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<!DOCTYPE html>
<html lang="en" data-content_root="./" data-theme="auto">
<head>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="viewport" content="width=device-width, initial-scale=1" />
<meta property="og:title" content="Output Format" />
<meta property="og:type" content="website" />
<meta property="og:url" content="https://colmap.github.io/format.html" />
<meta property="og:site_name" content="COLMAP" />
<meta property="og:description" content="Binary File Format: Note that all binary data is stored using little endian byte ordering. All x86 processors are little endian and thus no special care has to be taken when reading COLMAP binary d..." />
<meta property="og:image" content="https://colmap.github.io/_static/og-image.png" />
<meta property="og:image:alt" content="COLMAP — Structure-from-Motion & Multi-View Stereo" />
<meta name="description" content="Binary File Format: Note that all binary data is stored using little endian byte ordering. All x86 processors are little endian and thus no special care has to be taken when reading COLMAP binary d..." />
<meta name="twitter:card" content="summary_large_image" />
<title>Output Format — COLMAP</title>
<script data-cfasync="false">
document.documentElement.dataset.mode = localStorage.getItem("mode") || "auto";
document.documentElement.dataset.theme = localStorage.getItem("theme") || "auto";
</script>
<!--
this give us a css class that will be invisible only if js is disabled
-->
<noscript>
<style>
.pst-js-only { display: none !important; }
</style>
</noscript>
<!-- Loaded before other Sphinx assets -->
<link href="_static/styles/theme.css?digest=18bd87630a240e9c25be" rel="stylesheet" />
<link href="_static/styles/pydata-sphinx-theme.css?digest=18bd87630a240e9c25be" rel="stylesheet" />
<link rel="stylesheet" type="text/css" href="_static/pygments.css?v=03e43079" />
<link rel="stylesheet" type="text/css" href="_static/sphinx-design.min.css?v=95c83b7e" />
<link rel="stylesheet" type="text/css" href="_static/custom.css?v=f70ce231" />
<link rel="stylesheet" type="text/css" href="_static/landing.css?v=1fe38c8d" />
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<script defer src="_static/scripts/fontawesome.js?digest=18bd87630a240e9c25be"></script>
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<link rel="preload" as="script" href="_static/scripts/bootstrap.js?digest=18bd87630a240e9c25be" />
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<script src="_static/documentation_options.js?v=08d57a1b"></script>
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<script src="_static/sphinx_highlight.js?v=6ffebe34"></script>
<script src="_static/design-tabs.js?v=f930bc37"></script>
<script>DOCUMENTATION_OPTIONS.pagename = 'format';</script>
<script>DOCUMENTATION_OPTIONS.search_as_you_type = false;</script>
<script src="_static/install_selector.js?v=af4a3e9b"></script>
<script src="_static/external_links.js?v=cd4e6f29"></script>
<link rel="canonical" href="https://colmap.github.io/format.html" />
<link rel="icon" href="_static/favicon.svg"/>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="next" title="Datasets" href="datasets.html" />
<link rel="prev" title="Rig Support" href="rigs.html" />
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta name="color-scheme" content="light dark"/>
<meta name="docsearch:language" content="en"/>
<meta name="docsearch:version" content="4.3.0.dev0 | 3e5c915 (2026-10-11)" />
<script src="_static/searchtools.js"></script>
<script src="_static/language_data.js"></script>
<script src="searchindex.js"></script>
</head>
<body data-default-mode="auto">
<div id="pst-skip-link" class="skip-link d-print-none"><a href="#main-content">Skip to main content</a></div>
<div id="pst-scroll-pixel-helper"></div>
<button type="button" class="btn rounded-pill" id="pst-back-to-top">
<i class="fa-solid fa-arrow-up"></i>Back to top</button>
<dialog id="pst-search-dialog">
<form class="bd-search d-flex align-items-center"
action="search.html"
method="get">
<i class="fa-solid fa-magnifying-glass"></i>
<input type="search"
class="form-control"
name="q"
placeholder="Search the docs ..."
aria-label="Search the docs ..."
