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<!DOCTYPE html>
<htmllang="en" data-content_root="./" data-theme="auto">
<head>
<metacharset="utf-8" />
<metaname="viewport" content="width=device-width, initial-scale=1.0" /><metaname="viewport" content="width=device-width, initial-scale=1" />
<metaproperty="og:title" content="Output Format" />
<metaproperty="og:type" content="website" />
<metaproperty="og:url" content="https://colmap.github.io/format.html" />
<metaproperty="og:site_name" content="COLMAP" />
<metaproperty="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..." />
<metaproperty="og:image" content="https://colmap.github.io/_static/og-image.png" />
<metaproperty="og:image:alt" content="COLMAP — Structure-from-Motion & Multi-View Stereo" />
<metaname="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..." />
<metaname="twitter:card" content="summary_large_image" />
<title>Output Format — COLMAP</title>
<scriptdata-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 -->
<linkhref="_static/styles/theme.css?digest=90905a2f556bf617f1a9" rel="stylesheet" />
<linkhref="_static/styles/pydata-sphinx-theme.css?digest=90905a2f556bf617f1a9" rel="stylesheet" />
<linkrel="stylesheet" type="text/css" href="_static/pygments.css?v=03e43079" />
<linkrel="stylesheet" type="text/css" href="_static/sphinx-design.min.css?v=95c83b7e" />
<linkrel="stylesheet" type="text/css" href="_static/custom.css?v=f70ce231" />
<linkrel="stylesheet" type="text/css" href="_static/landing.css?v=1fe38c8d" />
<!-- So that users can add custom icons -->
<scriptdefersrc="_static/scripts/fontawesome.js?digest=90905a2f556bf617f1a9"></script>
<!-- Pre-loaded scripts that we'll load fully later -->
<linkrel="preload" as="script" href="_static/scripts/bootstrap.js?digest=90905a2f556bf617f1a9" />
<linkrel="preload" as="script" href="_static/scripts/pydata-sphinx-theme.js?digest=90905a2f556bf617f1a9" />
<scriptsrc="_static/documentation_options.js?v=4f802725"></script>
<scriptsrc="_static/doctools.js?v=fd6eb6e6"></script>
<scriptsrc="_static/sphinx_highlight.js?v=6ffebe34"></script>
<scriptsrc="_static/design-tabs.js?v=f930bc37"></script>
<script>DOCUMENTATION_OPTIONS.pagename='format';</script>
<script>DOCUMENTATION_OPTIONS.search_as_you_type=false;</script>
<scriptsrc="_static/install_selector.js?v=af4a3e9b"></script>
<scriptsrc="_static/external_links.js?v=cd4e6f29"></script>
<linkrel="canonical" href="https://colmap.github.io/format.html" />
<linkrel="icon" href="_static/favicon.svg"/>
<linkrel="index" title="Index" href="genindex.html" />
<linkrel="search" title="Search" href="search.html" />
<linkrel="next" title="Datasets" href="datasets.html" />
<linkrel="prev" title="Rig Support" href="rigs.html" />
<metaname="viewport" content="width=device-width, initial-scale=1"/>
<metaname="docsearch:language" content="en"/>
<metaname="docsearch:version" content="4.2.0.dev0 | 77da2b8 (2026-08-18)" />
<scriptsrc="_static/searchtools.js"></script>
<scriptsrc="_static/language_data.js"></script>
<scriptsrc="searchindex.js"></script>
</head>
<bodydata-default-mode="auto">
<divid="pst-skip-link" class="skip-link d-print-none"><ahref="#main-content">Skip to main content</a></div>
<divid="pst-scroll-pixel-helper"></div>
<buttontype="button" class="btn rounded-pill" id="pst-back-to-top">
<iclass="fa-solid fa-arrow-up"></i>Back to top</button>
<dialogid="pst-search-dialog">
<formclass="bd-search d-flex align-items-center"
action="search.html"
method="get">
<iclass="fa-solid fa-magnifying-glass"></i>
<inputtype="search"
class="form-control"
name="q"
placeholder="Search the docs ..."
