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<section id="changelog">
<span id="id1"></span><h1>Changelog<a class="headerlink" href="#changelog" title="Link to this heading"></a></h1>
<section id="colmap-3-11-11-28-2024">
<h2>COLMAP 3.11 (11/28/2024)<a class="headerlink" href="#colmap-3-11-11-28-2024" title="Link to this heading"></a></h2>
<section id="new-features">
<h3>New Features<a class="headerlink" href="#new-features" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p>New pose prior based incremental mapper that can leverage absolute pose priors from e.g. GPS measurements.</p></li>
<li><p>New bundle adjustment covariance estimation functionality. Significantly faster and more robust than Ceres.</p></li>
<li><p>API documentation with auto-generated stubs for pycolmap.</p></li>
<li><p>Use PoseLib’s minimal solvers for faster performance and improved robustness.</p></li>
<li><p>Experimental support for CUDA-based bundle adjustment through Ceres (disabled by default).</p></li>
<li><p>Support for reading 16-bit PNG grayscale images.</p></li>
<li><p>New RAD_TAN_THIN_PRISM_FISHEYE camera model in support of Meta’s Project Aria devices.</p></li>
<li><p>Replace numerical with analytical Jacobian in image undistortion for better convergence.</p></li>
<li><p>Many more performance optimizations and other improvements. See full list of changes below.</p></li>
</ul>
</section>
<section id="bug-fixes">
<h3>Bug Fixes<a class="headerlink" href="#bug-fixes" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p>Fixed non-deterministic behavior of CUDA SIFT feature extractor. Broken since 3.10 release.</p></li>
<li><p>Fixed orientation detection of covariant/affine SIFT feature extractor. Broken since initial release.</p></li>
<li><p>Fixed point triangulator crashing due to bug in observation manager. Broken since 3.10 release.</p></li>
<li><p>Fixed sequential feature matcher overlap missing the farthest image. Broken since initial release.</p></li>
<li><p>Fixed rare deadlock during matching due to concurrent database access. Broken since 3.10 release.</p></li>
<li><p>Fixed little/big endian detection. Broken since 3.1 release.</p></li>
<li><p>For other bug fixes, see full list of changes below.</p></li>
</ul>
</section>
<section id="breaking-changes">
<h3>Breaking Changes<a class="headerlink" href="#breaking-changes" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p>Dropped official support for Ubuntu 18.04, Visual Studio 2019.</p></li>
<li><p>Upgrade to C++17 standard in C++ and C++14 in CUDA source code.</p></li>
<li><p>New <code class="docutils literal notranslate"><span class="pre">pose_priors</span></code> table in database in support of pose prior based mapper.</p></li>
<li><p>PyCOLMAP API:</p>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">align_reconstrution_to_locations</span></code> is renamed to <code class="docutils literal notranslate"><span class="pre">align_reconstruction_to_locations</span></code> (typo).</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pycomap.cost_functions</span></code> becomes a module and should be explicitly imported as <code class="docutils literal notranslate"><span class="pre">import</span> <span class="pre">pycolmap.cost_functions</span></code>.</p></li>
<li><p>Replaced <code class="docutils literal notranslate"><span class="pre">Image.registered</span></code> by <code class="docutils literal notranslate"><span class="pre">Image.{has_pose,reset_pose}</span></code>.</p></li>
<li><p>Replaced <code class="docutils literal notranslate"><span class="pre">Image.{get_valid_point2D_ids,get_valid_points2D}</span></code> by <code class="docutils literal notranslate"><span class="pre">Image.{get_observation_point2D_idxs,get_observation_points2D}</span></code>.</p></li>
<li><p>Replaced <code class="docutils literal notranslate"><span class="pre">Track.{append,remove}</span></code> by <code class="docutils literal notranslate"><span class="pre">Track.{add_element,delete_element}</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">AbsolutePoseErrorCost</span></code> becomes <code class="docutils literal notranslate"><span class="pre">AbsolutePosePriorCost</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">MetricRelativePoseErrorCost</span></code> becomes <code class="docutils literal notranslate"><span class="pre">RelativePosePriorCost</span></code>.</p></li>
<li><p>The signature of <code class="docutils literal notranslate"><span class="pre">ReprojErrorCost</span></code> and related cost functions was changed: arguments are reordered, the detection uncertainty is now a 2x2 covariance matrix.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">BundleAdjuster</span></code> becomes virtual and should be created with <code class="docutils literal notranslate"><span class="pre">pycolmap.create_default_bundle_adjuster()</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">absolute_pose_estimation</span></code> becomes <code class="docutils literal notranslate"><span class="pre">estimate_and_refine_absolute_pose</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pose_refinement</span></code> becomes <code class="docutils literal notranslate"><span class="pre">refine_absolute_pose</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">essential_matrix_estimation</span></code> becomes <code class="docutils literal notranslate"><span class="pre">estimate_essential_matrix</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">fundamental_matrix_estimation</span></code> becomes <code class="docutils literal notranslate"><span class="pre">estimate_fundamental_matrix</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">rig_absolute_pose_estimation</span></code> becomes <code class="docutils literal notranslate"><span class="pre">estimate_and_refine_generalized_absolute_pose</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">homography_matrix_estimation</span></code> becomes <code class="docutils literal notranslate"><span class="pre">estimate_homography_matrix</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">squared_sampson_error</span></code> becomes <code class="docutils literal notranslate"><span class="pre">compute_squared_sampson_error</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">homography_decomposition</span></code> becomes <code class="docutils literal notranslate"><span class="pre">pose_from_homography_matrix</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">Rigid3d.essential_matrix</span></code> becomes <code class="docutils literal notranslate"><span class="pre">pycolmap.essential_matrix_from_pose</span></code>.</p></li>
</ul>
</li>
</ul>
</section>
<section id="full-change-list-sorted-temporally">
<h3>Full Change List (sorted temporally)<a class="headerlink" href="#full-change-list-sorted-temporally" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p>Updates for pycolmap by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2672">https://github.com/colmap/colmap/pull/2672</a></p></li>
<li><p>Trigger CI on release/* branches by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2673">https://github.com/colmap/colmap/pull/2673</a></p></li>
<li><p>Use consistent versioning scheme between C++/Python by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2674">https://github.com/colmap/colmap/pull/2674</a></p></li>
<li><p>Add cost function for 3D alignment (with covariance) by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2621">https://github.com/colmap/colmap/pull/2621</a></p></li>
<li><p>Numpy 2 compatibility by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2682">https://github.com/colmap/colmap/pull/2682</a></p></li>
<li><p>Add fix for specifying the correct pycolmap CMake python development … by @fulkast in <a class="reference external" href="https://github.com/colmap/colmap/pull/2683">https://github.com/colmap/colmap/pull/2683</a></p></li>
<li><p>Remove non existant flags of model_aligner from docs by @TamirCohen in <a class="reference external" href="https://github.com/colmap/colmap/pull/2696">https://github.com/colmap/colmap/pull/2696</a></p></li>
<li><p>Reset CMAKE_MODULE_PATH to previous value by @mvieth in <a class="reference external" href="https://github.com/colmap/colmap/pull/2699">https://github.com/colmap/colmap/pull/2699</a></p></li>
<li><p>Robustify nchoosek against overflow by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2706">https://github.com/colmap/colmap/pull/2706</a></p></li>
<li><p>Observation manager needs to check if image_id exists before query operations by @bo-rc in <a class="reference external" href="https://github.com/colmap/colmap/pull/2704">https://github.com/colmap/colmap/pull/2704</a></p></li>
<li><p>Remove pose prior from database.py:add_image by @sarlinpe in https://github.com/colmap/colmap/pull/2707</p></li>
<li><p>Fix: sequential matcher overlap number should be inclusive by @flm8620 in <a class="reference external" href="https://github.com/colmap/colmap/pull/2701">https://github.com/colmap/colmap/pull/2701</a></p></li>
<li><p>Fix table mangled by clang-format by @sweber1 in <a class="reference external" href="https://github.com/colmap/colmap/pull/2710">https://github.com/colmap/colmap/pull/2710</a></p></li>
<li><p>Write out options to ini in full precision, relax bundle adjuster convergence by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2713">https://github.com/colmap/colmap/pull/2713</a></p></li>
<li><p>Tests for pairing library in feature matching by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2711">https://github.com/colmap/colmap/pull/2711</a></p></li>
<li><p>Rename IncrementalMapperOptions to IncrementalPipelineOptions by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2708">https://github.com/colmap/colmap/pull/2708</a></p></li>
<li><p>Add support for CUDA sparse BA solver by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2717">https://github.com/colmap/colmap/pull/2717</a></p></li>
<li><p>Rename HierarchicalMapperController to HierarchicalPipeline by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2718">https://github.com/colmap/colmap/pull/2718</a></p></li>
<li><p>Make VisualIndex::Quantize const to improve readability by @IshitaTakeshi in https://github.com/colmap/colmap/pull/2723</p></li>
<li><p>Fix CUDA_ENABLED macro in new bundle adjustment code by @drkoller in <a class="reference external" href="https://github.com/colmap/colmap/pull/2725">https://github.com/colmap/colmap/pull/2725</a></p></li>
<li><p>Automatically generate stub files by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2721">https://github.com/colmap/colmap/pull/2721</a></p></li>
<li><p>Add CUDA-based dense BA solver by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2732">https://github.com/colmap/colmap/pull/2732</a></p></li>
<li><p>Improved and simplified caching in feature matching by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2731">https://github.com/colmap/colmap/pull/2731</a></p></li>
<li><p>Fix colmap namespace in the macro support of logging. by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2733">https://github.com/colmap/colmap/pull/2733</a></p></li>
<li><p>Add callbacks by move by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2734">https://github.com/colmap/colmap/pull/2734</a></p></li>
<li><p>Implement transitive matcher with pair generator + tests by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2735">https://github.com/colmap/colmap/pull/2735</a></p></li>
<li><p>Provide reasonable defaults for some estimator options by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2745">https://github.com/colmap/colmap/pull/2745</a></p></li>
<li><p>Fix mismatched Delaunay meshing options by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2748">https://github.com/colmap/colmap/pull/2748</a></p></li>
<li><p>PyCOLMAP API documentation by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2749">https://github.com/colmap/colmap/pull/2749</a></p></li>
<li><p>Improved pycolmap coverage and docs by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2752">https://github.com/colmap/colmap/pull/2752</a></p></li>
<li><p>Follow-up fixes in pycolmap by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2755">https://github.com/colmap/colmap/pull/2755</a></p></li>
<li><p>Report errors in import_images by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2750">https://github.com/colmap/colmap/pull/2750</a></p></li>
<li><p>Further simplification of feature matcher code by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2744">https://github.com/colmap/colmap/pull/2744</a></p></li>
<li><p>Add missing ClearModifiedPoints3D by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2761">https://github.com/colmap/colmap/pull/2761</a></p></li>
<li><p>Store shared camera ptr for reconstruction images by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2762">https://github.com/colmap/colmap/pull/2762</a></p></li>
<li><p>Avoid unnecessary copy of queue in IncrementalTriangulator::Complete() by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2764">https://github.com/colmap/colmap/pull/2764</a></p></li>
<li><p>Branch prediction for THROW_CHECK_NOTNULL by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2765">https://github.com/colmap/colmap/pull/2765</a></p></li>
<li><p>Use shared camera pointer in more places by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2763">https://github.com/colmap/colmap/pull/2763</a></p></li>
<li><p>Support switching camera directly with camera pointer by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2767">https://github.com/colmap/colmap/pull/2767</a></p></li>
<li><p>Add test for MergeReconstructions by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2766">https://github.com/colmap/colmap/pull/2766</a></p></li>
<li><p>Fix little/big endian detection by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2768">https://github.com/colmap/colmap/pull/2768</a></p></li>
<li><p>Fix options for CUDA sparse BA solver by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2758">https://github.com/colmap/colmap/pull/2758</a></p></li>
<li><p>Rename SupperMeasurer::Compare for improved readability by @ahojnnes in https://github.com/colmap/colmap/pull/2774</p></li>
<li><p>Improvements for install docs by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2773">https://github.com/colmap/colmap/pull/2773</a></p></li>
<li><p>fixed typo of align_reconstrution_to_locations to align_reconstructio… by @TamirCohen in <a class="reference external" href="https://github.com/colmap/colmap/pull/2776">https://github.com/colmap/colmap/pull/2776</a></p></li>