autocomplete="off"
autocorrect="off"
autocapitalize="off"
spellcheck="false"/>
<span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd>K</kbd></span>
</form>
</dialog>
<div class="pst-async-banner-revealer d-none">
<aside id="bd-header-version-warning" class="d-none d-print-none" aria-label="Version warning"></aside>
</div>
<header id="pst-header" class="bd-header navbar navbar-expand-lg bd-navbar d-print-none">
<div class="bd-header__inner bd-page-width">
<button type="button" class="pst-navbar-icon sidebar-toggle primary-toggle" aria-label="Site navigation">
<span class="fa-solid fa-bars"></span>
</button>
<div class=" navbar-header-items__start">
<div class="navbar-item">
<a class="navbar-brand logo" href="index.html">
<img src="_static/colmap-logo.svg" class="logo__image only-light" alt=""/>
<img src="_static/colmap-logo-dark.svg" class="logo__image only-dark pst-js-only" alt=""/>
<p class="title logo__title">COLMAP</p>
</a></div>
</div>
<div class=" navbar-header-items">
<div class="me-auto navbar-header-items__center">
<div class="navbar-item">
<nav>
<ul class="bd-navbar-elements navbar-nav">
<li class="nav-item ">
<a class="nav-link nav-internal" href="install.html">
Installation
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="tutorial.html">
Tutorial
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="concepts.html">
Key Concepts
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="viewer.html">
3D Viewer
</a>
</li>
<li class="nav-item dropdown">
<button class="btn dropdown-toggle nav-item" type="button"
data-bs-toggle="dropdown" aria-expanded="false"
aria-controls="pst-nav-more-links">
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</button>
<ul id="pst-nav-more-links" class="dropdown-menu">
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="features.html">
Feature Extraction and Matching
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="database.html">
Database Format
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="cameras.html">
Camera Models
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="rigs.html">
Rig Support
</a>
</li>
<li class=" current active">
<a class="nav-link dropdown-item nav-internal" href="#" aria-current="page">
Output Format
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="datasets.html">
Datasets
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="gui.html">
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</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="cli.html">
Command-line Interface
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="pycolmap/index.html">
PyCOLMAP
</a>
</li>
<li class=" ">
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Frequently Asked Questions
</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="changelog.html">
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</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="contribution.html">
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</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="license.html">
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</a>
</li>
<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="bibliography.html">
Bibliography
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<li class=" ">
<a class="nav-link dropdown-item nav-internal" href="legacy.html">
Legacy Documentations
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</nav></div>
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<div class="navbar-item navbar-persistent--container">
<button type="button" class="btn search-button-field search-button__button pst-js-only" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
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<span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd class="kbd-shortcut__modifier">K</kbd></span>
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<div class="theme-switch-container dropdown pst-js-only" data-bs-toggle="tooltip" data-bs-placement="bottom" title="Color mode">
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</button>
<ul class="dropdown-menu dropdown-menu-end">
<li><button type="button" class="dropdown-item d-flex align-items-center theme-change-button" data-mode="auto"><i class="fa-solid fa-circle-half-stroke fa-lg fa-fw me-1"></i>System Settings</button></li>
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</ul>
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aria-label="Icon Links">
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<a href="https://github.com/colmap/colmap" title="GitHub" class="nav-link pst-navbar-icon" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><i class="fa-brands fa-github fa-lg" aria-hidden="true"></i><span class="visually-hidden">GitHub</span></a>
</li>
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<a href="https://pypi.org/project/pycolmap/" title="PyPI" class="nav-link pst-navbar-icon" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><i class="fa-brands fa-python fa-lg" aria-hidden="true"></i><span class="visually-hidden">PyPI</span></a>
</li>
<li class="nav-item">
<a href="https://hub.docker.com/r/colmap/colmap" title="Docker Hub" class="nav-link pst-navbar-icon" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><i class="fa-brands fa-docker fa-lg" aria-hidden="true"></i><span class="visually-hidden">Docker Hub</span></a>
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<i class="fa-solid fa-magnifying-glass"></i>
<span class="search-button__default-text">Search</span>
<span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd class="kbd-shortcut__modifier">K</kbd></span>
</button>
</div>
<button type="button" class="pst-navbar-icon sidebar-toggle secondary-toggle" aria-label="On this page">
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</button>
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<div class="bd-container__inner bd-page-width">
<dialog id="pst-primary-sidebar-modal"></dialog>
<div id="pst-primary-sidebar" class="bd-sidebar-primary bd-sidebar">
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<div class="sidebar-header-items__center">
<div class="navbar-item">
<nav>
<ul class="bd-navbar-elements navbar-nav">
<li class="nav-item ">
<a class="nav-link nav-internal" href="install.html">
Installation
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="tutorial.html">
Tutorial
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="concepts.html">
Key Concepts
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="viewer.html">
3D Viewer
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="features.html">
Feature Extraction and Matching
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="database.html">
