-
Notifications
You must be signed in to change notification settings - Fork 7
Expand file tree
/
Copy pathindex.html
More file actions
877 lines (612 loc) · 33.3 KB
/
Copy pathindex.html
File metadata and controls
877 lines (612 loc) · 33.3 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
<!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 content="COLMAP is a free, open-source Structure-from-Motion (SfM) and Multi-View Stereo (MVS) pipeline with a graphical and command-line interface for 3D reconstruction from ordered and unordered image collections." name="description" />
<meta property="og:title" content="COLMAP" />
<meta property="og:type" content="website" />
<meta property="og:url" content="https://colmap.github.io/index.html" />
<meta property="og:site_name" content="COLMAP" />
<meta property="og:description" content="COLMAP is a free, open-source Structure-from-Motion (SfM) and Multi-View Stereo (MVS) pipeline with a graphical and command-line interface for 3D reconstruction from ordered and unordered image collections." />
<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="twitter:card" content="summary_large_image" />
<title>Structure-from-Motion and Multi-View Stereo — 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 = 'index';</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/index.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="Installation" href="install.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="#">
<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=" ">
<a class="nav-link dropdown-item nav-internal" href="format.html">
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>
</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 hide-on-wide">
<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 ">
<a class="nav-link nav-internal" href="format.html">
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__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>
<div id="searchbox"></div>
<article class="bd-article">
<section class="hero-title" id="colmap">
<h1>COLMAP<a class="headerlink" href="#colmap" title="Link to this heading">#</a></h1>
<div class="hero">
<p class="hero__tagline">General-purpose Structure-from-Motion & Multi-View Stereo</p>
<p class="hero__desc">
COLMAP is a general-purpose Structure-from-Motion (SfM) and Multi-View
Stereo (MVS) pipeline with a graphical and command-line interface. It
offers a wide range of features for reconstruction of ordered and
unordered image collections, and is free and open source.
</p>
<div class="hero__cta">
<a class="hero__cta--primary" href="install.html">Get Started</a>
<a class="hero__cta--secondary" href="#install-colmap">Install</a>
<a class="hero__cta--secondary" href="https://github.com/colmap/colmap">GitHub</a>
</div>
</div><figure class="hero-figure align-default" id="id2">
<img alt="Sparse reconstruction of central Rome." class="hero-image" src="_images/sparse.webp" />
<figcaption>
<p><span class="caption-text">Sparse model of central Rome using 21K photos produced by COLMAP’s SfM
pipeline.</span><a class="headerlink" href="#id2" title="Link to this image">#</a></p>
</figcaption>
</figure>
<section id="install-colmap">
<h2>Install COLMAP<a class="headerlink" href="#install-colmap" title="Link to this heading">#</a></h2>
<p>Select your platform below to get the recommended install command or download.</p>
<div id="colmap-install-selector"></div><p>For all installation options and build-from-source instructions, see the
<a class="reference internal" href="install.html#installation"><span class="std std-ref">installation guide</span></a>.</p>
</section>
<section id="features">
<h2>Features<a class="headerlink" href="#features" title="Link to this heading">#</a></h2>
<div class="sd-container-fluid sd-sphinx-override sd-mb-4 docutils">
<div class="sd-row sd-row-cols-1 sd-row-cols-xs-1 sd-row-cols-sm-2 sd-row-cols-md-2 sd-row-cols-lg-3 sd-g-3 sd-g-xs-3 sd-g-sm-3 sd-g-md-3 sd-g-lg-3 docutils">
<div class="sd-col sd-d-flex-row docutils">
<div class="sd-card sd-sphinx-override sd-w-100 sd-shadow-sm sd-card-hover docutils">
<div class="sd-card-body docutils">