<li><p>Fix missing camera ptr for Reconstruction.DeleteAllPoints2DAndPoints3D() by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2779">https://github.com/colmap/colmap/pull/2779</a></p></li>
<li><p>Rename remaining proj_matrix instances to cam_from_world by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2780">https://github.com/colmap/colmap/pull/2780</a></p></li>
<li><p>Relative pose decomposition uses Rigid3d by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2781">https://github.com/colmap/colmap/pull/2781</a></p></li>
<li><p>Minor renaming on pycolmap point2d and point3d filenames by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2784">https://github.com/colmap/colmap/pull/2784</a></p></li>
<li><p>Add validity check for pixel coordinate in the Fisheye camera. Fix tests. by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2790">https://github.com/colmap/colmap/pull/2790</a></p></li>
<li><p>Use branch prediction in PRNG functions by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2796">https://github.com/colmap/colmap/pull/2796</a></p></li>
<li><p>Implementation of Aria Fisheye camera model by @nushakrishnan in <a class="reference external" href="https://github.com/colmap/colmap/pull/2786">https://github.com/colmap/colmap/pull/2786</a></p></li>
<li><p>Upgrade to C++ 17 by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2801">https://github.com/colmap/colmap/pull/2801</a></p></li>
<li><p>Pose Prior based Incremental Mapper by @ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/2660">https://github.com/colmap/colmap/pull/2660</a></p></li>
<li><p>Expose UpdatePoint3DErrors to pycolmap by @theartful in <a class="reference external" href="https://github.com/colmap/colmap/pull/2805">https://github.com/colmap/colmap/pull/2805</a></p></li>
<li><p>Switch to the Ruff Python formatter by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2803">https://github.com/colmap/colmap/pull/2803</a></p></li>
<li><p>Add mixed Python-C++ PyCOLMAP package by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2747">https://github.com/colmap/colmap/pull/2747</a></p></li>
<li><p>Enable Ruff linter for Python by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2806">https://github.com/colmap/colmap/pull/2806</a></p></li>
<li><p>Use C++17 structured bindings in some places by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2808">https://github.com/colmap/colmap/pull/2808</a></p></li>
<li><p>Add RAD_TAN_THIN_PRISM_FISHEYE to camera docs by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2810">https://github.com/colmap/colmap/pull/2810</a></p></li>
<li><p>Customized cost functions should be functors instead by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2811">https://github.com/colmap/colmap/pull/2811</a></p></li>
<li><p>Install and use newer clang-format from pypi by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2812">https://github.com/colmap/colmap/pull/2812</a></p></li>
<li><p>Return a reference in Reconstruction.image/camera/point3D by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2814">https://github.com/colmap/colmap/pull/2814</a></p></li>
<li><p>Add test for PositionPriorErrorCostFunctor. by @ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/2815">https://github.com/colmap/colmap/pull/2815</a></p></li>
<li><p>Replace boost/filesystem with standard library by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2809">https://github.com/colmap/colmap/pull/2809</a></p></li>
<li><p>Fix selection of BA solver type when there is no cuda by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2822">https://github.com/colmap/colmap/pull/2822</a></p></li>
<li><p>More informative exception if invalid access of image/camera/point3D by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2825">https://github.com/colmap/colmap/pull/2825</a></p></li>
<li><p>Use minimal solvers from poselib by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2288">https://github.com/colmap/colmap/pull/2288</a></p></li>
<li><p>Disable -march=native flags in poselib by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2828">https://github.com/colmap/colmap/pull/2828</a></p></li>
<li><p>Make <code class="docutils literal notranslate"><span class="pre">Image::cam_from_world_</span></code> optional by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2824">https://github.com/colmap/colmap/pull/2824</a></p></li>
<li><p>Remove warning in configure step by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2830">https://github.com/colmap/colmap/pull/2830</a></p></li>
<li><p>Fix coordinate notation in EstimateAbsolutePose by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2833">https://github.com/colmap/colmap/pull/2833</a></p></li>
<li><p>Return success status in low-level triangulation functions by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2834">https://github.com/colmap/colmap/pull/2834</a></p></li>
<li><p>Pin mypy version for tests by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2849">https://github.com/colmap/colmap/pull/2849</a></p></li>
<li><p>Suppress CMP0167 warning for FindBoost under CMake 3.30 or newer by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2853">https://github.com/colmap/colmap/pull/2853</a></p></li>
<li><p>Reconstruction reader/writer tests and scene class repr by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2842">https://github.com/colmap/colmap/pull/2842</a></p></li>
<li><p>Select CUDA device when bundle adjustment uses GPU by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2846">https://github.com/colmap/colmap/pull/2846</a></p></li>
<li><p>Fix copying behaviors of Reconstruction regarding camera pointers by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2841">https://github.com/colmap/colmap/pull/2841</a></p></li>
<li><p>Use the C++ string representation for Python dataclass objects by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2855">https://github.com/colmap/colmap/pull/2855</a></p></li>
<li><p>Various improvements for pycolmap bindings by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2854">https://github.com/colmap/colmap/pull/2854</a></p></li>
<li><p>Use analytical Jacobian in IterativeUndistortion. Add trust region by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2857">https://github.com/colmap/colmap/pull/2857</a></p></li>
<li><p>Improve the conditioning of covariance estimation by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2860">https://github.com/colmap/colmap/pull/2860</a></p></li>
<li><p>Avoid unnecessary copy of RANSAC inlier masks by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2863">https://github.com/colmap/colmap/pull/2863</a></p></li>
<li><p>Various improvements for cost functors by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2867">https://github.com/colmap/colmap/pull/2867</a></p></li>
<li><p>Rename <code class="docutils literal notranslate"><span class="pre">*_mapper</span></code> to <code class="docutils literal notranslate"><span class="pre">*_pipeline</span></code> files by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2870">https://github.com/colmap/colmap/pull/2870</a></p></li>
<li><p>Update the manylinux CI to GCC 10 by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2873">https://github.com/colmap/colmap/pull/2873</a></p></li>
<li><p>Fix rare deadlock during matching due to concurrent database access by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2876">https://github.com/colmap/colmap/pull/2876</a></p></li>
<li><p>Add new and missing options to automatic reconstructor by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2877">https://github.com/colmap/colmap/pull/2877</a></p></li>
<li><p>Shared auto diff cost function creation by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2878">https://github.com/colmap/colmap/pull/2878</a></p></li>
<li><p>Enable model alignment to reference model by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2879">https://github.com/colmap/colmap/pull/2879</a></p></li>
<li><p>Add covariance weighted cost functor by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2880">https://github.com/colmap/colmap/pull/2880</a></p></li>
<li><p>Fix unused variable warnings under MSVC by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2884">https://github.com/colmap/colmap/pull/2884</a></p></li>
<li><p>Skip all but latest Python version in PR builds by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2881">https://github.com/colmap/colmap/pull/2881</a></p></li>
<li><p>[doc] Fix path to example in README.md by @kielnino in <a class="reference external" href="https://github.com/colmap/colmap/pull/2886">https://github.com/colmap/colmap/pull/2886</a></p></li>
<li><p>Update Github actions versions by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2887">https://github.com/colmap/colmap/pull/2887</a></p></li>
<li><p>[doc] Fix typo for gui menu item by @kielnino in <a class="reference external" href="https://github.com/colmap/colmap/pull/2885">https://github.com/colmap/colmap/pull/2885</a></p></li>
<li><p>Fix input type for automatic stereo fusion on extreme quality setting by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2893">https://github.com/colmap/colmap/pull/2893</a></p></li>
<li><p>Make target with all sources optional by @HernandoR in <a class="reference external" href="https://github.com/colmap/colmap/pull/2889">https://github.com/colmap/colmap/pull/2889</a></p></li>
<li><p>Gracefully handle missing image pose in viewer by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2894">https://github.com/colmap/colmap/pull/2894</a></p></li>
<li><p>Update to latest vcpkg release 2024.10.21 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2908">https://github.com/colmap/colmap/pull/2908</a></p></li>
<li><p>Fix conversion from CUDA texture references to objects in SIFT feature extraction by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2911">https://github.com/colmap/colmap/pull/2911</a></p></li>
<li><p>Modernized bundle adjustment interface by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2896">https://github.com/colmap/colmap/pull/2896</a></p></li>
<li><p>Add missing unit tests for reconstruction alignment functions by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2913">https://github.com/colmap/colmap/pull/2913</a></p></li>
<li><p>Do not test EstimateManhattanWorldFrame if LSD is disabled by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2920">https://github.com/colmap/colmap/pull/2920</a></p></li>
<li><p>Custom macro for enum to string support by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2918">https://github.com/colmap/colmap/pull/2918</a></p></li>
<li><p>Bind the estimation of Sim3d by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2903">https://github.com/colmap/colmap/pull/2903</a></p></li>
<li><p>Initialize glog in custom gmock main function by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2916">https://github.com/colmap/colmap/pull/2916</a></p></li>
<li><p>Update ccache for faster windows CI builds by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2922">https://github.com/colmap/colmap/pull/2922</a></p></li>
<li><p>Fixes for Windows ARM64 support by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2921">https://github.com/colmap/colmap/pull/2921</a></p></li>
<li><p>Move geometry implementation of <code class="docutils literal notranslate"><span class="pre">__repr__</span></code>, <code class="docutils literal notranslate"><span class="pre">__eq__</span></code> overloads to C++ side by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2915">https://github.com/colmap/colmap/pull/2915</a></p></li>
<li><p>Consistent interface and various improvements for pycolmap/estimators by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2923">https://github.com/colmap/colmap/pull/2923</a></p></li>
<li><p>Exclude DetectLineSegments if LSD is disabled by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2927">https://github.com/colmap/colmap/pull/2927</a></p></li>
<li><p>Enable reading 16bit/channel (png) images to grayscale by @Ediolot in <a class="reference external" href="https://github.com/colmap/colmap/pull/2924">https://github.com/colmap/colmap/pull/2924</a></p></li>
<li><p>Cleanup of remaining pycolmap interfaces by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2925">https://github.com/colmap/colmap/pull/2925</a></p></li>
<li><p>Fix affine SIFT feature orientation detection by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2929">https://github.com/colmap/colmap/pull/2929</a></p></li>
<li><p>Improvements to deprecated pycolmap members by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2932">https://github.com/colmap/colmap/pull/2932</a></p></li>
<li><p>Fix pkgconf installation in Mac CI by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2936">https://github.com/colmap/colmap/pull/2936</a></p></li>
<li><p>Make sphinx show the pycolmap constructors by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2935">https://github.com/colmap/colmap/pull/2935</a></p></li>
<li><p>Bind synthetic dataset functionality in pycolmap by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2938">https://github.com/colmap/colmap/pull/2938</a></p></li>
<li><p>Cleaner import of C++ symbols by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2933">https://github.com/colmap/colmap/pull/2933</a></p></li>
<li><p>Fix pycolmap breakage for Python 3.8 by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2941">https://github.com/colmap/colmap/pull/2941</a></p></li>
<li><p>Remove legacy boost test macro by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2940">https://github.com/colmap/colmap/pull/2940</a></p></li>
<li><p>Drop support for VS 2019 CI checks by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2943">https://github.com/colmap/colmap/pull/2943</a></p></li>
<li><p>Fix CI cache thrashing by inconsistent vcpkg binary caching by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2942">https://github.com/colmap/colmap/pull/2942</a></p></li>
<li><p>Introduce gmock Eigen matrix matchers by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2939">https://github.com/colmap/colmap/pull/2939</a></p></li>
<li><p>Prevent double initialization of glog for <=0.5 by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2945">https://github.com/colmap/colmap/pull/2945</a></p></li>
