Tags: colmap/colmap
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Integrate 6pt one-side focal solver in two view geometry estimation. (#… …4561) Integrate 6pt solver (9 solutions) from PoseLib with colmap TinySolver as LO. As a byproduct, this PR resolves pending TODO for two-view geometry between a spherical camera and an uncalibrated perspective camera. cc: @vlarsson ## (Edit: July 22, 2026) E2E reconstruction (ETH3D dslr, 10 scenes x 3 seeds, --camera_prior_fraction 0.5) `onesided - main`, AUC mean ± std over 3 seeds, averaged over scenes. Positive = branch better. Here we create a mixed calibration setup and only provide half the cameras intrinsics. | | @0.5 | @1.0 | @5.0 | @10.0 | |---|---|---|---|---| | **onesided - main** | +0.06 ± 2.07 | +0.08 ± 3.65 | +1.88 ± 3.14 | +1.80 ± 2.95 | ## Two-view relative pose AUC (272 mixed-calibration pairs, 4 scenes) Error is `max(R_err, t_err)` per pair. | | @1° | @3° | @5° | @10° | |---|---|---|---|---| | main (F) | 0.7 | 3.0 | 6.2 | 12.5 | | **one-sided** | **38.3** | **53.2** | **59.8** | **68.6** |
Prepare 4.1.1 patch release (#4554) Prepares the **4.1.1** patch release by cherry-picking important bug/build fixes that landed on `main` since `4.1.0`, plus one previously-unmerged fix. Features, refactors, algorithm changes, benchmarks, docs-site infra, and dependency upgrades from `main` are intentionally excluded. ### Included fixes **Bug / correctness** - Fix feature matching slowdown from process-global omp critical in RANSAC (#4553) — restores the ~4–6x matching perf regressed in 4.1.0 - Fix: rescale already-undistorted images when `max_image_size` is provided (#4512) - Load mapper database lazily instead of at GUI startup (#4501) *(see note below)* - Show image/point viewer metadata when images are missing on disk (#4546) **Build / packaging** - Fix missing SVG icons in Windows binaries (#4496) - Fix Caspar CUDA build with MSVC forced includes (#4481) - Fail Caspar build early on CUDA arch < 7.0 (#4495) - Fix glog color support version detection (#4479) **GUI** - Tint UI icons to palette for dark theme legibility (#4478) **Docs** - Document quaternion order (wxyz vs xyzw) in `read_rig_config` binding (#4526) - Fix stale usage example in `IncrementalMapper` doc comment (#4531) - Add Fedora build instructions to `install.rst` (#4509) - Fix typos in user-facing help string and FAQ (#4549) **Previously unmerged** - Fix misspelled pycolmap enum name `GPSTransfromEllipsoid` → `GPSTransformEllipsoid` (#4551) ###⚠️ Breaking change #4551 removes `pycolmap.GPSTransfromEllipsoid` (present since ≤4.1.0) with **no** backward-compatible alias. Downstream code must switch to `pycolmap.GPSTransformEllipsoid`. This is unusual for a patch release and must be highlighted in the 4.1.1 release notes. ### Notes - #4501 required a manual conflict resolution: it was authored on top of the GUI mapper-selection feature (#4487), which is **not** part of this patch. The dependency on `UpdateMapperControls()` / `mapper_type_` was removed and replaced with the 4.1.0 baseline's existing control-state handling; the net behavior (no database read at GUI startup / project reset) is preserved. - All other commits cherry-picked cleanly (`-x` references retained). ### Still TODO before tagging - [ ] Version bump to 4.1.1 - [ ] CHANGELOG entry (incl. the breaking-change callout) - [ ] Full build + test run across platforms (CI) --------- Co-authored-by: WhuAegeanSea <whuaegeansea@gmail.com> Co-authored-by: Shaohui Liu <b1ueber2y@gmail.com> Co-authored-by: Behnam Asadi <behnam.asadi@gmail.com> Co-authored-by: Mohammad Ali <m.aliadnanrauf@gmail.com>
Release 4.0.4 (#4365) Co-authored-by: WhuAegeanSea <whuaegeansea@gmail.com> Co-authored-by: Alexander K. <a.lachs@yahoo.de> Co-authored-by: Alex <laxnpander@gmail.com> Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
Cherry-pick changes for 4.0.2 release (#4259) Co-authored-by: Shaohui Liu <b1ueber2y@gmail.com> Co-authored-by: Brad Squicciarini <80602644+bradsquicciarini-coco@users.noreply.github.com> Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
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