Database Format
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="cameras.html">
Camera Models
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="rigs.html">
Rig Support
</a>
</li>
<li class="nav-item current active">
<a class="nav-link nav-internal" href="#" aria-current="page">
Output Format
</a>
</li>
<li class="nav-item ">
<a class="nav-link nav-internal" href="datasets.html">
Datasets
</a>
</li>
<li class="nav-item ">
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Graphical User Interface
</a>
</li>
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Command-line Interface
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PyCOLMAP
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<section id="output-format">
<span id="id1"></span><h1>Output Format<a class="headerlink" href="#output-format" title="Link to this heading">#</a></h1>
<section id="binary-file-format">
<h2>Binary File Format<a class="headerlink" href="#binary-file-format" title="Link to this heading">#</a></h2>
<p>Note that all binary data is stored using little endian byte ordering. All x86
processors are little endian and thus no special care has to be taken when
reading COLMAP binary data on most platforms. The data can be most conveniently
parsed using the C++ reconstruction API under <code class="docutils literal notranslate"><span class="pre">src/colmap/scene/reconstruction_io.h</span></code>
or using the Python API provided by pycolmap.</p>
</section>
<section id="indices-and-identifiers">
<h2>Indices and Identifiers<a class="headerlink" href="#indices-and-identifiers" title="Link to this heading">#</a></h2>
<p>Any variable name ending with <code class="docutils literal notranslate"><span class="pre">*_idx</span></code> should be considered as an ordered,
contiguous zero-based index. In general, any variable name ending with <code class="docutils literal notranslate"><span class="pre">*_id</span></code>
should be considered as an unordered, non-contiguous identifier.</p>
<p>For example, the unique identifiers of cameras (<code class="docutils literal notranslate"><span class="pre">CAMERA_ID</span></code>), images
(<code class="docutils literal notranslate"><span class="pre">IMAGE_ID</span></code>), and 3D points (<code class="docutils literal notranslate"><span class="pre">POINT3D_ID</span></code>) are unordered and are most likely not
contiguous. This also means that the maximum <code class="docutils literal notranslate"><span class="pre">POINT3D_ID</span></code> does not necessarily
correspond to the number 3D points, since some <code class="docutils literal notranslate"><span class="pre">POINT3D_ID</span></code>’s are missing due to
filtering during the reconstruction, etc.</p>
</section>
<section id="sparse-reconstruction">
<h2>Sparse Reconstruction<a class="headerlink" href="#sparse-reconstruction" title="Link to this heading">#</a></h2>
<p>By default, COLMAP uses a binary file format (machine-readable, fast) for
storing sparse models. In addition, COLMAP provides the option to store the
sparse models as text files (human-readable, slow). In both cases, the
information is split into multiples files for the information about <code class="docutils literal notranslate"><span class="pre">rigs</span></code>,
<code class="docutils literal notranslate"><span class="pre">cameras</span></code>, <code class="docutils literal notranslate"><span class="pre">frames</span></code>, <code class="docutils literal notranslate"><span class="pre">images</span></code>, and <code class="docutils literal notranslate"><span class="pre">points</span></code>. Any directory containing these
files constitutes a sparse model. The binary files have the file extension
<code class="docutils literal notranslate"><span class="pre">.bin</span></code> and the text files the file extension <code class="docutils literal notranslate"><span class="pre">.txt</span></code>. Note that when loading a
model from a directory which contains both binary and text files, COLMAP prefers
the binary format.</p>
<p>Note that older versions of COLMAP had no rig support and thus the <code class="docutils literal notranslate"><span class="pre">rigs</span></code> and
<code class="docutils literal notranslate"><span class="pre">frames</span></code> files may be missing. The reconstruction I/O routines in COLMAP are
fully backwards compatible in that models without these files can be read and
trivial rigs and frames will be automatically initialized. Furthermore, newer
output reconstructions’ <code class="docutils literal notranslate"><span class="pre">cameras</span></code> and <code class="docutils literal notranslate"><span class="pre">images</span></code> files are fully compatible with
old outputs.</p>
<p>To export the currently selected model in the GUI, choose <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span>
<span class="pre">model</span></code>. To export all reconstructed models in the current dataset, choose
<code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span> <span class="pre">all</span></code>. The selected folder then contains the model files, and
for convenience, the current project configuration for importing the model to
COLMAP. To import the exported models, e.g., for visualization or to resume the
reconstruction, choose <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Import</span> <span class="pre">model</span></code> and select the folder containing
the <code class="docutils literal notranslate"><span class="pre">rigs</span></code>, <code class="docutils literal notranslate"><span class="pre">cameras</span></code>, <code class="docutils literal notranslate"><span class="pre">frames</span></code>, <code class="docutils literal notranslate"><span class="pre">images</span></code>, and <code class="docutils literal notranslate"><span class="pre">points3D</span></code> files.</p>
<p>To convert between the binary and text format in the GUI, you can load the model
using <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Import</span> <span class="pre">model</span></code> and then export the model in the desired output
format using <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span> <span class="pre">model</span></code> (binary) or <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span> <span class="pre">model</span> <span class="pre">as</span> <span class="pre">text</span></code>
(text). In addition, you can export sparse models to other formats, such as
VisualSfM’s NVM, Bundler files, PLY, VRML, etc., using <code class="docutils literal notranslate"><span class="pre">File</span> <span class="pre">></span> <span class="pre">Export</span> <span class="pre">as...</span></code>.