<li><p>Fixes and refactoring for bundle adjustment covariance estimation by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2788">https://github.com/colmap/colmap/pull/2788</a></p></li>
<li><p>Fix duplicate library warnings in linking stage by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2871">https://github.com/colmap/colmap/pull/2871</a></p></li>
<li><p>Add test for Python mapping pipeline by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2946">https://github.com/colmap/colmap/pull/2946</a></p></li>
<li><p>Add helper script for incremental pycolmap build by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2947">https://github.com/colmap/colmap/pull/2947</a></p></li>
<li><p>Fix and consistently define Qt window flags by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2949">https://github.com/colmap/colmap/pull/2949</a></p></li>
<li><p>Cross platform usage of monospace font by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2950">https://github.com/colmap/colmap/pull/2950</a></p></li>
<li><p>Update to latest pybind11 version by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2952">https://github.com/colmap/colmap/pull/2952</a></p></li>
<li><p>Update install instructions for Mac using homebrew by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2953">https://github.com/colmap/colmap/pull/2953</a></p></li>
</ul>
</section>
</section>
<section id="colmap-3-10-07-23-2024">
<h2>COLMAP 3.10 (07/23/2024)<a class="headerlink" href="#colmap-3-10-07-23-2024" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Add missing “include <memory>” needed for unique_ptr by @Tobias-Fischer in <a class="reference external" href="https://github.com/colmap/colmap/pull/2338">https://github.com/colmap/colmap/pull/2338</a></p></li>
<li><p>Support decoding multi-byte characters in Python script by @jot-jt in <a class="reference external" href="https://github.com/colmap/colmap/pull/2344">https://github.com/colmap/colmap/pull/2344</a></p></li>
<li><p>Split Dockerfile in two stages: builder and runtime. by @pablospe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2347">https://github.com/colmap/colmap/pull/2347</a></p></li>
<li><p>Dockerfile improvements by @pablospe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2356">https://github.com/colmap/colmap/pull/2356</a></p></li>
<li><p>Update VCPKG commit in Windows CI by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2365">https://github.com/colmap/colmap/pull/2365</a></p></li>
<li><p>Simplify the creation of reprojection error cost functions by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2364">https://github.com/colmap/colmap/pull/2364</a></p></li>
<li><p>Migrate pycolmap by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2367">https://github.com/colmap/colmap/pull/2367</a></p></li>
<li><p>Rename master -> main in pycolmap CI by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2370">https://github.com/colmap/colmap/pull/2370</a></p></li>
<li><p>Bind SetPRNGSeed by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2369">https://github.com/colmap/colmap/pull/2369</a></p></li>
<li><p>Encapsulate freeimage usage from pycolmap in colmap bitmap by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2372">https://github.com/colmap/colmap/pull/2372</a></p></li>
<li><p>Re-generate version info on git changes by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2373">https://github.com/colmap/colmap/pull/2373</a></p></li>
<li><p>Consolidate colmap/pycolmap readmes, updated acknowledgements, etc. by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2374">https://github.com/colmap/colmap/pull/2374</a></p></li>
<li><p>Fix crashing pycolmap CI on Windows by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2383">https://github.com/colmap/colmap/pull/2383</a></p></li>
<li><p>Add costs for pose graph optimization by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2378">https://github.com/colmap/colmap/pull/2378</a></p></li>
<li><p>Switch to exception checks - v2 by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2376">https://github.com/colmap/colmap/pull/2376</a></p></li>
<li><p>Cleanup checks in pycolmap by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2388">https://github.com/colmap/colmap/pull/2388</a></p></li>
<li><p>Add RigReprojErrorConstantRigCostFunction by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2377">https://github.com/colmap/colmap/pull/2377</a></p></li>
<li><p>Add cost functions to pycolmap by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2393">https://github.com/colmap/colmap/pull/2393</a></p></li>
<li><p>Fix warning C4722 by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2391">https://github.com/colmap/colmap/pull/2391</a></p></li>
<li><p>Move reconstruction IO utils to a new file by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2399">https://github.com/colmap/colmap/pull/2399</a></p></li>
<li><p>Acquire the GIL before returning None by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2400">https://github.com/colmap/colmap/pull/2400</a></p></li>
<li><p>Disentangle the controller from threading and integrate the new logic into IncrementalMapperController by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2392">https://github.com/colmap/colmap/pull/2392</a></p></li>
<li><p>Simplify the low-level triangulation API by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2402">https://github.com/colmap/colmap/pull/2402</a></p></li>
<li><p>Initialize glog in pycolmap only if not already done by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2405">https://github.com/colmap/colmap/pull/2405</a></p></li>
<li><p>Adapt all the controllers to inherit from BaseController rather than Thread (except for feature extraction and matching) by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2406">https://github.com/colmap/colmap/pull/2406</a></p></li>
<li><p>Update path to models.h in database docs by @diffner in <a class="reference external" href="https://github.com/colmap/colmap/pull/2412">https://github.com/colmap/colmap/pull/2412</a></p></li>
<li><p>Migrate Ubuntu CI pipelines from ADO to Github by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2411">https://github.com/colmap/colmap/pull/2411</a></p></li>
<li><p>Build wheels for Python 3.12 by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2416">https://github.com/colmap/colmap/pull/2416</a></p></li>
<li><p>Migrate MacOS CI pipeline from ADO to Github by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2418">https://github.com/colmap/colmap/pull/2418</a></p></li>
<li><p>Improve bindings of Database by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2413">https://github.com/colmap/colmap/pull/2413</a></p></li>
<li><p>Migrate Windows CI pipeline from ADO to Github by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2419">https://github.com/colmap/colmap/pull/2419</a></p></li>
<li><p>Reduce logging during incremental mapping by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2420">https://github.com/colmap/colmap/pull/2420</a></p></li>
<li><p>Migrate Docker CI from ADO to Github, remove ADO pipelines by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2422">https://github.com/colmap/colmap/pull/2422</a></p></li>
<li><p>Simplify IncrementalMapperController by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2421">https://github.com/colmap/colmap/pull/2421</a></p></li>
<li><p>Fix for glog 0.7.0 by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2428">https://github.com/colmap/colmap/pull/2428</a></p></li>
<li><p>Fix typo by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2430">https://github.com/colmap/colmap/pull/2430</a></p></li>
<li><p>Fix RunMapper by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2431">https://github.com/colmap/colmap/pull/2431</a></p></li>
<li><p>Do triangulation in the IncrementalMapperController by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2429">https://github.com/colmap/colmap/pull/2429</a></p></li>
<li><p>Only push a new Docker image on release by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2436">https://github.com/colmap/colmap/pull/2436</a></p></li>
<li><p>model aligner with type “custom” does not update reconstruction by @lpanaf in <a class="reference external" href="https://github.com/colmap/colmap/pull/2433">https://github.com/colmap/colmap/pull/2433</a></p></li>
<li><p>Define vcpkg manifest by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2426">https://github.com/colmap/colmap/pull/2426</a></p></li>
<li><p>Fix ordering of keyword arguments in pycolmap.rig_absolute_pose_estimation by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2440">https://github.com/colmap/colmap/pull/2440</a></p></li>
<li><p>Reduce the build time of pycolmap by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2443">https://github.com/colmap/colmap/pull/2443</a></p></li>
<li><p>Improve bindings of CorrespondenceGraph by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2476">https://github.com/colmap/colmap/pull/2476</a></p></li>
<li><p>Bind Reconstruction::{SetUp,ImagePairStats} by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2477">https://github.com/colmap/colmap/pull/2477</a></p></li>
<li><p>Add bindings for substeps of incremental mapper with a python example by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2478">https://github.com/colmap/colmap/pull/2478</a></p></li>
<li><p>Debug crashing VCPKG-based CI builds by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2508">https://github.com/colmap/colmap/pull/2508</a></p></li>
<li><p>Upgrade to pybind11 v2.12. Fix bind_map and reconstruction.points3D by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2502">https://github.com/colmap/colmap/pull/2502</a></p></li>
<li><p>Minor fix on logging for the pycolmap customized runner by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2503">https://github.com/colmap/colmap/pull/2503</a></p></li>
<li><p>Fix missing public link deps, break circular feature-scene dependency by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2497">https://github.com/colmap/colmap/pull/2497</a></p></li>
<li><p>Avoid duplicate image allocation during undistortion by @fseegraeber in <a class="reference external" href="https://github.com/colmap/colmap/pull/2520">https://github.com/colmap/colmap/pull/2520</a></p></li>
<li><p>Fix reconstruction.points3D by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2523">https://github.com/colmap/colmap/pull/2523</a></p></li>
<li><p>Fix ‘std::out_of_range’ error when using hierarchical_mapper by @GrayMask in https://github.com/colmap/colmap/pull/2526</p></li>
<li><p>Fix binding for std::vector<Point2D> by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2533">https://github.com/colmap/colmap/pull/2533</a></p></li>
<li><p>Include pybind eigen header by @tmnku in <a class="reference external" href="https://github.com/colmap/colmap/pull/2510">https://github.com/colmap/colmap/pull/2510</a></p></li>
<li><p>Fix pycolmap python pipeline for multiple models by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2531">https://github.com/colmap/colmap/pull/2531</a></p></li>
<li><p>make two view geometry writable by @tmnku in <a class="reference external" href="https://github.com/colmap/colmap/pull/2540">https://github.com/colmap/colmap/pull/2540</a></p></li>
<li><p>Customized python interface for bundle adjustment by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2509">https://github.com/colmap/colmap/pull/2509</a></p></li>
<li><p>Fix typos by @MaximSmolskiy in <a class="reference external" href="https://github.com/colmap/colmap/pull/2553">https://github.com/colmap/colmap/pull/2553</a></p></li>
<li><p>Implicitly convert iterator to ListPoint2D by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2558">https://github.com/colmap/colmap/pull/2558</a></p></li>
<li><p>Fix model_cropper not resetting image.num_points3D of cropped_rec by @ArneSchulzTUBS in <a class="reference external" href="https://github.com/colmap/colmap/pull/2557">https://github.com/colmap/colmap/pull/2557</a></p></li>
<li><p>Split pair generation and matching by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2573">https://github.com/colmap/colmap/pull/2573</a></p></li>
<li><p>Add ObservationManager by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2575">https://github.com/colmap/colmap/pull/2575</a></p></li>
<li><p>Log info about created feature extractor/matcher types by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2579">https://github.com/colmap/colmap/pull/2579</a></p></li>
<li><p>LSD: making the AGPL dependency optional by @zap150 in <a class="reference external" href="https://github.com/colmap/colmap/pull/2578">https://github.com/colmap/colmap/pull/2578</a></p></li>
<li><p>Disable LSD when building pycolmap wheels by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2580">https://github.com/colmap/colmap/pull/2580</a></p></li>
<li><p>Synthesize full two-view geometry and raw matches by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2595">https://github.com/colmap/colmap/pull/2595</a></p></li>
<li><p>Support Adjoint matrix computation for Rigid3d by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2598">https://github.com/colmap/colmap/pull/2598</a></p></li>
<li><p>Fix cost functions for pose graph optimization by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2601">https://github.com/colmap/colmap/pull/2601</a></p></li>
<li><p>Fix python bundle adjustment example with pyceres by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2606">https://github.com/colmap/colmap/pull/2606</a></p></li>
<li><p>Faster homography estimator by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2603">https://github.com/colmap/colmap/pull/2603</a></p></li>
<li><p>Add function to find real cubic polynomial roots by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2609">https://github.com/colmap/colmap/pull/2609</a></p></li>
<li><p>Align with the convention of ceres doc on SqrtInformation. by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2611">https://github.com/colmap/colmap/pull/2611</a></p></li>
<li><p>Faster 7-point fundamental matrix estimator by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2612">https://github.com/colmap/colmap/pull/2612</a></p></li>
<li><p>Faster 8-point fundamental matrix estimator by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2613">https://github.com/colmap/colmap/pull/2613</a></p></li>
<li><p>Covariance estimation for bundle adjustment with Schur elimination by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2610">https://github.com/colmap/colmap/pull/2610</a></p></li>
