. In addition, COLMAP provides the option to store the
sparse models as text files (human-readable, slow). In both cases, the
information is split into multiples files for the information about <code class="docutils literal notranslate"><span class="pre">rigs</span></code>,
<code class="docutils literal notranslate"><span class="pre">cameras</span></code>, <code class="docutils literal notranslate"><span class="pre">frames</span></code>, <code class="docutils literal notranslate"><span class="pre">images</span></code>, and <code class="docutils literal notranslate"><span class="pre">points</span></code>. Any directory containing these
files constitutes a sparse model. The binary files have the file extension
<code class="docutils literal notranslate"><span class="pre">.bin</span></code> and the text files the file extension <code class="docutils literal notranslate"><span class="pre">.txt</span></code>. Note that when loading a
model from a directory which contains both binary and text files, COLMAP prefers
the binary format.</p>
<p>Note that older versions of COLMAP had no rig support and thus the <code class="docutils literal notranslate"><span class="pre">rigs</span></code> and
<code class="docutils literal notranslate"><span class="pre">frames</span></code> files may be missing. The reconstruction I/O routines in COLMAP are
fully backwards compatible in that models without these files can be read and
trivial rigs and frames will be automatically initialized. Furthermore, newer
output reconstructions’ <code class="docutils literal notranslate"><span class="pre">cameras</span></code> and <code class="docutils literal notranslate"><span class="pre">images</span></code> files are fully compatible with
old outputs.</p>
<p>To export the currently selected model in the GUI, choose <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span>
<span class="pre">model</span></code>. To export all reconstructed models in the current dataset, choose
<code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span> <span class="pre">all</span></code>. The selected folder then contains the model files, and
for convenience, the current project configuration for importing the model to
COLMAP. To import the exported models, e.g., for visualization or to resume the
reconstruction, choose <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Import</span> <span class="pre">model</span></code> and select the folder containing
the <code class="docutils literal notranslate"><span class="pre">rigs</span></code>, <code class="docutils literal notranslate"><span class="pre">cameras</span></code>, <code class="docutils literal notranslate"><span class="pre">frames</span></code>, <code class="docutils literal notranslate"><span class="pre">images</span></code>, and <code class="docutils literal notranslate"><span class="pre">points3D</span></code> files.</p>
<p>To convert between the binary and text format in the GUI, you can load the model
using <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Import</span> <span class="pre">model</span></code> and then export the model in the desired output
format using <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span> <span class="pre">model</span></code> (binary) or <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span> <span class="pre">model</span> <span class="pre">as</span> <span class="pre">text</span></code>
(text). In addition, you can export sparse models to other formats, such as
VisualSfM’s NVM, Bundler files, PLY, VRML, etc., using <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span> <span class="pre">as...</span></code>.
To convert between various formats from the CLI, use the <code class="docutils literal notranslate"><span class="pre">model_converter</span></code>
executable.</p>
<p>There are two source files to conveniently read the sparse reconstructions using
Python (pycolmap) and Matlab (<code class="docutils literal notranslate"><span class="pre">scripts/matlab/read_model.m</span></code> supporting text).</p>
<section id="text-format">
<h3>Text Format<a class="headerlink" href="#text-format" title="Link to this heading">#</a></h3>
<p>COLMAP exports the following text files for every reconstructed model:
<code class="docutils literal notranslate"><span class="pre">rigs.txt</span></code>, <code class="docutils literal notranslate"><span class="pre">cameras.txt</span></code>, <code class="docutils literal notranslate"><span class="pre">frames.txt</span></code>, <code class="docutils literal notranslate"><span class="pre">images.txt</span></code>, and <code class="docutils literal notranslate"><span class="pre">points3D.txt</span></code>.