To convert between various formats from the CLI, use the <code class="docutils literal notranslate"><span class="pre">model_converter</span></code>
executable.</p>
<p>The sparse reconstructions can be conveniently read using pycolmap in Python.</p>
<section id="text-format">
<h3>Text Format<a class="headerlink" href="#text-format" title="Link to this heading">#</a></h3>
<p>COLMAP exports the following text files for every reconstructed model:
<code class="docutils literal notranslate"><span class="pre">rigs.txt</span></code>, <code class="docutils literal notranslate"><span class="pre">cameras.txt</span></code>, <code class="docutils literal notranslate"><span class="pre">frames.txt</span></code>, <code class="docutils literal notranslate"><span class="pre">images.txt</span></code>, and <code class="docutils literal notranslate"><span class="pre">points3D.txt</span></code>.
Comments start with a leading “#” character and are ignored. The first comment
lines briefly describe the format of the text files, as described in more
detailed on this page.</p>
<section id="rigs-txt">
<h4>rigs.txt<a class="headerlink" href="#rigs-txt" title="Link to this heading">#</a></h4>
<p>This file contains the configured rigs and sensors, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># Rig calib list with one line of data per calib:</span>
<span class="c1"># RIG_ID, NUM_SENSORS, REF_SENSOR_TYPE, REF_SENSOR_ID, SENSORS[] as (SENSOR_TYPE, SENSOR_ID, HAS_POSE, [QW, QX, QY, QZ, TX, TY, TZ])</span>
<span class="c1"># Number of rigs: 1</span>
<span class="mi">1</span> <span class="mi">2</span> <span class="n">CAMERA</span> <span class="mi">1</span> <span class="n">CAMERA</span> <span class="mi">2</span> <span class="mi">1</span> <span class="o">-</span><span class="mf">0.9999701516465348</span> <span class="o">-</span><span class="mf">0.0011120266840749639</span> <span class="o">-</span><span class="mf">0.0075347911527510894</span> <span class="mf">0.0012985125893421306</span> <span class="o">-</span><span class="mf">0.19316906391350164</span> <span class="mf">0.00085222218993398979</span> <span class="mf">0.0070758955539026785</span>
<span class="mi">2</span> <span class="mi">1</span> <span class="n">CAMERA</span> <span class="mi">3</span>
</pre></div>
</div>
<p>Here, the dataset contains two rigs: the first rig has two cameras and the second
one has 1 camera.</p>
</section>
<section id="cameras-txt">
<h4>cameras.txt<a class="headerlink" href="#cameras-txt" title="Link to this heading">#</a></h4>
<p>This file contains the intrinsic parameters of all reconstructed cameras in the
dataset using one line per camera, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># Camera list with one line of data per camera:</span>
<span class="c1"># CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]</span>
<span class="c1"># Number of cameras: 3</span>
<span class="mi">1</span> <span class="n">SIMPLE_PINHOLE</span> <span class="mi">3072</span> <span class="mi">2304</span> <span class="mf">2559.81</span> <span class="mi">1536</span> <span class="mi">1152</span>
<span class="mi">2</span> <span class="n">PINHOLE</span> <span class="mi">3072</span> <span class="mi">2304</span> <span class="mf">2560.56</span> <span class="mf">2560.56</span> <span class="mi">1536</span> <span class="mi">1152</span>
<span class="mi">3</span> <span class="n">SIMPLE_RADIAL</span> <span class="mi">3072</span> <span class="mi">2304</span> <span class="mf">2559.69</span> <span class="mi">1536</span> <span class="mi">1152</span> <span class="o">-</span><span class="mf">0.0218531</span>
</pre></div>
</div>
<p>Here, the dataset contains 3 cameras based on different distortion models
with the same sensor dimensions (width: 3072, height: 2304). The length of
parameters is variable and depends on the camera model. For the first camera,
there are 3 parameters with a single focal length of 2559.81 pixels and a
principal point at pixel location <code class="docutils literal notranslate"><span class="pre">(1536,</span> <span class="pre">1152)</span></code>. The intrinsic parameters of a