<li><p>Mac OS improvements by @BSVogler in <a class="reference external" href="https://github.com/colmap/colmap/pull/2622">https://github.com/colmap/colmap/pull/2622</a></p></li>
<li><p>Update cibuildwheel to 2.19.2 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2632">https://github.com/colmap/colmap/pull/2632</a></p></li>
<li><p>Faster essential matrix estimators by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2618">https://github.com/colmap/colmap/pull/2618</a></p></li>
<li><p>Remove CamFromWorldPrior and create LocationPrior by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2620">https://github.com/colmap/colmap/pull/2620</a></p></li>
<li><p>Add option to disable uninstall target, restore CI pipeline by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2634">https://github.com/colmap/colmap/pull/2634</a></p></li>
<li><p>Faster covariance computation for small blocks by @B1ueber2y in <a class="reference external" href="https://github.com/colmap/colmap/pull/2633">https://github.com/colmap/colmap/pull/2633</a></p></li>
<li><p>Fix optimal point algorithm by @morrishelle in <a class="reference external" href="https://github.com/colmap/colmap/pull/2640">https://github.com/colmap/colmap/pull/2640</a></p></li>
<li><p>Add shell script helper for profiling by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2635">https://github.com/colmap/colmap/pull/2635</a></p></li>
<li><p>Declare PosePrior::IsValid as const by @ahojnnes in https://github.com/colmap/colmap/pull/2653</p></li>
<li><p>Add CI build for Windows CUDA by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2651">https://github.com/colmap/colmap/pull/2651</a></p></li>
<li><p>Publish windows binaries from CI by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2663">https://github.com/colmap/colmap/pull/2663</a></p></li>
</ul>
</section>
<section id="colmap-3-9-1-01-08-2024">
<h2>COLMAP 3.9.1 (01/08/2024)<a class="headerlink" href="#colmap-3-9-1-01-08-2024" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Version 3.9 changelog by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2325">https://github.com/colmap/colmap/pull/2325</a></p></li>
<li><p>Fully encapsulate freeimage in bitmap library (#2332) by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2334">https://github.com/colmap/colmap/pull/2334</a></p></li>
</ul>
</section>
<section id="colmap-3-9-01-06-2024">
<h2>COLMAP 3.9 (01/06/2024)<a class="headerlink" href="#colmap-3-9-01-06-2024" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>clang format all code and require clang-format-14 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1785">https://github.com/colmap/colmap/pull/1785</a></p></li>
<li><p>Fix compilation for vcpkg windows build by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1791">https://github.com/colmap/colmap/pull/1791</a></p></li>
<li><p>Increment version number to 3.9 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1794">https://github.com/colmap/colmap/pull/1794</a></p></li>
<li><p>Remove unnecessary /arch:sse2 flag for MSVC by @ahojnnes in https://github.com/colmap/colmap/pull/1798</p></li>
<li><p>Updated faq.rst by @CGCooke in <a class="reference external" href="https://github.com/colmap/colmap/pull/1801">https://github.com/colmap/colmap/pull/1801</a></p></li>
<li><p>Fixed mistake in code comment for OpenCV Fisheye camera by @CGCooke in <a class="reference external" href="https://github.com/colmap/colmap/pull/1802">https://github.com/colmap/colmap/pull/1802</a></p></li>
<li><p>Replace deprecated cudaThreadSynchronize with cudaDeviceSynchronize by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1806">https://github.com/colmap/colmap/pull/1806</a></p></li>
<li><p>Replace deprecated Cuda texture references with texture objects by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1809">https://github.com/colmap/colmap/pull/1809</a></p></li>
<li><p>Remove unused SIFT GPU cuda texture reference by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1823">https://github.com/colmap/colmap/pull/1823</a></p></li>
<li><p>Upgrade SiftGPU to use CUDA texture objects by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1838">https://github.com/colmap/colmap/pull/1838</a></p></li>
<li><p>Remove PBA as bundle adjustment backend to support CUDA 12+ by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1840">https://github.com/colmap/colmap/pull/1840</a></p></li>
<li><p>Replace deprecated CUDA sature function call by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1841">https://github.com/colmap/colmap/pull/1841</a></p></li>
<li><p>Avoid unnecessary mallocs during sampling by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1842">https://github.com/colmap/colmap/pull/1842</a></p></li>
<li><p>Cleaned up docker readme and scripts by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1852">https://github.com/colmap/colmap/pull/1852</a></p></li>
<li><p>add “Shared intrinsics per sub-folder” checkbox to automatic reconstruction window by @kenshi84 in <a class="reference external" href="https://github.com/colmap/colmap/pull/1853">https://github.com/colmap/colmap/pull/1853</a></p></li>
<li><p>Update vcpkg by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1925">https://github.com/colmap/colmap/pull/1925</a></p></li>
<li><p>Log the name of the file that causes Mat::Read() to checkfail by @SomeAlphabetGuy in <a class="reference external" href="https://github.com/colmap/colmap/pull/1923">https://github.com/colmap/colmap/pull/1923</a></p></li>
<li><p>check Z_index correctly in ReadPly by @countywest in <a class="reference external" href="https://github.com/colmap/colmap/pull/1896">https://github.com/colmap/colmap/pull/1896</a></p></li>
<li><p>Don’t re-open files when reading and writing matrices by @SomeAlphabetGuy in <a class="reference external" href="https://github.com/colmap/colmap/pull/1926">https://github.com/colmap/colmap/pull/1926</a></p></li>
<li><p>Update vcpkg to latest commit by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1948">https://github.com/colmap/colmap/pull/1948</a></p></li>
<li><p>Remove unnecessary custom Eigen aligned allocator macros by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1947">https://github.com/colmap/colmap/pull/1947</a></p></li>
<li><p>Prefix internal sources/includes with colmap by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1949">https://github.com/colmap/colmap/pull/1949</a></p></li>
<li><p>Simplify clang-format config and sort includes by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1950">https://github.com/colmap/colmap/pull/1950</a></p></li>
<li><p>Handle possible overflow in median function by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1951">https://github.com/colmap/colmap/pull/1951</a></p></li>
<li><p>Run ASan pipeline under Ubuntu 22.04 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1952">https://github.com/colmap/colmap/pull/1952</a></p></li>
<li><p>Fix Ceres version test by @drkoller in <a class="reference external" href="https://github.com/colmap/colmap/pull/1954">https://github.com/colmap/colmap/pull/1954</a></p></li>
<li><p>Fix deprecation warning for Qt font metrics width by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1958">https://github.com/colmap/colmap/pull/1958</a></p></li>
<li><p>Setup clang-tidy and enable perf warnings by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1959">https://github.com/colmap/colmap/pull/1959</a></p></li>
<li><p>VCPKG binary caching for windows CI by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1957">https://github.com/colmap/colmap/pull/1957</a></p></li>
<li><p>Cosmetics for VS dev shell script by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1965">https://github.com/colmap/colmap/pull/1965</a></p></li>
<li><p>Enable clang-tidy concurrency checks by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1967">https://github.com/colmap/colmap/pull/1967</a></p></li>
<li><p>[Bug] fix finding shared points3D in FindLocalBundle by @wesleyliwei in <a class="reference external" href="https://github.com/colmap/colmap/pull/1963">https://github.com/colmap/colmap/pull/1963</a></p></li>
<li><p>Enable compiler caching in CI by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1972">https://github.com/colmap/colmap/pull/1972</a></p></li>
<li><p>Set number of features for different quality levels by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1975">https://github.com/colmap/colmap/pull/1975</a></p></li>
<li><p>Specify parameter name using inline comment by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1976">https://github.com/colmap/colmap/pull/1976</a></p></li>
<li><p>Fix Windows CCache by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1977">https://github.com/colmap/colmap/pull/1977</a></p></li>
<li><p>Add e2e tests in CI pipeline using ETH3D datasets by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1397">https://github.com/colmap/colmap/pull/1397</a></p></li>
<li><p>[feature] print verbose information for model analyzer by @wesleyliwei in <a class="reference external" href="https://github.com/colmap/colmap/pull/1978">https://github.com/colmap/colmap/pull/1978</a></p></li>
<li><p>Add a missing include to compile with gcc13 by @EstebanDugueperoux2 in <a class="reference external" href="https://github.com/colmap/colmap/pull/1984">https://github.com/colmap/colmap/pull/1984</a></p></li>
<li><p>Speed up snapshot construct in RigBundleAdjuster by @wesleyliwei in <a class="reference external" href="https://github.com/colmap/colmap/pull/1988">https://github.com/colmap/colmap/pull/1988</a></p></li>
<li><p>Update outdated docker cuda image tag by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1992">https://github.com/colmap/colmap/pull/1992</a></p></li>
<li><p>Add boulders ETH3D dataset to CI E2E tests by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1991">https://github.com/colmap/colmap/pull/1991</a></p></li>
<li><p>Update executable paths in documentation by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1993">https://github.com/colmap/colmap/pull/1993</a></p></li>
<li><p>Avoid unnecessary copy in ExtractTopScaleFeatures by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1994">https://github.com/colmap/colmap/pull/1994</a></p></li>
<li><p>Move related code under new image library folder by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1995">https://github.com/colmap/colmap/pull/1995</a></p></li>
<li><p>Move related code under new camera folder by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1996">https://github.com/colmap/colmap/pull/1996</a></p></li>
<li><p>Added a virtual destructor to Sampler by @SomeAlphabetGuy in <a class="reference external" href="https://github.com/colmap/colmap/pull/2000">https://github.com/colmap/colmap/pull/2000</a></p></li>
<li><p>Add a few more clang-tidy checks by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2001">https://github.com/colmap/colmap/pull/2001</a></p></li>
<li><p>Move related code to new geometry module by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2006">https://github.com/colmap/colmap/pull/2006</a></p></li>
<li><p>Use #pragma once as include guard by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2007">https://github.com/colmap/colmap/pull/2007</a></p></li>
<li><p>Add bugprone-* clang-tidy checks by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2010">https://github.com/colmap/colmap/pull/2010</a></p></li>
<li><p>Avoid const params in declarations by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2011">https://github.com/colmap/colmap/pull/2011</a></p></li>
<li><p>Set and require C++14 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2012">https://github.com/colmap/colmap/pull/2012</a></p></li>
<li><p>Cleanup math functions that are now part of eigen/stdlib by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2013">https://github.com/colmap/colmap/pull/2013</a></p></li>
<li><p>Add clang-analyzer checks by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2014">https://github.com/colmap/colmap/pull/2014</a></p></li>
<li><p>Replace CMake provided find_package scripts and modern CMake targets by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2016">https://github.com/colmap/colmap/pull/2016</a></p></li>
<li><p>Switch from Boost unit tests to Gtest by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2017">https://github.com/colmap/colmap/pull/2017</a></p></li>
<li><p>Fix ccache restore keys in pipeline caching by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2018">https://github.com/colmap/colmap/pull/2018</a></p></li>
<li><p>Add missing cacheHitVar to fix ccache by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2020">https://github.com/colmap/colmap/pull/2020</a></p></li>
<li><p>Add missing Boost::graph import by @sarlinpe in https://github.com/colmap/colmap/pull/2021</p></li>
<li><p>Compressed/flattened correspondence graph for faster triangulation / less memory by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2019">https://github.com/colmap/colmap/pull/2019</a></p></li>
<li><p>Fix window ccache key by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2024">https://github.com/colmap/colmap/pull/2024</a></p></li>
<li><p>Consistently use shared_ptr for shared pointers for SFM objects by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2023">https://github.com/colmap/colmap/pull/2023</a></p></li>
<li><p>Remove check on Qt version by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2022">https://github.com/colmap/colmap/pull/2022</a></p></li>
<li><p>Synthetics for E2E incremental mapper tests by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2025">https://github.com/colmap/colmap/pull/2025</a></p></li>
<li><p>New math module by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2028">https://github.com/colmap/colmap/pull/2028</a></p></li>
<li><p>Simplify similarity transform and more tests by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2030">https://github.com/colmap/colmap/pull/2030</a></p></li>
<li><p>Extract reconstruction alignment functions into new file by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2032">https://github.com/colmap/colmap/pull/2032</a></p></li>
<li><p>Add E2E hierarchical mapper tests by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2033">https://github.com/colmap/colmap/pull/2033</a></p></li>
<li><p>Rename SimilarityTransform3 to Sim3d by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2034">https://github.com/colmap/colmap/pull/2034</a></p></li>