Comments start with a leading “#” character and are ignored. The first comment
lines briefly describe the format of the text files, as described in more
detailed on this page.</p>
<section id="rigs-txt">
<h4>rigs.txt<a class="headerlink" href="#rigs-txt" title="Link to this heading">#</a></h4>
<p>This file contains the configured rigs and sensors, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># Rig calib list with one line of data per calib:</span>
<span class="c1"># RIG_ID, NUM_SENSORS, REF_SENSOR_TYPE, REF_SENSOR_ID, SENSORS[] as (SENSOR_TYPE, SENSOR_ID, HAS_POSE, [QW, QX, QY, QZ, TX, TY, TZ])</span>
<span class="c1"># Number of rigs: 1</span>
<span class="mi">1</span> <span class="mi">2</span> <span class="n">CAMERA</span> <span class="mi">1</span> <span class="n">CAMERA</span> <span class="mi">2</span> <span class="mi">1</span> <span class="o">-</span><span class="mf">0.9999701516465348</span> <span class="o">-</span><span class="mf">0.0011120266840749639</span> <span class="o">-</span><span class="mf">0.0075347911527510894</span> <span class="mf">0.0012985125893421306</span> <span class="o">-</span><span class="mf">0.19316906391350164</span> <span class="mf">0.00085222218993398979</span> <span class="mf">0.0070758955539026785</span>
<span class="mi">2</span> <span class="mi">1</span> <span class="n">CAMERA</span> <span class="mi">3</span>
</pre></div>
</div>
<p>Here, the dataset contains two rigs: the first rig has two cameras and the second
one has 1 camera.</p>
</section>
<section id="cameras-txt">
<h4>cameras.txt<a class="headerlink" href="#cameras-txt" title="Link to this heading">#</a></h4>
<p>This file contains the intrinsic parameters of all reconstructed cameras in the
dataset using one line per camera, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># Camera list with one line of data per camera:</span>
<span class="c1"># CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]</span>
<span class="c1"># Number of cameras: 3</span>
<span class="mi">1</span> <span class="n">SIMPLE_PINHOLE</span> <span class="mi">3072</span> <span class="mi">2304</span> <span class="mf">2559.81</span> <span class="mi">1536</span> <span class="mi">1152</span>
<span class="mi">2</span> <span class="n">PINHOLE</span> <span class="mi">3072</span> <span class="mi">2304</span> <span class="mf">2560.56</span> <span class="mf">2560.56</span> <span class="mi">1536</span> <span class="mi">1152</span>
<span class="mi">3</span> <span class="n">SIMPLE_RADIAL</span> <span class="mi">3072</span> <span class="mi">2304</span> <span class="mf">2559.69</span> <span class="mi">1536</span> <span class="mi">1152</span> <span class="o">-</span><span class="mf">0.0218531</span>
</pre></div>
</div>
<p>Here, the dataset contains 3 cameras based on different distortion models
with the same sensor dimensions (width: 3072, height: 2304). The length of
parameters is variable and depends on the camera model. For the first camera,
there are 3 parameters with a single focal length of 2559.81 pixels and a
principal point at pixel location <code class="docutils literal notranslate"><span class="pre">(1536,</span> <span class="pre">1152)</span></code>. The intrinsic parameters of a
camera can be shared by multiple images, which refer to cameras using the unique
identifier <code class="docutils literal notranslate"><span class="pre">CAMERA_ID</span></code>.</p>
</section>
<section id="frames-txt">
<h4>frames.txt<a class="headerlink" href="#frames-txt" title="Link to this heading">#</a></h4>
<p>This file contains the frames, where a frame defines a specific
instance of a rig with all or a subset of sensors exposed at the same time, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># Frame list with one line of data per frame:</span>
<span class="c1"># FRAME_ID, RIG_ID, RIG_FROM_WORLD[QW, QX, QY, QZ, TX, TY, TZ], NUM_DATA_IDS, DATA_IDS[] as (SENSOR_TYPE, SENSOR_ID, DATA_ID)</span>
<span class="c1"># Number of frames: 151</span>
<span class="mi">1</span> <span class="mi">1</span> <span class="mf">0.99801363919752195</span> <span class="mf">0.040985139360073107</span> <span class="mf">0.041890917712361225</span> <span class="o">-</span><span class="mf">0.023111584553400576</span> <span class="o">-</span><span class="mf">5.2666546897987896</span> <span class="o">-</span><span class="mf">0.17120007823690631</span> <span class="mf">0.12300519697527648</span> <span class="mi">2</span> <span class="n">CAMERA</span> <span class="mi">1</span> <span class="mi">1</span> <span class="n">CAMERA</span> <span class="mi">2</span> <span class="mi">2</span>
<span class="mi">2</span> <span class="mi">2</span> <span class="mf">0.99816472047267968</span> <span class="mf">0.037605501383281774</span> <span class="mf">0.043101511724657163</span> <span class="o">-</span><span class="mf">0.019881568259519072</span> <span class="o">-</span><span class="mf">5.1956060695789192</span> <span class="o">-</span><span class="mf">0.20794508616745555</span> <span class="mf">0.14967533910764824</span> <span class="mi">1</span> <span class="n">CAMERA</span> <span class="mi">3</span> <span class="mi">3</span>
</pre></div>
</div>
<p>Here, the dataset contains two frames, where frame 1 is an instance of rig 1 and
frame 2 an instance of rig 2.</p>