<div class="sd-card-title sd-font-weight-bold docutils">
Structure-from-Motion</div>
<p class="sd-card-text">Robust incremental SfM to recover camera poses and sparse 3D structure
from ordered or unordered image collections.</p>
</div>
<a class="sd-stretched-link sd-hide-link-text reference internal" href="tutorial.html"><span class="doc">Tutorial</span></a></div>
</div>
<div class="sd-col sd-d-flex-row docutils">
<div class="sd-card sd-sphinx-override sd-w-100 sd-shadow-sm sd-card-hover docutils">
<div class="sd-card-body docutils">
<div class="sd-card-title sd-font-weight-bold docutils">
Multi-View Stereo</div>
<p class="sd-card-text">Dense reconstruction with PatchMatch stereo and stereo fusion to produce
detailed dense point clouds and meshes.</p>
</div>
<a class="sd-stretched-link sd-hide-link-text reference internal" href="tutorial.html"><span class="doc">Tutorial</span></a></div>
</div>
<div class="sd-col sd-d-flex-row docutils">
<div class="sd-card sd-sphinx-override sd-w-100 sd-shadow-sm sd-card-hover docutils">
<div class="sd-card-body docutils">
<div class="sd-card-title sd-font-weight-bold docutils">
Graphical & Command-Line</div>
<p class="sd-card-text">A full-featured GUI for interactive reconstruction plus a scriptable
command-line interface for automated pipelines.</p>
</div>
<a class="sd-stretched-link sd-hide-link-text reference internal" href="gui.html"><span class="doc">Graphical User Interface</span></a></div>
</div>
<div class="sd-col sd-d-flex-row docutils">
<div class="sd-card sd-sphinx-override sd-w-100 sd-shadow-sm sd-card-hover docutils">
<div class="sd-card-body docutils">
<div class="sd-card-title sd-font-weight-bold docutils">
PyCOLMAP</div>
<p class="sd-card-text">Python bindings exposing most of COLMAP’s functionality, from the
reconstruction pipeline to robust geometric estimators.</p>
</div>
<a class="sd-stretched-link sd-hide-link-text reference internal" href="pycolmap/index.html"><span class="doc">PyCOLMAP</span></a></div>
</div>
<div class="sd-col sd-d-flex-row docutils">
<div class="sd-card sd-sphinx-override sd-w-100 sd-shadow-sm sd-card-hover docutils">
<div class="sd-card-body docutils">
<div class="sd-card-title sd-font-weight-bold docutils">
Camera Models & Rigs</div>
<p class="sd-card-text">A wide range of camera models and multi-camera rig support for diverse
capture setups.</p>
</div>
<a class="sd-stretched-link sd-hide-link-text reference internal" href="cameras.html"><span class="doc">Camera Models</span></a></div>
</div>
<div class="sd-col sd-d-flex-row docutils">
<div class="sd-card sd-sphinx-override sd-w-100 sd-shadow-sm sd-card-hover docutils">
<div class="sd-card-body docutils">
<div class="sd-card-title sd-font-weight-bold docutils">
Datasets & Formats</div>
<p class="sd-card-text">Ready-to-use sample datasets and well-documented input/output formats for
easy integration.</p>
</div>
<a class="sd-stretched-link sd-hide-link-text reference internal" href="datasets.html"><span class="doc">Datasets</span></a></div>
</div>
</div>
</div>
</section>
<section id="getting-started">
<h2>Getting Started<a class="headerlink" href="#getting-started" title="Link to this heading">#</a></h2>
<ol class="arabic simple">
<li><p>Install COLMAP using the selector above, download the
<a class="reference external" href="https://github.com/colmap/colmap/releases">pre-built binaries</a>, or build
from <a class="reference external" href="https://colmap.github.io/install.html">source</a>
(see <a class="reference internal" href="install.html#installation"><span class="std std-ref">Installation</span></a>).</p></li>
<li><p>Download one of the provided datasets (see <a class="reference internal" href="datasets.html#datasets"><span class="std std-ref">Datasets</span></a>)
or use your own images.</p></li>
<li><p>Use the <strong>automatic reconstruction</strong> to easily build models
with a single click (see <a class="reference internal" href="tutorial.html#quick-start"><span class="std std-ref">Quickstart</span></a>).</p></li>
</ol>
</section>
<section id="support">
<h2>Support<a class="headerlink" href="#support" title="Link to this heading">#</a></h2>