<li><p>Add Rigid3d transform class by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2035">https://github.com/colmap/colmap/pull/2035</a></p></li>
<li><p>Consolidate and simplify Rigid3d and Sim3d by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2037">https://github.com/colmap/colmap/pull/2037</a></p></li>
<li><p>Some small improvements/cleanup for rigid3d/sim3d usage by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2041">https://github.com/colmap/colmap/pull/2041</a></p></li>
<li><p>CamFromWorld replaces qvec/tvec by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2039">https://github.com/colmap/colmap/pull/2039</a></p></li>
<li><p>Retry download of ETH3D datasets by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2043">https://github.com/colmap/colmap/pull/2043</a></p></li>
<li><p>WorldToImage becomes CamToImg by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2044">https://github.com/colmap/colmap/pull/2044</a></p></li>
<li><p>Camera models operate on camera rays by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2045">https://github.com/colmap/colmap/pull/2045</a></p></li>
<li><p>Ignore directory .vs by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2046">https://github.com/colmap/colmap/pull/2046</a></p></li>
<li><p>Use the reference of Rigid3d to reduce memory consumption by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2047">https://github.com/colmap/colmap/pull/2047</a></p></li>
<li><p>Inline point to image projection by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2050">https://github.com/colmap/colmap/pull/2050</a></p></li>
<li><p>Point2D becomes simpler pure data struct by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2051">https://github.com/colmap/colmap/pull/2051</a></p></li>
<li><p>Use Eigen math for estimator utils by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2052">https://github.com/colmap/colmap/pull/2052</a></p></li>
<li><p>Move cost functions under geometry module and rename by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2053">https://github.com/colmap/colmap/pull/2053</a></p></li>
<li><p>Bundle adjuster is an estimator by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2054">https://github.com/colmap/colmap/pull/2054</a></p></li>
<li><p>Remaining base targets move to new scene module by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2055">https://github.com/colmap/colmap/pull/2055</a></p></li>
<li><p>Vote and verify improvements/speedup by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2056">https://github.com/colmap/colmap/pull/2056</a></p></li>
<li><p>Generate version info in .cc file to reduce number of recompilations by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2057">https://github.com/colmap/colmap/pull/2057</a></p></li>
<li><p>Option manager moves to controllers to disentangle circular deps by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2058">https://github.com/colmap/colmap/pull/2058</a></p></li>
<li><p>Granular CMake modules and build targets by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2059">https://github.com/colmap/colmap/pull/2059</a></p></li>
<li><p>Fix docker build by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2069">https://github.com/colmap/colmap/pull/2069</a></p></li>
<li><p>Remove warnings about duplicated marco NOMINMAX by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2067">https://github.com/colmap/colmap/pull/2067</a></p></li>
<li><p>lib folder becomes thirdparty folder by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2068">https://github.com/colmap/colmap/pull/2068</a></p></li>
<li><p>Remove unnecessary checks in image pair conversion by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2074">https://github.com/colmap/colmap/pull/2074</a></p></li>
<li><p>Replace flaky ETH3D terrace with courtyard dataset by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2075">https://github.com/colmap/colmap/pull/2075</a></p></li>
<li><p>Synthesize chained match graph for more mapper tests by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2076">https://github.com/colmap/colmap/pull/2076</a></p></li>
<li><p>Introduce abstract feature extractor by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2077">https://github.com/colmap/colmap/pull/2077</a></p></li>
<li><p>Avoid unnecessary data copies in feature conversion utils by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2078">https://github.com/colmap/colmap/pull/2078</a></p></li>
<li><p>Abstract feature matcher by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2082">https://github.com/colmap/colmap/pull/2082</a></p></li>
<li><p>Encapsulate feature matching controller/worker implementations by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2085">https://github.com/colmap/colmap/pull/2085</a></p></li>
<li><p>Some cosmetics for util/feature types by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2084">https://github.com/colmap/colmap/pull/2084</a></p></li>
<li><p>Use std:: when cmath included by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2081">https://github.com/colmap/colmap/pull/2081</a></p></li>
<li><p>Encapsulate feature extraction controller/worker implementations by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2086">https://github.com/colmap/colmap/pull/2086</a></p></li>
<li><p>Reenable VS2022 CI pipeline by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1689">https://github.com/colmap/colmap/pull/1689</a></p></li>
<li><p>Consistent transform convention for CenterAndNormalizeImagePoints by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2092">https://github.com/colmap/colmap/pull/2092</a></p></li>
<li><p>Retire Mac 11 CI build by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2094">https://github.com/colmap/colmap/pull/2094</a></p></li>
<li><p>Add ReprojErrorConstantPoint3DCostFunction to speed up the RefineAbsolutePose function by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2089">https://github.com/colmap/colmap/pull/2089</a></p></li>
<li><p>Numeric differentiation of camera model using partial piv LU by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2100">https://github.com/colmap/colmap/pull/2100</a></p></li>
<li><p>cmake: add testing.cc to colmap_util only if TESTS_ENABLED=ON by @NeroBurner in <a class="reference external" href="https://github.com/colmap/colmap/pull/2102">https://github.com/colmap/colmap/pull/2102</a></p></li>
<li><p>Set CUDA_STANDARD to 14 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2108">https://github.com/colmap/colmap/pull/2108</a></p></li>
<li><p>Transform back to existing images positions after mapper processing if set fixed by @ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/2095">https://github.com/colmap/colmap/pull/2095</a></p></li>
<li><p>Update documentation with new branch policy by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2110">https://github.com/colmap/colmap/pull/2110</a></p></li>
<li><p>Update CMake find dependencies for vcpkg by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2116">https://github.com/colmap/colmap/pull/2116</a></p></li>
<li><p>Decouple SIFT match from two view geometry options by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2118">https://github.com/colmap/colmap/pull/2118</a></p></li>
<li><p>Fix docker build by @vnmsklnk in <a class="reference external" href="https://github.com/colmap/colmap/pull/2122">https://github.com/colmap/colmap/pull/2122</a></p></li>
<li><p>Trigger build pipeline on main branch by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2123">https://github.com/colmap/colmap/pull/2123</a></p></li>
<li><p>Update Linux install documentation with new branch policy by @joshuaoreilly in <a class="reference external" href="https://github.com/colmap/colmap/pull/2126">https://github.com/colmap/colmap/pull/2126</a></p></li>
<li><p>Fix link in camera model documentation by @CFretter in <a class="reference external" href="https://github.com/colmap/colmap/pull/2152">https://github.com/colmap/colmap/pull/2152</a></p></li>
<li><p>[Bugfix] Fix GUI_ENABLED=OFF and skip SiftGPU if no GUI and no CUDA by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2151">https://github.com/colmap/colmap/pull/2151</a></p></li>
<li><p>[Bugfix] Properly handle CGAL_ENABLED by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2149">https://github.com/colmap/colmap/pull/2149</a></p></li>
<li><p>Refinement of intrinsics in the point_triangulator by @tsattler in <a class="reference external" href="https://github.com/colmap/colmap/pull/2144">https://github.com/colmap/colmap/pull/2144</a></p></li>
<li><p>Bugfix in handling COLMAP_GPU_ENABLED by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2163">https://github.com/colmap/colmap/pull/2163</a></p></li>
<li><p>Expose exe as libs by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2165">https://github.com/colmap/colmap/pull/2165</a></p></li>
<li><p>Add Sim3d::FromMatrix by @sarlinpe in https://github.com/colmap/colmap/pull/2147</p></li>
<li><p>Check code format in CI by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2171">https://github.com/colmap/colmap/pull/2171</a></p></li>
<li><p>Clean up dependencies by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2173">https://github.com/colmap/colmap/pull/2173</a></p></li>
<li><p>Move tests into anonymous namespaces by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2175">https://github.com/colmap/colmap/pull/2175</a></p></li>
<li><p>Fix glew/qopengl conflict warning by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2176">https://github.com/colmap/colmap/pull/2176</a></p></li>
<li><p>Update documentation with new link to GitHub discussions by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2177">https://github.com/colmap/colmap/pull/2177</a></p></li>
<li><p>Restore GLEW include by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2178">https://github.com/colmap/colmap/pull/2178</a></p></li>
<li><p>Align reconstructions via shared 3D points by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2169">https://github.com/colmap/colmap/pull/2169</a></p></li>
<li><p>Add clang-tidy-cachein CI by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2182">https://github.com/colmap/colmap/pull/2182</a></p></li>
<li><p>Disable GUI build in one CI config by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2181">https://github.com/colmap/colmap/pull/2181</a></p></li>
<li><p>Show verbose ccache stats by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2183">https://github.com/colmap/colmap/pull/2183</a></p></li>
<li><p>Add EstimateGeneralizedAbsolutePose by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2174">https://github.com/colmap/colmap/pull/2174</a></p></li>
<li><p>Fix bug in ReconstructionManagerWidget::Update by @whuaegeanse in https://github.com/colmap/colmap/pull/2186</p></li>
<li><p>Fix missing retrieval dependency by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2189">https://github.com/colmap/colmap/pull/2189</a></p></li>
<li><p>Removing clustering_options and mapper_options in Hierarchical Mapper Controller by @Serenitysmk in <a class="reference external" href="https://github.com/colmap/colmap/pull/2193">https://github.com/colmap/colmap/pull/2193</a></p></li>
<li><p>Publish docker image to docker hub by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2195">https://github.com/colmap/colmap/pull/2195</a></p></li>
<li><p>Fix Cuda architecture in docker build by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2196">https://github.com/colmap/colmap/pull/2196</a></p></li>
<li><p>Fix all-major cuda arch missing in CMake < 3.23 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2197">https://github.com/colmap/colmap/pull/2197</a></p></li>
<li><p>Update triangulation.cc by @RayShark0605 in <a class="reference external" href="https://github.com/colmap/colmap/pull/2205">https://github.com/colmap/colmap/pull/2205</a></p></li>
<li><p>Update author and acknowledgements by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2207">https://github.com/colmap/colmap/pull/2207</a></p></li>
<li><p>Code formatting for Python by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2208">https://github.com/colmap/colmap/pull/2208</a></p></li>
<li><p>Retire outdated build script by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2217">https://github.com/colmap/colmap/pull/2217</a></p></li>
<li><p>Remove mention of deprecated build script by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2220">https://github.com/colmap/colmap/pull/2220</a></p></li>
<li><p>Improve word spelling by @zchrissirhcz in <a class="reference external" href="https://github.com/colmap/colmap/pull/2235">https://github.com/colmap/colmap/pull/2235</a></p></li>
<li><p>Stack allocate camera param idx arrays by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2234">https://github.com/colmap/colmap/pull/2234</a></p></li>
<li><p>fix: typo in colmap/src/colmap/ui/project_widget.cc by @varundhand in <a class="reference external" href="https://github.com/colmap/colmap/pull/2241">https://github.com/colmap/colmap/pull/2241</a></p></li>
<li><p>Update reconstruction.cc by @RayShark0605 in <a class="reference external" href="https://github.com/colmap/colmap/pull/2238">https://github.com/colmap/colmap/pull/2238</a></p></li>
<li><p>Update to Docker CUDA 12.2.2 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2244">https://github.com/colmap/colmap/pull/2244</a></p></li>
<li><p>Stop setting C++ standard flags manually by @AdrianBunk in <a class="reference external" href="https://github.com/colmap/colmap/pull/2251">https://github.com/colmap/colmap/pull/2251</a></p></li>
<li><p>Setting clear_points to true per default in point_triangulator by @tsattler in <a class="reference external" href="https://github.com/colmap/colmap/pull/2252">https://github.com/colmap/colmap/pull/2252</a></p></li>
<li><p>Update cameras.rst to fix link to code by @tsattler in <a class="reference external" href="https://github.com/colmap/colmap/pull/2246">https://github.com/colmap/colmap/pull/2246</a></p></li>
<li><p>Fix matching of imported features without descriptors by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2269">https://github.com/colmap/colmap/pull/2269</a></p></li>
<li><p>Consistent versioning between documentation and code by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2275">https://github.com/colmap/colmap/pull/2275</a></p></li>