aria-label="Search the docs ..."
autocomplete="off"
autocorrect="off"
autocapitalize="off"
spellcheck="false"/>
<spanclass="search-button__kbd-shortcut"><kbdclass="kbd-shortcut__modifier">Ctrl</kbd>+<kbd>K</kbd></span>
</form>
</dialog>
<divclass="pst-async-banner-revealer d-none">
<asideid="bd-header-version-warning" class="d-none d-print-none" aria-label="Version warning"></aside>
</div>
<headerid="pst-header" class="bd-header navbar navbar-expand-lg bd-navbar d-print-none">
<divclass="bd-header__inner bd-page-width">
<buttonclass="pst-navbar-icon sidebar-toggle primary-toggle" aria-label="Site navigation">
<spanclass="fa-solid fa-bars"></span>
</button>
<divclass=" navbar-header-items__start">
<divclass="navbar-item">
<aclass="navbar-brand logo" href="index.html">
<imgsrc="_static/colmap-logo.svg" class="logo__image only-light" alt=""/>
<imgsrc="_static/colmap-logo-dark.svg" class="logo__image only-dark pst-js-only" alt=""/>
<pclass="title logo__title">COLMAP</p>
</a></div>
</div>
<divclass=" navbar-header-items">
<divclass="me-auto navbar-header-items__center">
<divclass="navbar-item">
<nav>
<ulclass="bd-navbar-elements navbar-nav">
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="install.html">
Installation
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="tutorial.html">
Tutorial
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="concepts.html">
Key Concepts
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="viewer.html">
3D Viewer
</a>
</li>
<liclass="nav-item dropdown">
<buttonclass="btn dropdown-toggle nav-item" type="button"
data-bs-toggle="dropdown" aria-expanded="false"
aria-controls="pst-nav-more-links">
More
</button>
<ulid="pst-nav-more-links" class="dropdown-menu">
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="features.html">
Feature Extraction and Matching
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="database.html">
Database Format
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="cameras.html">
Camera Models
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="rigs.html">
Rig Support
</a>
</li>
<liclass=" current active">
<aclass="nav-link dropdown-item nav-internal" href="#">
Output Format
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="datasets.html">
Datasets
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="gui.html">
Graphical User Interface
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="cli.html">
Command-line Interface
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="pycolmap/index.html">
PyCOLMAP
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="faq.html">
Frequently Asked Questions
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="changelog.html">
Changelog
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="contribution.html">
Contribution
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="license.html">
License
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="bibliography.html">
Bibliography
</a>
</li>
<liclass="">
<aclass="nav-link dropdown-item nav-internal" href="legacy.html">
Legacy Documentations
</a>
</li>
</ul>
</li>
</ul>
</nav></div>
</div>
<divclass="navbar-header-items__end">
<divclass="navbar-item navbar-persistent--container">
<buttonclass="btn search-button-field search-button__button pst-js-only" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
<iclass="fa-solid fa-magnifying-glass"></i>
<spanclass="search-button__default-text">Search</span>
<spanclass="search-button__kbd-shortcut"><kbdclass="kbd-shortcut__modifier">Ctrl</kbd>+<kbdclass="kbd-shortcut__modifier">K</kbd></span>
</button>
</div>
<divclass="navbar-item">
<divclass="theme-switch-container dropdown pst-js-only" data-bs-toggle="tooltip" data-bs-placement="bottom" title="Color mode">
<buttonclass="btn btn-sm nav-link pst-navbar-icon theme-switch-button dropdown-toggle" aria-label="Color mode" data-bs-toggle="dropdown">
<iclass="theme-switch fa-solid fa-sun fa-lg fa-fw" data-mode="light" title="Light"></i>
<iclass="theme-switch fa-solid fa-moon fa-lg fa-fw" data-mode="dark" title="Dark"></i>