</section>
<section id="images-txt">
<h4>images.txt<a class="headerlink" href="#images-txt" title="Link to this heading">#</a></h4>
<p>This file contains the pose and keypoints of all reconstructed images in the
dataset using two lines per image, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># Image list with two lines of data per image:</span>
<span class="c1"># IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME</span>
<span class="c1"># POINTS2D[] as (X, Y, POINT3D_ID)</span>
<span class="c1"># Number of images: 2, mean observations per image: 2</span>
<span class="mi">1</span> <span class="mf">0.851773</span> <span class="mf">0.0165051</span> <span class="mf">0.503764</span> <span class="o">-</span><span class="mf">0.142941</span> <span class="o">-</span><span class="mf">0.737434</span> <span class="mf">1.02973</span> <span class="mf">3.74354</span> <span class="mi">1</span> <span class="n">P1180141</span><span class="o">.</span><span class="n">JPG</span>
<span class="mf">2362.39</span> <span class="mf">248.498</span> <span class="mi">58396</span> <span class="mf">1784.7</span> <span class="mf">268.254</span> <span class="mi">59027</span> <span class="mf">1784.7</span> <span class="mf">268.254</span> <span class="o">-</span><span class="mi">1</span>
<span class="mi">2</span> <span class="mf">0.851773</span> <span class="mf">0.0165051</span> <span class="mf">0.503764</span> <span class="o">-</span><span class="mf">0.142941</span> <span class="o">-</span><span class="mf">0.737434</span> <span class="mf">1.02973</span> <span class="mf">3.74354</span> <span class="mi">1</span> <span class="n">P1180142</span><span class="o">.</span><span class="n">JPG</span>
<span class="mf">1190.83</span> <span class="mf">663.957</span> <span class="mi">23056</span> <span class="mf">1258.77</span> <span class="mf">640.354</span> <span class="mi">59070</span>
</pre></div>
</div>
<p>Here, the first two lines define the information of the first image, and so on.
The reconstructed pose of an image is specified as the projection from world to
the camera coordinate system of an image using a quaternion <code class="docutils literal notranslate"><span class="pre">(QW,</span> <span class="pre">QX,</span> <span class="pre">QY,</span> <span class="pre">QZ)</span></code>
and a translation vector <code class="docutils literal notranslate"><span class="pre">(TX,</span> <span class="pre">TY,</span> <span class="pre">TZ)</span></code>. The quaternion is defined using the
Hamilton convention, which is, for example, also used by the Eigen library. The
coordinates of the projection/camera center are given by <code class="docutils literal notranslate"><span class="pre">-R^t</span> <span class="pre">*</span> <span class="pre">T</span></code>, where
<code class="docutils literal notranslate"><span class="pre">R^t</span></code> is the inverse/transpose of the 3x3 rotation matrix composed from the
quaternion and <code class="docutils literal notranslate"><span class="pre">T</span></code> is the translation vector. The local camera coordinate
system of an image is defined in a way that the X axis points to the right, the
Y axis to the bottom, and the Z axis to the front as seen from the image.</p>
<p>Both images in the example above use the same camera model and share intrinsics
(<code class="docutils literal notranslate"><span class="pre">CAMERA_ID</span> <span class="pre">=</span> <span class="pre">1</span></code>). The image name is relative to the selected base image folder
of the project. The first image has 3 keypoints and the second image has 2
keypoints, while the location of the keypoints is specified in pixel
coordinates. Both images observe 2 3D points and note that the last keypoint of
the first image does not observe a 3D point in the reconstruction as the 3D
point identifier is -1.</p>
</section>
<section id="points3d-txt">
<h4>points3D.txt<a class="headerlink" href="#points3d-txt" title="Link to this heading">#</a></h4>
<p>This file contains the information of all reconstructed 3D points in the
dataset using one line per point, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># 3D point list with one line of data per point:</span>
<span class="c1"># POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)</span>
<span class="c1"># Number of points: 3, mean track length: 3.3334</span>
<span class="mi">63390</span> <span class="mf">1.67241</span> <span class="mf">0.292931</span> <span class="mf">0.609726</span> <span class="mi">115</span> <span class="mi">121</span> <span class="mi">122</span> <span class="mf">1.33927</span> <span class="mi">16</span> <span class="mi">6542</span> <span class="mi">15</span> <span class="mi">7345</span> <span class="mi">6</span> <span class="mi">6714</span> <span class="mi">14</span> <span class="mi">7227</span>
<span class="mi">63376</span> <span class="mf">2.01848</span> <span class="mf">0.108877</span> <span class="o">-</span><span class="mf">0.0260841</span> <span class="mi">102</span> <span class="mi">209</span> <span class="mi">250</span> <span class="mf">1.73449</span> <span class="mi">16</span> <span class="mi">6519</span> <span class="mi">15</span> <span class="mi">7322</span> <span class="mi">14</span> <span class="mi">7212</span> <span class="mi">8</span> <span class="mi">3991</span>