<li><p>Reduce mallocs for RANSAC estimator models by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2283">https://github.com/colmap/colmap/pull/2283</a></p></li>
<li><p>Migrate to glog logging by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2172">https://github.com/colmap/colmap/pull/2172</a></p></li>
<li><p>Turn Point3D into simple data struct by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2285">https://github.com/colmap/colmap/pull/2285</a></p></li>
<li><p>Camera becomes simple data struct by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2286">https://github.com/colmap/colmap/pull/2286</a></p></li>
<li><p>Recover custom Eigen std::vector allocator for Eigen <3.4 support by @ahojnnes in https://github.com/colmap/colmap/pull/2293</p></li>
<li><p>Replace result_of with invoke_result_t by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2300">https://github.com/colmap/colmap/pull/2300</a></p></li>
<li><p>Allow getters FocalLength{X,Y} for isotropic models by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2301">https://github.com/colmap/colmap/pull/2301</a></p></li>
<li><p>Add missing Boost targets and cleanup includes by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2304">https://github.com/colmap/colmap/pull/2304</a></p></li>
<li><p>Expose IncrementalMapperOptions::{mapper,triangulation} by @sarlinpe in <a class="reference external" href="https://github.com/colmap/colmap/pull/2308">https://github.com/colmap/colmap/pull/2308</a></p></li>
<li><p>Update install instructions for Mac by @Dawars in <a class="reference external" href="https://github.com/colmap/colmap/pull/2310">https://github.com/colmap/colmap/pull/2310</a></p></li>
<li><p>Remove unused ceres reference in doc by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2315">https://github.com/colmap/colmap/pull/2315</a></p></li>
<li><p>Fix typo by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/2317">https://github.com/colmap/colmap/pull/2317</a></p></li>
<li><p>Stable version 3.9 release by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/2319">https://github.com/colmap/colmap/pull/2319</a></p></li>
</ul>
</section>
<section id="colmap-3-8-01-31-2023">
<h2>COLMAP 3.8 (01/31/2023)<a class="headerlink" href="#colmap-3-8-01-31-2023" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Updating geo-registration doc. by @ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1410">https://github.com/colmap/colmap/pull/1410</a></p></li>
<li><p>Adding user-specified option for reconstructing purely planar scene. … by @ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1408">https://github.com/colmap/colmap/pull/1408</a></p></li>
<li><p>Only apply sqlite vacuum command when elements are deleted from the database. by @ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1414">https://github.com/colmap/colmap/pull/1414</a></p></li>
<li><p>Replace Graclus with Metis dependency by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1422">https://github.com/colmap/colmap/pull/1422</a></p></li>
<li><p>Update ceres download URL in build script by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1430">https://github.com/colmap/colmap/pull/1430</a></p></li>
<li><p>Fix type errors when building colmap with build.py in windows by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1440">https://github.com/colmap/colmap/pull/1440</a></p></li>
<li><p>Fix bug in the computation of the statistics Global/Local BA by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1449">https://github.com/colmap/colmap/pull/1449</a></p></li>
<li><p>Add RefineGeneralizedAbsolutePose and covariance estimation by @Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1464">https://github.com/colmap/colmap/pull/1464</a></p></li>
<li><p>Update docker image definition by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1478">https://github.com/colmap/colmap/pull/1478</a></p></li>
<li><p>Upgrade deprecated ceres parameterizations to manifolds by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1477">https://github.com/colmap/colmap/pull/1477</a></p></li>
<li><p>Use masks for stereo fusion on automatic reconstruction by @ibrarmalik in <a class="reference external" href="https://github.com/colmap/colmap/pull/1488">https://github.com/colmap/colmap/pull/1488</a></p></li>
<li><p>fix random seed set failed from external interface by @WZG3661 in <a class="reference external" href="https://github.com/colmap/colmap/pull/1498">https://github.com/colmap/colmap/pull/1498</a></p></li>
<li><p>Replace deprecated Eigen nonZeros() call for most recent Eigen versions. by @nackjaylor in <a class="reference external" href="https://github.com/colmap/colmap/pull/1494">https://github.com/colmap/colmap/pull/1494</a></p></li>
<li><p>Fix ceres-solver folder name by @f-fl0 in <a class="reference external" href="https://github.com/colmap/colmap/pull/1501">https://github.com/colmap/colmap/pull/1501</a></p></li>
<li><p>Improved convergence criterion for XYZ to ELL conversion by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1505">https://github.com/colmap/colmap/pull/1505</a></p></li>
<li><p>Fix bug in the function SetPtr of Bitmap by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1525">https://github.com/colmap/colmap/pull/1525</a></p></li>
<li><p>Avoid the calling of copy constructor/assignment by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1524">https://github.com/colmap/colmap/pull/1524</a></p></li>
<li><p>Avoid calling copy constructors of FeatureKeypoints and FeatureDescriptors by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1540">https://github.com/colmap/colmap/pull/1540</a></p></li>
<li><p>Initialize freeimage if statically linked by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1549">https://github.com/colmap/colmap/pull/1549</a></p></li>
<li><p>Avoid hard crash if Jacobian matrix is rank deficient by @mihaidusmanu in <a class="reference external" href="https://github.com/colmap/colmap/pull/1557">https://github.com/colmap/colmap/pull/1557</a></p></li>
<li><p>visualize_model.py: added FULL_OPENCV model by @soeroesg in <a class="reference external" href="https://github.com/colmap/colmap/pull/1552">https://github.com/colmap/colmap/pull/1552</a></p></li>
<li><p>Update vcpkg version to fix CI pipeline by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1568">https://github.com/colmap/colmap/pull/1568</a></p></li>
<li><p>Replace deprecated Mac OS 10.15 with Mac OS 12 build in CI by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1569">https://github.com/colmap/colmap/pull/1569</a></p></li>
<li><p>Fix inconsistent between the actual executed image reader option and the saved project.ini file by @XuChengHUST in <a class="reference external" href="https://github.com/colmap/colmap/pull/1564">https://github.com/colmap/colmap/pull/1564</a></p></li>
<li><p>checkout the expected version of ceres solver by @scott-vsi in <a class="reference external" href="https://github.com/colmap/colmap/pull/1576">https://github.com/colmap/colmap/pull/1576</a></p></li>
<li><p>use default qt5 brew install directory #1573 by @catapulta in <a class="reference external" href="https://github.com/colmap/colmap/pull/1574">https://github.com/colmap/colmap/pull/1574</a></p></li>
<li><p>Fix image undistortion with nested image folders by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1606">https://github.com/colmap/colmap/pull/1606</a></p></li>
<li><p>Fix source file permissions by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1607">https://github.com/colmap/colmap/pull/1607</a></p></li>
<li><p>Fixed the collection of arguments in colmap.bat by @tdegraaff in <a class="reference external" href="https://github.com/colmap/colmap/pull/1121">https://github.com/colmap/colmap/pull/1121</a></p></li>
<li><p>Add OpenMP to COLMAP_EXTERNAL_LIBRARIES if enabled by @logchan in <a class="reference external" href="https://github.com/colmap/colmap/pull/1632">https://github.com/colmap/colmap/pull/1632</a></p></li>
<li><p>Fix output tile reconstructions are the same as the input reconstruction in <cite>RunModelSplitter</cite> (#1513) by @Serenitysmk in <a class="reference external" href="https://github.com/colmap/colmap/pull/1531">https://github.com/colmap/colmap/pull/1531</a></p></li>
<li><p>add <cite>libmetis-dev</cite> to solve <cite>METIS_INCLUDE_DIRS</cite>. by @FavorMylikes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1672">https://github.com/colmap/colmap/pull/1672</a></p></li>
<li><p>Update install.rst by @tomer-grin in <a class="reference external" href="https://github.com/colmap/colmap/pull/1671">https://github.com/colmap/colmap/pull/1671</a></p></li>
<li><p>Update freeimage links. by @Yulv-git in <a class="reference external" href="https://github.com/colmap/colmap/pull/1675">https://github.com/colmap/colmap/pull/1675</a></p></li>
<li><p>fix small typo by @skal65535 in <a class="reference external" href="https://github.com/colmap/colmap/pull/1668">https://github.com/colmap/colmap/pull/1668</a></p></li>
<li><p>Update build.py with new glew link by @aghand0ur in <a class="reference external" href="https://github.com/colmap/colmap/pull/1658">https://github.com/colmap/colmap/pull/1658</a></p></li>
<li><p>Add use_cache in fusion options GUI by @hrflr in <a class="reference external" href="https://github.com/colmap/colmap/pull/1655">https://github.com/colmap/colmap/pull/1655</a></p></li>
<li><p>Add CI pipeline for Ubuntu 22.04 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1688">https://github.com/colmap/colmap/pull/1688</a></p></li>
<li><p>Avoid unnecessary copies of data by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1691">https://github.com/colmap/colmap/pull/1691</a></p></li>
<li><p>Reduce memory allocations in correspondence graph search by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1692">https://github.com/colmap/colmap/pull/1692</a></p></li>
<li><p>Use FindCUDAToolkit when available. by @hanseuljun in <a class="reference external" href="https://github.com/colmap/colmap/pull/1693">https://github.com/colmap/colmap/pull/1693</a></p></li>
<li><p>Fixed a crash due to inconsistent undistortion by @SomeAlphabetGuy in <a class="reference external" href="https://github.com/colmap/colmap/pull/1698">https://github.com/colmap/colmap/pull/1698</a></p></li>
<li><p>Add CUDA Ubuntu 22.04 CI build by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1705">https://github.com/colmap/colmap/pull/1705</a></p></li>
<li><p>Delete the redundancy install of libmetis-dev by @thomas-graphopti in <a class="reference external" href="https://github.com/colmap/colmap/pull/1721">https://github.com/colmap/colmap/pull/1721</a></p></li>
<li><p>Fix broken loading of image masks on macOS by @buesma in <a class="reference external" href="https://github.com/colmap/colmap/pull/1639">https://github.com/colmap/colmap/pull/1639</a></p></li>
<li><p>Update install instructions with latest hints and known issues by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1736">https://github.com/colmap/colmap/pull/1736</a></p></li>
<li><p>Modernize smart pointer initialization, fix alloc/dealloc mismatch by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1737">https://github.com/colmap/colmap/pull/1737</a></p></li>
<li><p>Fix typo in cli.rst by @ojhernandez in <a class="reference external" href="https://github.com/colmap/colmap/pull/1747">https://github.com/colmap/colmap/pull/1747</a></p></li>
<li><p>Fix inconsistent image resizing between CPU/GPU implementations of SIFT by @Yzhbuaa in <a class="reference external" href="https://github.com/colmap/colmap/pull/1642">https://github.com/colmap/colmap/pull/1642</a></p></li>
<li><p>Reduce number of SIFT test features to make tests run under WSL by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1748">https://github.com/colmap/colmap/pull/1748</a></p></li>
<li><p>Tag documentation version with dev by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1749">https://github.com/colmap/colmap/pull/1749</a></p></li>
<li><p>Update copyright to 2023 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1750">https://github.com/colmap/colmap/pull/1750</a></p></li>
<li><p>Fix max image dimension for positive first_octave by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1751">https://github.com/colmap/colmap/pull/1751</a></p></li>
<li><p>Fix SIFT GPU match creation by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1757">https://github.com/colmap/colmap/pull/1757</a></p></li>
<li><p>Fix SIFT tests for OpenGL by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1762">https://github.com/colmap/colmap/pull/1762</a></p></li>
<li><p>Suppress CUDA stack size warning for ptxas by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1770">https://github.com/colmap/colmap/pull/1770</a></p></li>
<li><p>Simplify CUDA CMake configuration by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1776">https://github.com/colmap/colmap/pull/1776</a></p></li>
<li><p>Fixes for CUDA compilation by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1777">https://github.com/colmap/colmap/pull/1777</a></p></li>
<li><p>Improvements to dockerfile and build pipeline by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1778">https://github.com/colmap/colmap/pull/1778</a></p></li>
<li><p>Explicitly require CMAKE_CUDA_ARCHITECTURES to be defined by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1781">https://github.com/colmap/colmap/pull/1781</a></p></li>
<li><p>Depend on system installed FLANN by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1782">https://github.com/colmap/colmap/pull/1782</a></p></li>
<li><p>Option to store relative pose between two cameras in database by @yanxke in <a class="reference external" href="https://github.com/colmap/colmap/pull/1774">https://github.com/colmap/colmap/pull/1774</a></p></li>
<li><p>Depend on system installed SQLite3 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1783">https://github.com/colmap/colmap/pull/1783</a></p></li>
</ul>
</section>
<section id="colmap-3-7-01-26-2022">
<h2>COLMAP 3.7 (01/26/2022)<a class="headerlink" href="#colmap-3-7-01-26-2022" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Allow to save fused point cloud in colmap format when using command line by @boitumeloruf in <a class="reference external" href="https://github.com/colmap/colmap/pull/799">https://github.com/colmap/colmap/pull/799</a></p></li>
<li><p>Fix typos in image.h by @Pascal-So in <a class="reference external" href="https://github.com/colmap/colmap/pull/936">https://github.com/colmap/colmap/pull/936</a></p></li>