<iclass="theme-switch fa-solid fa-circle-half-stroke fa-lg fa-fw" data-mode="auto" title="System Settings"></i>
</button>
<ulclass="dropdown-menu dropdown-menu-end">
<li><buttonclass="dropdown-item d-flex align-items-center theme-change-button" data-mode="auto"><iclass="fa-solid fa-circle-half-stroke fa-lg fa-fw me-1"></i>System Settings</button></li>
<li><buttonclass="dropdown-item d-flex align-items-center theme-change-button" data-mode="light"><iclass="fa-solid fa-sun fa-lg fa-fw me-1"></i>Light</button></li>
<li><buttonclass="dropdown-item d-flex align-items-center theme-change-button" data-mode="dark"><iclass="fa-solid fa-moon fa-lg fa-fw me-1"></i>Dark</button></li>
</ul>
</div></div>
<divclass="navbar-item"><ulclass="navbar-icon-links"
aria-label="Icon Links">
<liclass="nav-item">
<ahref="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"><iclass="fa-brands fa-github fa-lg" aria-hidden="true"></i><spanclass="visually-hidden">GitHub</span></a>
</li>
<liclass="nav-item">
<ahref="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"><iclass="fa-brands fa-python fa-lg" aria-hidden="true"></i><spanclass="visually-hidden">PyPI</span></a>
</li>
<liclass="nav-item">
<ahref="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"><iclass="fa-brands fa-docker fa-lg" aria-hidden="true"></i><spanclass="visually-hidden">Docker Hub</span></a>
</li>
</ul></div>
</div>
</div>
<divclass="navbar-persistent--mobile">
<buttonclass="btn search-button-field search-button__button pst-js-only" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
<iclass="fa-solid fa-magnifying-glass"></i>
<spanclass="search-button__default-text">Search</span>
<spanclass="search-button__kbd-shortcut"><kbdclass="kbd-shortcut__modifier">Ctrl</kbd>+<kbdclass="kbd-shortcut__modifier">K</kbd></span>
</button>
</div>
<buttonclass="pst-navbar-icon sidebar-toggle secondary-toggle" aria-label="On this page">
<spanclass="fa-solid fa-outdent"></span>
</button>
</div>
</header>
<divclass="bd-container">
<divclass="bd-container__inner bd-page-width">
<dialogid="pst-primary-sidebar-modal"></dialog>
<divid="pst-primary-sidebar" class="bd-sidebar-primary bd-sidebar">
<divclass="sidebar-header-items sidebar-primary__section">
<divclass="sidebar-header-items__center">
<divclass="navbar-item">
<nav>
<ulclass="bd-navbar-elements navbar-nav">
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="install.html">
Installation
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="tutorial.html">
Tutorial
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="concepts.html">
Key Concepts
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="viewer.html">
3D Viewer
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="features.html">
Feature Extraction and Matching
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="database.html">
Database Format
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="cameras.html">
Camera Models
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="rigs.html">
Rig Support
</a>
</li>
<liclass="nav-item current active">
<aclass="nav-link nav-internal" href="#">
Output Format
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="datasets.html">
Datasets
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="gui.html">
Graphical User Interface
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="cli.html">
Command-line Interface
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="pycolmap/index.html">
PyCOLMAP
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="faq.html">
Frequently Asked Questions
</a>
</li>
<liclass="nav-item ">
<aclass="nav-link nav-internal" href="changelog.html">
Changelog
</a>
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<sectionid="output-format">
<spanid="id1"></span><h1>Output Format<aclass="headerlink" href="#output-format" title="Link to this heading">#</a></h1>
<sectionid="binary-file-format">
<h2>Binary File Format<aclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">src/colmap/scene/reconstruction_io.h</span></code>
or using the Python API provided by pycolmap.</p>
</section>
<sectionid="indices-and-identifiers">