<p>Please, use <a class="reference external" href="https://github.com/colmap/colmap/discussions">GitHub Discussions</a>
for questions and the <a class="reference external" href="https://github.com/colmap/colmap">GitHub issue tracker</a>
for bug reports, feature requests/additions, etc.</p>
</section>
<section id="citation">
<h2>Citation<a class="headerlink" href="#citation" title="Link to this heading">#</a></h2>
<p>If you use this project for your research, please cite:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="nd">@inproceedings</span><span class="p">{</span><span class="n">schoenberger2016sfm</span><span class="p">,</span>
<span class="n">author</span><span class="o">=</span><span class="p">{</span><span class="n">Sch</span>\<span class="s2">"</span><span class="si">{o}</span><span class="s2">nberger, Johannes Lutz and Frahm, Jan-Michael},</span>
<span class="n">title</span><span class="o">=</span><span class="p">{</span><span class="n">Structure</span><span class="o">-</span><span class="n">from</span><span class="o">-</span><span class="n">Motion</span> <span class="n">Revisited</span><span class="p">},</span>
<span class="n">booktitle</span><span class="o">=</span><span class="p">{</span><span class="n">Conference</span> <span class="n">on</span> <span class="n">Computer</span> <span class="n">Vision</span> <span class="ow">and</span> <span class="n">Pattern</span> <span class="n">Recognition</span> <span class="p">(</span><span class="n">CVPR</span><span class="p">)},</span>
<span class="n">year</span><span class="o">=</span><span class="p">{</span><span class="mi">2016</span><span class="p">},</span>
<span class="p">}</span>
<span class="nd">@inproceedings</span><span class="p">{</span><span class="n">schoenberger2016mvs</span><span class="p">,</span>
<span class="n">author</span><span class="o">=</span><span class="p">{</span><span class="n">Sch</span>\<span class="s2">"</span><span class="si">{o}</span><span class="s2">nberger, Johannes Lutz and Zheng, Enliang and Pollefeys, Marc and Frahm, Jan-Michael},</span>
<span class="n">title</span><span class="o">=</span><span class="p">{</span><span class="n">Pixelwise</span> <span class="n">View</span> <span class="n">Selection</span> <span class="k">for</span> <span class="n">Unstructured</span> <span class="n">Multi</span><span class="o">-</span><span class="n">View</span> <span class="n">Stereo</span><span class="p">},</span>
<span class="n">booktitle</span><span class="o">=</span><span class="p">{</span><span class="n">European</span> <span class="n">Conference</span> <span class="n">on</span> <span class="n">Computer</span> <span class="n">Vision</span> <span class="p">(</span><span class="n">ECCV</span><span class="p">)},</span>
<span class="n">year</span><span class="o">=</span><span class="p">{</span><span class="mi">2016</span><span class="p">},</span>
<span class="p">}</span>
</pre></div>
</div>
<p>If you use the global SfM pipeline (GLOMAP), please cite:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="nd">@inproceedings</span><span class="p">{</span><span class="n">pan2024glomap</span><span class="p">,</span>
<span class="n">author</span><span class="o">=</span><span class="p">{</span><span class="n">Pan</span><span class="p">,</span> <span class="n">Linfei</span> <span class="ow">and</span> <span class="n">Barath</span><span class="p">,</span> <span class="n">Daniel</span> <span class="ow">and</span> <span class="n">Pollefeys</span><span class="p">,</span> <span class="n">Marc</span> <span class="ow">and</span> <span class="n">Sch</span>\<span class="s2">"</span><span class="si">{o}</span><span class="s2">nberger, Johannes Lutz},</span>
<span class="n">title</span><span class="o">=</span><span class="p">{{</span><span class="n">Global</span> <span class="n">Structure</span><span class="o">-</span><span class="n">from</span><span class="o">-</span><span class="n">Motion</span> <span class="n">Revisited</span><span class="p">}},</span>