<li><p>Fix for EPnP estimator by @vlarsson in <a class="reference external" href="https://github.com/colmap/colmap/pull/943">https://github.com/colmap/colmap/pull/943</a></p></li>
<li><p>Visualize models using Python in Open3D by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/948">https://github.com/colmap/colmap/pull/948</a></p></li>
<li><p>Update tutorial.rst by @ignacio-rocco in <a class="reference external" href="https://github.com/colmap/colmap/pull/953">https://github.com/colmap/colmap/pull/953</a></p></li>
<li><p>8 point algorithm internal contraint fix by @mihaidusmanu in <a class="reference external" href="https://github.com/colmap/colmap/pull/982">https://github.com/colmap/colmap/pull/982</a></p></li>
<li><p>Python script for writing depth/normal arrays by @SBCV in <a class="reference external" href="https://github.com/colmap/colmap/pull/957">https://github.com/colmap/colmap/pull/957</a></p></li>
<li><p>BuildImageModel: use std::vector instead of numbered arguments by @Pascal-So in https://github.com/colmap/colmap/pull/949</p></li>
<li><p>Fix bugs of sift feature matching by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/985">https://github.com/colmap/colmap/pull/985</a></p></li>
<li><p>script for modifying fused results by @SBCV in <a class="reference external" href="https://github.com/colmap/colmap/pull/984">https://github.com/colmap/colmap/pull/984</a></p></li>
<li><p>fix camera model query by @Pascal-So in <a class="reference external" href="https://github.com/colmap/colmap/pull/997">https://github.com/colmap/colmap/pull/997</a></p></li>
<li><p>fixed small bug in visualize_model.py by @sniklaus in <a class="reference external" href="https://github.com/colmap/colmap/pull/1007">https://github.com/colmap/colmap/pull/1007</a></p></li>
<li><p>Update .travis.yml by @srinivas32 in <a class="reference external" href="https://github.com/colmap/colmap/pull/989">https://github.com/colmap/colmap/pull/989</a></p></li>
<li><p>Ensure DecomposeHomographyMatrix() always returns rotations by @daithimaco in <a class="reference external" href="https://github.com/colmap/colmap/pull/1040">https://github.com/colmap/colmap/pull/1040</a></p></li>
<li><p>Remove deprecated qt foreach by @UncleGene in <a class="reference external" href="https://github.com/colmap/colmap/pull/1039">https://github.com/colmap/colmap/pull/1039</a></p></li>
<li><p>Fix AMD/Windows GUI visualization bug by @drkoller in <a class="reference external" href="https://github.com/colmap/colmap/pull/1079">https://github.com/colmap/colmap/pull/1079</a></p></li>
<li><p>include colmap_cuda in COLMAP_LIBRARIES when compiled with cuda by @ClementPinard in <a class="reference external" href="https://github.com/colmap/colmap/pull/1084">https://github.com/colmap/colmap/pull/1084</a></p></li>
<li><p>Fix runtime crash when sparsesuite is missing from ceres by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1115">https://github.com/colmap/colmap/pull/1115</a></p></li>
<li><p>Store relative poses in two_view_geometry table by @Ahmed-Salama in <a class="reference external" href="https://github.com/colmap/colmap/pull/1103">https://github.com/colmap/colmap/pull/1103</a></p></li>
<li><p>search src images for patch_match from all set, not only referenced subset by @DaniilSNikulin in <a class="reference external" href="https://github.com/colmap/colmap/pull/1038">https://github.com/colmap/colmap/pull/1038</a></p></li>
<li><p>Replace Travis CI with Azure Pipelines for Linux/Mac builds by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1119">https://github.com/colmap/colmap/pull/1119</a></p></li>
<li><p>Allow ReadPly to handle double precision files by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1131">https://github.com/colmap/colmap/pull/1131</a></p></li>
<li><p>Update GPSTransform calculations to improve accuracy by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1132">https://github.com/colmap/colmap/pull/1132</a></p></li>
<li><p>Add scale template flag in SimilarityTransform3::Estimate by @anmatako in https://github.com/colmap/colmap/pull/1133</p></li>
<li><p>Add CopyFile utility that can copy or hard/soft-link files by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1134">https://github.com/colmap/colmap/pull/1134</a></p></li>
<li><p>Expose BA options in IncrementalMapper by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1139">https://github.com/colmap/colmap/pull/1139</a></p></li>
<li><p>Allow configurable paths for mvs::Model by @anmatako in https://github.com/colmap/colmap/pull/1141</p></li>
<li><p>Change ReconstructionMaanger to write larger recons first by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1137">https://github.com/colmap/colmap/pull/1137</a></p></li>
<li><p>Setup Azure pipelines for Windows build by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1150">https://github.com/colmap/colmap/pull/1150</a></p></li>
<li><p>Add fixed extrinsics in rig config by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1144">https://github.com/colmap/colmap/pull/1144</a></p></li>
<li><p>Allow custom config and missing dependencies for patch-match by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1142">https://github.com/colmap/colmap/pull/1142</a></p></li>
<li><p>Update print statements for Python 3 compatibility by @UncleGene in <a class="reference external" href="https://github.com/colmap/colmap/pull/1126">https://github.com/colmap/colmap/pull/1126</a></p></li>
<li><p>Allow cleanup of SQLite tables using new database_cleaner command by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1136">https://github.com/colmap/colmap/pull/1136</a></p></li>
<li><p>Extend SceneClustering to support non-hierarchical (flat) clusters by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1140">https://github.com/colmap/colmap/pull/1140</a></p></li>
<li><p>Support more formats in model_converter by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1147">https://github.com/colmap/colmap/pull/1147</a></p></li>
<li><p>Fix Mac 10.15 build due to changed Qt5 path by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1157">https://github.com/colmap/colmap/pull/1157</a></p></li>
<li><p>Fix bug in ReadCameraRigConfig when reading extrinsics by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1158">https://github.com/colmap/colmap/pull/1158</a></p></li>
<li><p>Add utility to compare poses between two sparse models by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1159">https://github.com/colmap/colmap/pull/1159</a></p></li>
<li><p>Modularize executable main functions into separate sources by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1160">https://github.com/colmap/colmap/pull/1160</a></p></li>
<li><p>Fix unnecessary copies in for range loops by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1162">https://github.com/colmap/colmap/pull/1162</a></p></li>
<li><p>Add script to clang-format all source code by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1163">https://github.com/colmap/colmap/pull/1163</a></p></li>
<li><p>Add back new options and formats for model_converter by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1164">https://github.com/colmap/colmap/pull/1164</a></p></li>
<li><p>ImageReder new option and bug fix in GPS priors by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1146">https://github.com/colmap/colmap/pull/1146</a></p></li>
<li><p>Parallelize stereo fusion; needs pre-loading of entire workspace by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1148">https://github.com/colmap/colmap/pull/1148</a></p></li>
<li><p>Refactoring and new functionality in Reconstruction class by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1169">https://github.com/colmap/colmap/pull/1169</a></p></li>
<li><p>Add new functionality in image_undistorter by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1168">https://github.com/colmap/colmap/pull/1168</a></p></li>
<li><p>Add new CMake option to disable GUI by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1165">https://github.com/colmap/colmap/pull/1165</a></p></li>
<li><p>Fix the memory leak caused by not releasing the memory of the PRNG at the end of the thread by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1170">https://github.com/colmap/colmap/pull/1170</a></p></li>
<li><p>Fix fusion segfault bug by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1176">https://github.com/colmap/colmap/pull/1176</a></p></li>
<li><p>Update SiftGPU to use floorf for floats by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1182">https://github.com/colmap/colmap/pull/1182</a></p></li>
<li><p>fix typo in extraction.cc by @iuk in <a class="reference external" href="https://github.com/colmap/colmap/pull/1191">https://github.com/colmap/colmap/pull/1191</a></p></li>
<li><p>Improvements to NVM, Cam, Recon3D, and Bundler exporters by @drkoller in <a class="reference external" href="https://github.com/colmap/colmap/pull/1187">https://github.com/colmap/colmap/pull/1187</a></p></li>
<li><p>Update model_aligner functionality by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1177">https://github.com/colmap/colmap/pull/1177</a></p></li>
<li><p>Add new model_cropper and model_splitter commands by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1179">https://github.com/colmap/colmap/pull/1179</a></p></li>
<li><p>use type point2D_t instead of image_t by @iuk in <a class="reference external" href="https://github.com/colmap/colmap/pull/1199">https://github.com/colmap/colmap/pull/1199</a></p></li>
<li><p>Fix radial distortion in Cam format exporter by @drkoller in <a class="reference external" href="https://github.com/colmap/colmap/pull/1196">https://github.com/colmap/colmap/pull/1196</a></p></li>
<li><p>Add new model_transformer command by @anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1178">https://github.com/colmap/colmap/pull/1178</a></p></li>
<li><p>Fix error of using urllib to download eigen from gitlab by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1194">https://github.com/colmap/colmap/pull/1194</a></p></li>
<li><p>Multi-line string fix in Python model script by @mihaidusmanu in <a class="reference external" href="https://github.com/colmap/colmap/pull/1217">https://github.com/colmap/colmap/pull/1217</a></p></li>
<li><p>added visibility_sigma to CLI input options for delaunay_mesher. by @Matstah in <a class="reference external" href="https://github.com/colmap/colmap/pull/1236">https://github.com/colmap/colmap/pull/1236</a></p></li>
<li><p>Backwards compatibility of model_aligner by @tsattler in <a class="reference external" href="https://github.com/colmap/colmap/pull/1240">https://github.com/colmap/colmap/pull/1240</a></p></li>
<li><p>[update undistortion] update dumped commands by @hiakru in <a class="reference external" href="https://github.com/colmap/colmap/pull/1276">https://github.com/colmap/colmap/pull/1276</a></p></li>
<li><p>Compute reprojection error in generalized absolute solver by @Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1257">https://github.com/colmap/colmap/pull/1257</a></p></li>
<li><p>Modifying scripts/python/flickr_downloader.py to create files with correct extensions by @snavely in <a class="reference external" href="https://github.com/colmap/colmap/pull/1275">https://github.com/colmap/colmap/pull/1275</a></p></li>
<li><p>revise Dockerfile and readme. by @MasahiroOgawa in <a class="reference external" href="https://github.com/colmap/colmap/pull/1281">https://github.com/colmap/colmap/pull/1281</a></p></li>
<li><p>Update to latest vcpkg version by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1319">https://github.com/colmap/colmap/pull/1319</a></p></li>
<li><p>Fix compiler warnings reported by GCC by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1317">https://github.com/colmap/colmap/pull/1317</a></p></li>
<li><p>Auto-rotate JPEG images based on EXIF orientation by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1318">https://github.com/colmap/colmap/pull/1318</a></p></li>
<li><p>Upgrade vcpkg to fix CI build issues by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1331">https://github.com/colmap/colmap/pull/1331</a></p></li>
<li><p>Added descriptor normalization argument to feature_extractor. by @mihaidusmanu in <a class="reference external" href="https://github.com/colmap/colmap/pull/1332">https://github.com/colmap/colmap/pull/1332</a></p></li>
<li><p>Fix memory leak in the function of StringAppendV by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1337">https://github.com/colmap/colmap/pull/1337</a></p></li>
<li><p>Add CUDA_SAFE_CALL to cudaGetDeviceCount. by @chpatrick in <a class="reference external" href="https://github.com/colmap/colmap/pull/1334">https://github.com/colmap/colmap/pull/1334</a></p></li>
<li><p>Add missing include in case CUDA/GUI is not available by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1329">https://github.com/colmap/colmap/pull/1329</a></p></li>
<li><p>Fix wrong WGS84 model and test cases in GPSTransform by @Freeverc in <a class="reference external" href="https://github.com/colmap/colmap/pull/1333">https://github.com/colmap/colmap/pull/1333</a></p></li>
<li><p>Fixes bug in sprt.cc: num_inliers was not set. by @rmbrualla in <a class="reference external" href="https://github.com/colmap/colmap/pull/1360">https://github.com/colmap/colmap/pull/1360</a></p></li>
<li><p>Prevent a divide by zero corner case. by @rmbrualla in <a class="reference external" href="https://github.com/colmap/colmap/pull/1361">https://github.com/colmap/colmap/pull/1361</a></p></li>
<li><p>Adds missing header. by @rmbrualla in <a class="reference external" href="https://github.com/colmap/colmap/pull/1362">https://github.com/colmap/colmap/pull/1362</a></p></li>
<li><p>Require Qt in COLMAPConfig only if GUI is enabled by @Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1365">https://github.com/colmap/colmap/pull/1365</a></p></li>
<li><p>Keep precision in the process of storing in text. by @whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1363">https://github.com/colmap/colmap/pull/1363</a></p></li>
<li><p>Expose exe internals by @Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1366">https://github.com/colmap/colmap/pull/1366</a></p></li>
<li><p>Fix inliers matches extraction in EstimateUncalibrated function. by @ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1369">https://github.com/colmap/colmap/pull/1369</a></p></li>