camera can be shared by multiple images, which refer to cameras using the unique
identifier <code class="docutils literal notranslate"><span class="pre">CAMERA_ID</span></code>.</p>
</section>
<section id="frames-txt">
<h4>frames.txt<a class="headerlink" href="#frames-txt" title="Link to this heading">#</a></h4>
<p>This file contains the frames, where a frame defines a specific
instance of a rig with all or a subset of sensors exposed at the same time, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># Frame list with one line of data per frame:</span>
<span class="c1"># FRAME_ID, RIG_ID, RIG_FROM_WORLD[QW, QX, QY, QZ, TX, TY, TZ], NUM_DATA_IDS, DATA_IDS[] as (SENSOR_TYPE, SENSOR_ID, DATA_ID)</span>
<span class="c1"># Number of frames: 151</span>
<span class="mi">1</span> <span class="mi">1</span> <span class="mf">0.99801363919752195</span> <span class="mf">0.040985139360073107</span> <span class="mf">0.041890917712361225</span> <span class="o">-</span><span class="mf">0.023111584553400576</span> <span class="o">-</span><span class="mf">5.2666546897987896</span> <span class="o">-</span><span class="mf">0.17120007823690631</span> <span class="mf">0.12300519697527648</span> <span class="mi">2</span> <span class="n">CAMERA</span> <span class="mi">1</span> <span class="mi">1</span> <span class="n">CAMERA</span> <span class="mi">2</span> <span class="mi">2</span>
<span class="mi">2</span> <span class="mi">2</span> <span class="mf">0.99816472047267968</span> <span class="mf">0.037605501383281774</span> <span class="mf">0.043101511724657163</span> <span class="o">-</span><span class="mf">0.019881568259519072</span> <span class="o">-</span><span class="mf">5.1956060695789192</span> <span class="o">-</span><span class="mf">0.20794508616745555</span> <span class="mf">0.14967533910764824</span> <span class="mi">1</span> <span class="n">CAMERA</span> <span class="mi">3</span> <span class="mi">3</span>
</pre></div>
</div>
<p>Here, the dataset contains two frames, where frame 1 is an instance of rig 1 and
frame 2 an instance of rig 2.</p>
</section>
<section id="images-txt">
<h4>images.txt<a class="headerlink" href="#images-txt" title="Link to this heading">#</a></h4>
<p>This file contains the pose and keypoints of all reconstructed images in the
dataset using two lines per image, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># Image list with two lines of data per image:</span>
<span class="c1"># IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME</span>
<span class="c1"># POINTS2D[] as (X, Y, POINT3D_ID)</span>
<span class="c1"># Number of images: 2, mean observations per image: 2</span>
<span class="mi">1</span> <span class="mf">0.851773</span> <span class="mf">0.0165051</span> <span class="mf">0.503764</span> <span class="o">-</span><span class="mf">0.142941</span> <span class="o">-</span><span class="mf">0.737434</span> <span class="mf">1.02973</span> <span class="mf">3.74354</span> <span class="mi">1</span> <span class="n">P1180141</span><span class="o">.</span><span class="n">JPG</span>
<span class="mf">2362.39</span> <span class="mf">248.498</span> <span class="mi">58396</span> <span class="mf">1784.7</span> <span class="mf">268.254</span> <span class="mi">59027</span> <span class="mf">1784.7</span> <span class="mf">268.254</span> <span class="o">-</span><span class="mi">1</span>
<span class="mi">2</span> <span class="mf">0.851773</span> <span class="mf">0.0165051</span> <span class="mf">0.503764</span> <span class="o">-</span><span class="mf">0.142941</span> <span class="o">-</span><span class="mf">0.737434</span> <span class="mf">1.02973</span> <span class="mf">3.74354</span> <span class="mi">1</span> <span class="n">P1180142</span><span class="o">.</span><span class="n">JPG</span>
<span class="mf">1190.83</span> <span class="mf">663.957</span> <span class="mi">23056</span> <span class="mf">1258.77</span> <span class="mf">640.354</span> <span class="mi">59070</span>
</pre></div>
</div>
<p>Here, the first two lines define the information of the first image, and so on.