<span class="mi">63371</span> <span class="mf">1.71102</span> <span class="mf">0.28566</span> <span class="mf">0.53475</span> <span class="mi">245</span> <span class="mi">251</span> <span class="mi">249</span> <span class="mf">0.612829</span> <span class="mi">118</span> <span class="mi">4140</span> <span class="mi">117</span> <span class="mi">4473</span>
</pre></div>
</div>
<p>Here, there are three reconstructed 3D points, where <code class="docutils literal notranslate"><span class="pre">POINT2D_IDX</span></code> defines the
zero-based index of the keypoint in the <code class="docutils literal notranslate"><span class="pre">images.txt</span></code> file. The error is given in
pixels of reprojection error and is only updated after global bundle adjustment.</p>
</section>
</section>
</section>
<section id="dense-reconstruction">
<h2>Dense Reconstruction<a class="headerlink" href="#dense-reconstruction" title="Link to this heading">#</a></h2>
<p>COLMAP uses the following workspace folder structure:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>+── images
│ +── image1.jpg
│ +── image2.jpg
│ +── ...
+── sparse
│ +── cameras.txt
│ +── images.txt
│ +── points3D.txt
+── stereo
│ +── consistency_graphs
│ │ +── image1.jpg.photometric.bin
│ │ +── image2.jpg.photometric.bin
│ │ +── ...
│ +── depth_maps
│ │ +── image1.jpg.photometric.bin
│ │ +── image2.jpg.photometric.bin
│ │ +── ...
│ +── normal_maps
│ │ +── image1.jpg.photometric.bin
│ │ +── image2.jpg.photometric.bin
│ │ +── ...
│ +── patch-match.cfg
│ +── fusion.cfg
+── fused.ply
+── meshed-poisson.ply
+── meshed-delaunay.ply
+── textured
│ +── mesh.ply
│ +── texture.png
+── run-colmap-geometric.sh
+── run-colmap-photometric.sh
</pre></div>
</div>
<p>Here, the <code class="docutils literal notranslate"><span class="pre">images</span></code> folder contains the undistorted images, the <code class="docutils literal notranslate"><span class="pre">sparse</span></code> folder
contains the sparse reconstruction with undistorted cameras, the <code class="docutils literal notranslate"><span class="pre">stereo</span></code> folder
contains the stereo reconstruction results, <code class="docutils literal notranslate"><span class="pre">fused.ply</span></code>, <code class="docutils literal notranslate"><span class="pre">meshed-poisson.ply</span></code>,
and <code class="docutils literal notranslate"><span class="pre">meshed-delaunay.ply</span></code> are the results of the fusion and meshing procedure,
the <code class="docutils literal notranslate"><span class="pre">textured</span></code> folder contains the textured mesh (<code class="docutils literal notranslate"><span class="pre">mesh.ply</span></code> with per-face UV
coordinates and <code class="docutils literal notranslate"><span class="pre">texture.png</span></code> with the texture atlas) produced by
<code class="docutils literal notranslate"><span class="pre">mesh_texturer</span></code>, and <code class="docutils literal notranslate"><span class="pre">run-colmap-geometric.sh</span></code> and
<code class="docutils literal notranslate"><span class="pre">run-colmap-photometric.sh</span></code> contain example command-line usage to perform the
dense reconstruction.</p>
<section id="depth-and-normal-maps">
<h3>Depth and Normal Maps<a class="headerlink" href="#depth-and-normal-maps" title="Link to this heading">#</a></h3>
<p>The depth maps are stored as mixed text and binary files. The text header
defines the dimensions of the image in the format <code class="docutils literal notranslate"><span class="pre">width&height&channels&</span></code>
followed by row-major <code class="docutils literal notranslate"><span class="pre">float32</span></code> binary data. For depth maps <code class="docutils literal notranslate"><span class="pre">channels=1</span></code> and
for normal maps <code class="docutils literal notranslate"><span class="pre">channels=3</span></code>. The depth and normal maps can be conveniently
read with Python using pycolmap and
with Matlab using the functions in <code class="docutils literal notranslate"><span class="pre">scripts/matlab/read_depth_map.m</span></code> and
<code class="docutils literal notranslate"><span class="pre">scripts/matlab/read_normal_map.m</span></code>.</p>
</section>
<section id="consistency-graphs">
<h3>Consistency Graphs<a class="headerlink" href="#consistency-graphs" title="Link to this heading">#</a></h3>
<p>The consistency graph defines, for all pixels in an image, the source images a
pixel is consistent with. The graph is stored as a mixed text and binary file,
while the text part is equivalent to the depth and normal maps and the binary
part is a continuous list of <code class="docutils literal notranslate"><span class="pre">int32</span></code> values in the format
<code class="docutils literal notranslate"><span class="pre"><row><col><N><image_idx1>...<image_idxN></span></code>. Here, <code class="docutils literal notranslate"><span class="pre">(row,</span> <span class="pre">col)</span></code> defines the
location of the pixel in the image followed by a list of <code class="docutils literal notranslate"><span class="pre">N</span></code> image indices.