<li><p>Expose exe internals - fix by @Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1368">https://github.com/colmap/colmap/pull/1368</a></p></li>
<li><p>Remove deprecated Mac OSX 10.14 image in ADO pipeline by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1383">https://github.com/colmap/colmap/pull/1383</a></p></li>
<li><p>Add Mac OSX 11 ADO pipeline job by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1384">https://github.com/colmap/colmap/pull/1384</a></p></li>
<li><p>Fix warnings for latest compiler/libraries by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1382">https://github.com/colmap/colmap/pull/1382</a></p></li>
<li><p>Fix clang compiler warnings by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1387">https://github.com/colmap/colmap/pull/1387</a></p></li>
<li><p>Add Address Sanitizer options and fix reported issues by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1390">https://github.com/colmap/colmap/pull/1390</a></p></li>
<li><p>User/joschonb/asan cleanup by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1391">https://github.com/colmap/colmap/pull/1391</a></p></li>
<li><p>Add ADO pipeline for Visual Studio 2022 by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1392">https://github.com/colmap/colmap/pull/1392</a></p></li>
<li><p>Add ccache option by @ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1395">https://github.com/colmap/colmap/pull/1395</a></p></li>
<li><p>Update ModelAligner to handle GPS and custom coords. and more by @ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1371">https://github.com/colmap/colmap/pull/1371</a></p></li>
</ul>
</section>
<section id="colmap-3-6-07-24-2020">
<h2>COLMAP 3.6 (07/24/2020)<a class="headerlink" href="#colmap-3-6-07-24-2020" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Improved robustness and faster incremental reconstruction process</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">image_deleter</span></code> command to remove images from sparse model</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">image_filter</span></code> command to filter bad registrations from sparse model</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">point_filtering</span></code> command to filter sparse model point clouds</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">database_merger</span></code> command to merge two databases, which is
useful to parallelize matching across different machines</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">image_undistorter_standalone</span></code> to enable undistorting images
without a pre-existing full sparse model</p></li>
<li><p>Improved undistortion for fisheye cameras and FOV camera model</p></li>
<li><p>Support for masking input images in feature extraction stage</p></li>
<li><p>Improved HiDPI support in GUI for high-resolution monitors</p></li>
<li><p>Import sparse model when launching GUI from CLI</p></li>
<li><p>Faster CPU-based matching using approximate NN search</p></li>
<li><p>Support for bundle adjustment with fixed extrinsics</p></li>
<li><p>Support for fixing existing images when continuing reconstruction</p></li>
<li><p>Camera model colors in viewer can be customized</p></li>
<li><p>Support for latest GPU architectures in CUDA build</p></li>
<li><p>Support for writing sparse models in Python scripts</p></li>
<li><p>Scripts for building and running COLMAP in Docker</p></li>
<li><p>Many more bug fixes and improvements to code and documentation</p></li>
</ul>
</section>
<section id="colmap-3-5-08-22-2018">
<h2>COLMAP 3.5 (08/22/2018)<a class="headerlink" href="#colmap-3-5-08-22-2018" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>COLMAP is now released under the BSD license instead of the GPL</p></li>
<li><p>COLMAP is now installed as a library, whose headers can be included and
libraries linked against from other C/C++ code</p></li>
<li><p>Add hierarchical mapper for parallelized reconstruction or large scenes</p></li>
<li><p>Add sparse and dense Delaunay meshing algorithms, which reconstruct a
watertight surface using a graph cut on the Delaunay triangulation of the
reconstructed sparse or dense point cloud</p></li>
<li><p>Improved robustness when merging different models</p></li>
<li><p>Improved pre-trained vocabulary trees available for download</p></li>
<li><p>Add COLMAP as a software entry under Linux desktop systems</p></li>
<li><p>Add support to compile COLMAP on ARM platforms</p></li>
<li><p>Add example Python script to read/write COLMAP database</p></li>
<li><p>Add region of interest (ROI) cropping in image undistortion</p></li>
<li><p>Several import bug fixes for spatial verification in image retrieval</p></li>
<li><p>Add more extensive continuous integration across more compilation scenarios</p></li>
<li><p>Many more bug fixes and improvements to code and documentation</p></li>
</ul>
</section>
<section id="colmap-3-4-01-29-2018">
<h2>COLMAP 3.4 (01/29/2018)<a class="headerlink" href="#colmap-3-4-01-29-2018" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Unified command-line interface: The functionality of previous executables have
been merged into the <code class="docutils literal notranslate"><span class="pre">src/exe/colmap.cc</span></code> executable. The GUI can now be
started using the command <code class="docutils literal notranslate"><span class="pre">colmap</span> <span class="pre">gui</span></code> and other commands are available
as <code class="docutils literal notranslate"><span class="pre">colmap</span> <span class="pre">[command]</span></code>. For example, the feature extractor is now available
as <code class="docutils literal notranslate"><span class="pre">colmap</span> <span class="pre">feature_extractor</span> <span class="pre">[args]</span></code> while all command-line arguments stay
the same as before. This should result in much faster project compile times
and smaller disk space usage of the program. More details about the new
interface are documented at <a class="reference external" href="https://colmap.github.io/cli.html">https://colmap.github.io/cli.html</a></p></li>
<li><p>More complete depth and normal maps with larger patch sizes</p></li>
<li><p>Faster dense stereo computation by skipping rows/columns in patch match,
improved random sampling in patch match, and faster bilateral NCC</p></li>
<li><p>Better high DPI screen support for the graphical user interface</p></li>
<li><p>Improved model viewer under Windows, which now requires Qt 5.4</p></li>
<li><p>Save computed two-view geometries in database</p></li>
<li><p>Images (keypoint/matches visualization, depth and normal maps) can now be
saved from the graphical user interface</p></li>
<li><p>Support for PMVS format without sparse bundler file</p></li>
<li><p>Faster covariant feature detection</p></li>
<li><p>Many more bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-3-3-11-21-2017">
<h2>COLMAP 3.3 (11/21/2017)<a class="headerlink" href="#colmap-3-3-11-21-2017" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Add DSP (Domain Size Pooling) SIFT implementation. DSP-SIFT outperforms
standard SIFT in most cases, as shown in “Comparative Evaluation of
Hand-Crafted and Learned Local Features”, Schoenberger et al., CVPR 2017</p></li>
<li><p>Improved parameters dense reconstruction of smaller models</p></li>
<li><p>Improved compile times due to various code optimizations</p></li>
<li><p>Add option to specify camera model in automatic reconstruction</p></li>
<li><p>Add new model orientation alignment based on upright image assumption</p></li>
<li><p>Improved numerical stability for generalized absolute pose solver</p></li>
<li><p>Support for image range specification in PMVS dense reconstruction format</p></li>
<li><p>Support for older Python versions in automatic build script</p></li>
<li><p>Fix OpenCV Fisheye camera model to exactly match OpenCV specifications</p></li>
</ul>
</section>
<section id="colmap-3-2-9-2-2017">
<h2>COLMAP 3.2 (9/2/2017)<a class="headerlink" href="#colmap-3-2-9-2-2017" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Fully automatic cross-platform build script (Windows, Mac, Linux)</p></li>
<li><p>Add multi-GPU feature extraction if multiple CUDA devices are available</p></li>
<li><p>Configurable dimension and data type for vocabulary tree implementation</p></li>
<li><p>Add new sequential matching mode for image sequences with high frame-rate</p></li>
<li><p>Add generalized relative pose solver for multi-camera systems</p></li>
<li><p>Add sparse least absolute deviation solver</p></li>
<li><p>Add CPU/GPU options to automatic reconstruction tool</p></li>
<li><p>Add continuous integration system under Windows, Mac, Linux through Github</p></li>
<li><p>Many more bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-3-1-6-15-2017">
<h2>COLMAP 3.1 (6/15/2017)<a class="headerlink" href="#colmap-3-1-6-15-2017" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Add fast spatial verification to image retrieval module</p></li>
<li><p>Add binary file format for sparse models by default. Old text format still
fully compatible and possible conversion in GUI and CLI</p></li>
<li><p>Add cross-platform little endian binary file reading and writing</p></li>
<li><p>Faster and less memory hungry stereo fusion by computing consistency on demand
and possible limitation of image size in fusion</p></li>
<li><p>Simpler geometric stereo processing interface.
Now geometric stereo output can be computed using a single pass</p></li>
<li><p>Faster and multi-architecture CUDA compilation</p></li>
<li><p>Add medium quality option in automatic reconstructor</p></li>
<li><p>Many more bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-3-0-5-22-2017">
<h2>COLMAP 3.0 (5/22/2017)<a class="headerlink" href="#colmap-3-0-5-22-2017" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Add automatic end-to-end reconstruction tool that automatically performs
sparse and dense reconstruction on a given set of images</p></li>
<li><p>Add multi-GPU dense stereo if multiple CUDA devices are available</p></li>
<li><p>Add multi-GPU feature matching if multiple CUDA devices are available</p></li>
<li><p>Add Manhattan-world / gravity alignment using line detection</p></li>
<li><p>Add CUDA-based feature extraction useful for usage on clusters</p></li>
<li><p>Add CPU-based feature matching for machines without GPU</p></li>
<li><p>Add new THIN_PRISM_FISHEYE camera model with tangential/radial correction</p></li>
<li><p>Add binary to triangulate existing/empty sparse reconstruction</p></li>
<li><p>Add binary to print summary statistics about sparse reconstruction</p></li>
<li><p>Add transitive feature matching to transitively complete match graph</p></li>
<li><p>Improved scalability of dense reconstruction by using caching</p></li>
<li><p>More stable GPU-based feature matching with informative warnings</p></li>
<li><p>Faster vocabulary tree matching using dynamic scheduling in FLANN</p></li>
<li><p>Faster spatial feature matching using linear index instead of kd-tree</p></li>
<li><p>More stable camera undistortion using numerical Newton iteration</p></li>
<li><p>Improved option parsing with some backwards incompatible option renaming</p></li>
<li><p>Faster compile times by optimizing includes and CUDA flags</p></li>
<li><p>More stable view selection for small baseline scenario in dense reconstruction</p></li>
<li><p>Many more bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-2-1-12-7-2016">
<h2>COLMAP 2.1 (12/7/2016)<a class="headerlink" href="#colmap-2-1-12-7-2016" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Support to only index and match specific images in vocabulary tree matching</p></li>
<li><p>Support to perform image retrieval using vocabulary tree</p></li>
<li><p>Several bug fixes and improvements for multi-view stereo module</p></li>
<li><p>Improved Structure-from-Motion initialization strategy</p></li>
<li><p>Support to only reconstruct the scene using specific images in the database</p></li>
<li><p>Add support to merge two models using overlapping registered images</p></li>
<li><p>Add support to geo-register/align models using known camera locations</p></li>
<li><p>Support to only extract specific images in feature extraction module</p></li>
<li><p>Support for snapshot model export during reconstruction</p></li>
<li><p>Skip already undistorted images if they exist in output directory</p></li>
<li><p>Support to limit the number of features in image retrieval for improved speed</p></li>
<li><p>Miscellaneous bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-2-0-9-8-2016">
<h2>COLMAP 2.0 (9/8/2016)<a class="headerlink" href="#colmap-2-0-9-8-2016" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Implementation of dense reconstruction pipeline</p></li>
<li><p>Improved feature matching performance</p></li>
<li><p>New bundle adjuster for rigidly mounted multi-camera systems</p></li>
<li><p>New generalized absolute pose solver for multi-camera systems</p></li>
<li><p>New executable to extract colors from all images</p></li>
<li><p>Boost can now be linked in shared and static mode</p></li>
<li><p>Various bug fixes and performance improvements</p></li>
</ul>
</section>
<section id="colmap-1-1-5-19-2016">
<h2>COLMAP 1.1 (5/19/2016)<a class="headerlink" href="#colmap-1-1-5-19-2016" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Implementation of state-of-the-art image retrieval system using Hamming
embedding for vocabulary tree matching. This should lead to much improved
matching results as compared to the previous implementation.</p></li>
<li><p>Guided matching as an optional functionality.</p></li>
<li><p>New demo datasets for download.</p></li>
<li><p>Automatically switch to PBA if supported by the project.</p></li>
<li><p>Implementation of EPNP solver for local pose optimization in RANSAC.</p></li>
<li><p>Add option to extract upright SIFT features.</p></li>
<li><p>Saving JPEGs in superb quality by default in export.</p></li>
<li><p>Add option to clear matches and inlier matches in the project.</p></li>
<li><p>New fisheye camera models, including the FOV camera model used by Google
Project Tango (Thomas Schoeps).</p></li>
<li><p>Extended documentation based on user feedback.</p></li>
<li><p>Fixed typo in documentation (Thomas Schoeps).</p></li>
</ul>
</section>
<section id="colmap-1-0-4-4-2016">
<h2>COLMAP 1.0 (4/4/2016)<a class="headerlink" href="#colmap-1-0-4-4-2016" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Initial release of COLMAP.</p></li>
</ul>
</section>
</section>
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