The reconstructed pose of an image is specified as the projection from world to
the camera coordinate system of an image using a quaternion <code class="docutils literal notranslate"><span class="pre">(QW,</span> <span class="pre">QX,</span> <span class="pre">QY,</span> <span class="pre">QZ)</span></code>
and a translation vector <code class="docutils literal notranslate"><span class="pre">(TX,</span> <span class="pre">TY,</span> <span class="pre">TZ)</span></code>. The quaternion is defined using the
Hamilton convention, which is, for example, also used by the Eigen library. The
coordinates of the projection/camera center are given by <code class="docutils literal notranslate"><span class="pre">-R^t</span> <span class="pre">*</span> <span class="pre">T</span></code>, where
<code class="docutils literal notranslate"><span class="pre">R^t</span></code> is the inverse/transpose of the 3x3 rotation matrix composed from the
quaternion and <code class="docutils literal notranslate"><span class="pre">T</span></code> is the translation vector. The local camera coordinate
system of an image is defined in a way that the X axis points to the right, the
Y axis to the bottom, and the Z axis to the front as seen from the image.</p>
<p>Both images in the example above use the same camera model and share intrinsics
(<code class="docutils literal notranslate"><span class="pre">CAMERA_ID</span> <span class="pre">=</span> <span class="pre">1</span></code>). The image name is relative to the selected base image folder
of the project. The first image has 3 keypoints and the second image has 2
keypoints, while the location of the keypoints is specified in pixel
coordinates. Both images observe 2 3D points and note that the last keypoint of
the first image does not observe a 3D point in the reconstruction as the 3D
point identifier is -1.</p>
</section>
<section id="points3d-txt">
<h4>points3D.txt<a class="headerlink" href="#points3d-txt" title="Link to this heading">#</a></h4>
<p>This file contains the information of all reconstructed 3D points in the
dataset using one line per point, e.g.:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># 3D point list with one line of data per point:</span>
<span class="c1"># POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)</span>
<span class="c1"># Number of points: 3, mean track length: 3.3334</span>
<span class="mi">63390</span> <span class="mf">1.67241</span> <span class="mf">0.292931</span> <span class="mf">0.609726</span> <span class="mi">115</span> <span class="mi">121</span> <span class="mi">122</span> <span class="mf">1.33927</span> <span class="mi">16</span> <span class="mi">6542</span> <span class="mi">15</span> <span class="mi">7345</span> <span class="mi">6</span> <span class="mi">6714</span> <span class="mi">14</span> <span class="mi">7227</span>
<span class="mi">63376</span> <span class="mf">2.01848</span> <span class="mf">0.108877</span> <span class="o">-</span><span class="mf">0.0260841</span> <span class="mi">102</span> <span class="mi">209</span> <span class="mi">250</span> <span class="mf">1.73449</span> <span class="mi">16</span> <span class="mi">6519</span> <span class="mi">15</span> <span class="mi">7322</span> <span class="mi">14</span> <span class="mi">7212</span> <span class="mi">8</span> <span class="mi">3991</span>
<span class="mi">63371</span> <span class="mf">1.71102</span> <span class="mf">0.28566</span> <span class="mf">0.53475</span> <span class="mi">245</span> <span class="mi">251</span> <span class="mi">249</span> <span class="mf">0.612829</span> <span class="mi">118</span> <span class="mi">4140</span> <span class="mi">117</span> <span class="mi">4473</span>
</pre></div>
</div>
<p>Here, there are three reconstructed 3D points, where <code class="docutils literal notranslate"><span class="pre">POINT2D_IDX</span></code> defines the
zero-based index of the keypoint in the <code class="docutils literal notranslate"><span class="pre">images.txt</span></code> file. The error is given in
pixels of reprojection error and is only updated after global bundle adjustment.</p>
</section>
</section>
</section>
<section id="dense-reconstruction">
<h2>Dense Reconstruction<a class="headerlink" href="#dense-reconstruction" title="Link to this heading">#</a></h2>
<p>COLMAP uses the following workspace folder structure:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>+── images
│ +── image1.jpg
│ +── image2.jpg
│ +── ...