The indices are specified w.r.t. the ordering in the <code class="docutils literal notranslate"><span class="pre">images.txt</span></code> file.</p>
</section>
</section>
</section>
</article>
<footer class="prev-next-footer d-print-none">
<div class="prev-next-area">
<a class="left-prev"
href="rigs.html"
title="previous page">
<i class="fa-solid fa-angle-left"></i>
<div class="prev-next-info">
<p class="prev-next-subtitle">previous</p>
<p class="prev-next-title">Rig Support</p>
</div>
</a>
<a class="right-next"
href="datasets.html"
title="next page">
<div class="prev-next-info">
<p class="prev-next-subtitle">next</p>
<p class="prev-next-title">Datasets</p>
</div>
<i class="fa-solid fa-angle-right"></i>
</a>
</div>
</footer>
</div>
<dialog id="pst-secondary-sidebar-modal"></dialog>
<div id="pst-secondary-sidebar" class="bd-sidebar-secondary bd-toc"><div class="sidebar-secondary-items sidebar-secondary__inner">
<div class="sidebar-secondary-item">
<div
id="pst-page-navigation-heading-2"
class="page-toc tocsection onthispage">
<i class="fa-solid fa-list"></i> On this page
</div>
<nav id="pst-page-toc-nav" class="page-toc" aria-labelledby="pst-page-navigation-heading-2">
<ul class="pst-show_toc_level nav section-nav flex-column">
<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#binary-file-format">Binary File Format</a></li>
<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#indices-and-identifiers">Indices and Identifiers</a></li>
<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#sparse-reconstruction">Sparse Reconstruction</a><ul class="nav section-nav flex-column">
<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#text-format">Text Format</a><ul class="nav section-nav flex-column">
<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#rigs-txt">rigs.txt</a></li>
<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#cameras-txt">cameras.txt</a></li>
<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#frames-txt">frames.txt</a></li>
<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#images-txt">images.txt</a></li>
<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#points3d-txt">points3D.txt</a></li>
</ul>
</li>
</ul>
</li>
<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#dense-reconstruction">Dense Reconstruction</a><ul class="nav section-nav flex-column">
<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#depth-and-normal-maps">Depth and Normal Maps</a></li>
<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#consistency-graphs">Consistency Graphs</a></li>
</ul>
</li>
</ul>
</nav></div>
<div class="sidebar-secondary-item">
<div class="tocsection sourcelink">
<a href="_sources/format.rst.txt">
<i class="fa-solid fa-file-lines"></i> Show Source
</a>
</div>
</div>
</div></div>
</div>
<footer class="bd-footer-content">
</footer>
</main>
</div>
</div>
<!-- Scripts loaded after <body> so the DOM is not blocked -->
<script defer src="_static/scripts/bootstrap.js?digest=90905a2f556bf617f1a9"></script>
<script defer src="_static/scripts/pydata-sphinx-theme.js?digest=90905a2f556bf617f1a9"></script>
<footer class="bd-footer">
<div class="bd-footer__inner bd-page-width">
<div class="footer-items__start">
<div class="footer-item">
<p class="copyright">
© Copyright 2026, COLMAP Team.
<br/>