<h2>Indices and Identifiers<aclass="headerlink" href="#indices-and-identifiers" title="Link to this heading">#</a></h2>
<p>Any variable name ending with <codeclass="docutils literal notranslate"><spanclass="pre">*_idx</span></code> should be considered as an ordered,
contiguous zero-based index. In general, any variable name ending with <codeclass="docutils literal notranslate"><spanclass="pre">*_id</span></code>
should be considered as an unordered, non-contiguous identifier.</p>
<p>For example, the unique identifiers of cameras (<codeclass="docutils literal notranslate"><spanclass="pre">CAMERA_ID</span></code>), images
(<codeclass="docutils literal notranslate"><spanclass="pre">IMAGE_ID</span></code>), and 3D points (<codeclass="docutils literal notranslate"><spanclass="pre">POINT3D_ID</span></code>) are unordered and are most likely not
contiguous. This also means that the maximum <codeclass="docutils literal notranslate"><spanclass="pre">POINT3D_ID</span></code> does not necessarily
correspond to the number 3D points, since some <codeclass="docutils literal notranslate"><spanclass="pre">POINT3D_ID</span></code>’s are missing due to
filtering during the reconstruction, etc.</p>
</section>
<sectionid="sparse-reconstruction">
<h2>Sparse Reconstruction<aclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">rigs</span></code>,
<codeclass="docutils literal notranslate"><spanclass="pre">cameras</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">frames</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">images</span></code>, and <codeclass="docutils literal notranslate"><spanclass="pre">points</span></code>. Any directory containing these
files constitutes a sparse model. The binary files have the file extension
<codeclass="docutils literal notranslate"><spanclass="pre">.bin</span></code> and the text files the file extension <codeclass="docutils literal notranslate"><spanclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">rigs</span></code> and
<codeclass="docutils literal notranslate"><spanclass="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’ <codeclass="docutils literal notranslate"><spanclass="pre">cameras</span></code> and <codeclass="docutils literal notranslate"><spanclass="pre">images</span></code> files are fully compatible with
old outputs.</p>
<p>To export the currently selected model in the GUI, choose <codeclass="docutils literal notranslate"><spanclass="pre">File</span><spanclass="pre">></span><spanclass="pre">Export</span>
<spanclass="pre">model</span></code>. To export all reconstructed models in the current dataset, choose
<codeclass="docutils literal notranslate"><spanclass="pre">File</span><spanclass="pre">></span><spanclass="pre">Export</span><spanclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">File</span><spanclass="pre">></span><spanclass="pre">Import</span><spanclass="pre">model</span></code> and select the folder containing
the <codeclass="docutils literal notranslate"><spanclass="pre">rigs</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">cameras</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">frames</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">images</span></code>, and <codeclass="docutils literal notranslate"><spanclass="pre">points3D</span></code> files.</p>
<p>To convert between the binary and text format in the GUI, you can load the model
using <codeclass="docutils literal notranslate"><spanclass="pre">File</span><spanclass="pre">></span><spanclass="pre">Import</span><spanclass="pre">model</span></code> and then export the model in the desired output
format using <codeclass="docutils literal notranslate"><spanclass="pre">File</span><spanclass="pre">></span><spanclass="pre">Export</span><spanclass="pre">model</span></code> (binary) or <codeclass="docutils literal notranslate"><spanclass="pre">File</span><spanclass="pre">></span><spanclass="pre">Export</span><spanclass="pre">model</span><spanclass="pre">as</span><spanclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">File</span><spanclass="pre">></span><spanclass="pre">Export</span><spanclass="pre">as...</span></code>.