+── sparse
│ +── cameras.txt
│ +── images.txt
│ +── points3D.txt
+── stereo
│ +── consistency_graphs
│ │ +── image1.jpg.photometric.bin
│ │ +── image2.jpg.photometric.bin
│ │ +── ...
│ +── depth_maps
│ │ +── image1.jpg.photometric.bin
│ │ +── image2.jpg.photometric.bin
│ │ +── ...
│ +── normal_maps
│ │ +── image1.jpg.photometric.bin
│ │ +── image2.jpg.photometric.bin
│ │ +── ...
│ +── patch-match.cfg
│ +── fusion.cfg
+── fused.ply
+── meshed-poisson.ply
+── meshed-delaunay.ply
+── textured
│ +── mesh.ply
│ +── texture.png
+── run-colmap-geometric.sh
+── run-colmap-photometric.sh
</pre></div>
</div>
<p>Here, the <code class="docutils literal notranslate"><span class="pre">images</span></code> folder contains the undistorted images, the <code class="docutils literal notranslate"><span class="pre">sparse</span></code> folder
contains the sparse reconstruction with undistorted cameras, the <code class="docutils literal notranslate"><span class="pre">stereo</span></code> folder
contains the stereo reconstruction results, <code class="docutils literal notranslate"><span class="pre">fused.ply</span></code>, <code class="docutils literal notranslate"><span class="pre">meshed-poisson.ply</span></code>,
and <code class="docutils literal notranslate"><span class="pre">meshed-delaunay.ply</span></code> are the results of the fusion and meshing procedure,
the <code class="docutils literal notranslate"><span class="pre">textured</span></code> folder contains the textured mesh (<code class="docutils literal notranslate"><span class="pre">mesh.ply</span></code> with per-face UV
coordinates and <code class="docutils literal notranslate"><span class="pre">texture.png</span></code> with the texture atlas) produced by
<code class="docutils literal notranslate"><span class="pre">mesh_texturer</span></code>, and <code class="docutils literal notranslate"><span class="pre">run-colmap-geometric.sh</span></code> and
<code class="docutils literal notranslate"><span class="pre">run-colmap-photometric.sh</span></code> contain example command-line usage to perform the
dense reconstruction.</p>
<section id="depth-and-normal-maps">
<h3>Depth and Normal Maps<a class="headerlink" href="#depth-and-normal-maps" title="Link to this heading">#</a></h3>
<p>The depth maps are stored as mixed text and binary files. The text header
defines the dimensions of the image in the format <code class="docutils literal notranslate"><span class="pre">width&height&channels&</span></code>
followed by row-major <code class="docutils literal notranslate"><span class="pre">float32</span></code> binary data. For depth maps <code class="docutils literal notranslate"><span class="pre">channels=1</span></code> and
for normal maps <code class="docutils literal notranslate"><span class="pre">channels=3</span></code>. The depth and normal maps can be conveniently
read with Python using pycolmap.</p>
</section>
<section id="consistency-graphs">
<h3>Consistency Graphs<a class="headerlink" href="#consistency-graphs" title="Link to this heading">#</a></h3>
<p>The consistency graph defines, for all pixels in an image, the source images a
pixel is consistent with. The graph is stored as a mixed text and binary file,
while the text part is equivalent to the depth and normal maps and the binary
part is a continuous list of <code class="docutils literal notranslate"><span class="pre">int32</span></code> values in the format
<code class="docutils literal notranslate"><span class="pre"><row><col><N><image_idx1>...<image_idxN></span></code>. Here, <code class="docutils literal notranslate"><span class="pre">(row,</span> <span class="pre">col)</span></code> defines the
location of the pixel in the image followed by a list of <code class="docutils literal notranslate"><span class="pre">N</span></code> image indices.
The indices are specified w.r.t. the ordering in the <code class="docutils literal notranslate"><span class="pre">images.txt</span></code> file.</p>
</section>
</section>
</section>
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