<span class="n">booktitle</span><span class="o">=</span><span class="p">{</span><span class="n">European</span> <span class="n">Conference</span> <span class="n">on</span> <span class="n">Computer</span> <span class="n">Vision</span> <span class="p">(</span><span class="n">ECCV</span><span class="p">)},</span>
<span class="n">year</span><span class="o">=</span><span class="p">{</span><span class="mi">2024</span><span class="p">},</span>
<span class="p">}</span>
</pre></div>
</div>
<p>If you use the image retrieval / vocabulary tree engine, please cite:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="nd">@inproceedings</span><span class="p">{</span><span class="n">schoenberger2016vote</span><span class="p">,</span>
<span class="n">author</span><span class="o">=</span><span class="p">{</span><span class="n">Sch</span>\<span class="s2">"</span><span class="si">{o}</span><span class="s2">nberger, Johannes Lutz and Price, True and Sattler, Torsten and Frahm, Jan-Michael and Pollefeys, Marc},</span>
<span class="n">title</span><span class="o">=</span><span class="p">{</span><span class="n">A</span> <span class="n">Vote</span><span class="o">-</span><span class="ow">and</span><span class="o">-</span><span class="n">Verify</span> <span class="n">Strategy</span> <span class="k">for</span> <span class="n">Fast</span> <span class="n">Spatial</span> <span class="n">Verification</span> <span class="ow">in</span> <span class="n">Image</span> <span class="n">Retrieval</span><span class="p">},</span>
<span class="n">booktitle</span><span class="o">=</span><span class="p">{</span><span class="n">Asian</span> <span class="n">Conference</span> <span class="n">on</span> <span class="n">Computer</span> <span class="n">Vision</span> <span class="p">(</span><span class="n">ACCV</span><span class="p">)},</span>
<span class="n">year</span><span class="o">=</span><span class="p">{</span><span class="mi">2016</span><span class="p">},</span>
<span class="p">}</span>
</pre></div>
</div>
</section>
<section id="acknowledgments">
<h2>Acknowledgments<a class="headerlink" href="#acknowledgments" title="Link to this heading">#</a></h2>
<p>COLMAP was originally written by <a class="reference external" href="https://demuc.de/">Johannes Schönberger</a> with
funding provided by his PhD advisors Jan-Michael Frahm and Marc Pollefeys.
The team of core project maintainers currently includes
<a class="reference external" href="https://github.com/ahojnnes">Johannes Schönberger</a>,
<a class="reference external" href="https://github.com/sarlinpe">Paul-Edouard Sarlin</a>, and
<a class="reference external" href="https://github.com/B1ueber2y">Shaohui Liu</a>.</p>
<p>The Python bindings in PyCOLMAP were originally added by
<a class="reference external" href="https://github.com/mihaidusmanu">Mihai Dusmanu</a>,
<a class="reference external" href="https://github.com/Phil26AT">Philipp Lindenberger</a>, and
<a class="reference external" href="https://github.com/sarlinpe">Paul-Edouard Sarlin</a>.</p>
<p>The project has also benefitted from countless community contributions, including
bug fixes, improvements, new features, third-party tooling, and community
support (special credits to <a class="reference external" href="https://tsattler.github.io">Torsten Sattler</a>).</p>
<div class="toctree-wrapper compound">
</div>
</section>
</section>
</article>
<footer class="prev-next-footer d-print-none">
<div class="prev-next-area">
<a class="right-next"
href="install.html"
title="next page">
<div class="prev-next-info">
<p class="prev-next-subtitle">next</p>
<p class="prev-next-title">Installation</p>
</div>
<i class="fa-solid fa-angle-right"></i>
</a>
</div>
</footer>
</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/>
</p>
</div>
</div>
<div class="footer-items__center">
<div class="footer-item">
<p class="footer-version">COLMAP 4.2.0.dev0 | 109ebdb (2026-07-21)</p></div>
</div>
<div class="footer-items__end">
<div class="footer-item">
<p class="theme-version">
<!-- # L10n: Setting the PST URL as an argument as this does not need to be localized -->
Built with the <a href="https://pydata-sphinx-theme.readthedocs.io/en/stable/index.html">PyData Sphinx Theme</a> 0.20.0.
</p></div>
</div>
</div>
</footer>
</body>
</html>