To convert between various formats from the CLI, use the <codeclass="docutils literal notranslate"><spanclass="pre">model_converter</span></code>
executable.</p>
<p>There are two source files to conveniently read the sparse reconstructions using
Python (pycolmap) and Matlab (<codeclass="docutils literal notranslate"><spanclass="pre">scripts/matlab/read_model.m</span></code> supporting text).</p>
<sectionid="text-format">
<h3>Text Format<aclass="headerlink" href="#text-format" title="Link to this heading">#</a></h3>
<p>COLMAP exports the following text files for every reconstructed model:
<codeclass="docutils literal notranslate"><spanclass="pre">rigs.txt</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">cameras.txt</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">frames.txt</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">images.txt</span></code>, and <codeclass="docutils literal notranslate"><spanclass="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>
<sectionid="rigs-txt">
<h4>rigs.txt<aclass="headerlink" href="#rigs-txt" title="Link to this heading">#</a></h4>
<p>This file contains the configured rigs and sensors, e.g.:</p>
<divclass="highlight-default notranslate"><divclass="highlight"><pre><span></span><spanclass="c1"># Rig calib list with one line of data per calib:</span>
<spanclass="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>
<spanclass="c1"># Number of rigs: 1</span>
<spanclass="mi">1</span><spanclass="mi">2</span><spanclass="n">CAMERA</span><spanclass="mi">1</span><spanclass="n">CAMERA</span><spanclass="mi">2</span><spanclass="mi">1</span><spanclass="o">-</span><spanclass="mf">0.9999701516465348</span><spanclass="o">-</span><spanclass="mf">0.0011120266840749639</span><spanclass="o">-</span><spanclass="mf">0.0075347911527510894</span><spanclass="mf">0.0012985125893421306</span><spanclass="o">-</span><spanclass="mf">0.19316906391350164</span><spanclass="mf">0.00085222218993398979</span><spanclass="mf">0.0070758955539026785</span>
<spanclass="mi">2</span><spanclass="mi">1</span><spanclass="n">CAMERA</span><spanclass="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>
<sectionid="cameras-txt">
<h4>cameras.txt<aclass="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>
<divclass="highlight-default notranslate"><divclass="highlight"><pre><span></span><spanclass="c1"># Camera list with one line of data per camera:</span>
<spanclass="c1"># CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]</span>
<spanclass="c1"># Number of cameras: 3</span>
<spanclass="mi">1</span><spanclass="n">SIMPLE_PINHOLE</span><spanclass="mi">3072</span><spanclass="mi">2304</span><spanclass="mf">2559.81</span><spanclass="mi">1536</span><spanclass="mi">1152</span>
<spanclass="mi">2</span><spanclass="n">PINHOLE</span><spanclass="mi">3072</span><spanclass="mi">2304</span><spanclass="mf">2560.56</span><spanclass="mf">2560.56</span><spanclass="mi">1536</span><spanclass="mi">1152</span>
<spanclass="mi">3</span><spanclass="n">SIMPLE_RADIAL</span><spanclass="mi">3072</span><spanclass="mi">2304</span><spanclass="mf">2559.69</span><spanclass="mi">1536</span><spanclass="mi">1152</span><spanclass="o">-</span><spanclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">(1536,</span><spanclass="pre">1152)</span></code>. The intrinsic parameters of a
camera can be shared by multiple images, which refer to cameras using the unique
identifier <codeclass="docutils literal notranslate"><spanclass="pre">CAMERA_ID</span></code>.</p>
</section>
<sectionid="frames-txt">
<h4>frames.txt<aclass="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>
<divclass="highlight-default notranslate"><divclass="highlight"><pre><span></span><spanclass="c1"># Frame list with one line of data per frame:</span>
<spanclass="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>
<spanclass="c1"># Number of frames: 151</span>
<spanclass="mi">1</span><spanclass="mi">1</span><spanclass="mf">0.99801363919752195</span><spanclass="mf">0.040985139360073107</span><spanclass="mf">0.041890917712361225</span><spanclass="o">-</span><spanclass="mf">0.023111584553400576</span><spanclass="o">-</span><spanclass="mf">5.2666546897987896</span><spanclass="o">-</span><spanclass="mf">0.17120007823690631</span><spanclass="mf">0.12300519697527648</span><spanclass="mi">2</span><spanclass="n">CAMERA</span><spanclass="mi">1</span><spanclass="mi">1</span><spanclass="n">CAMERA</span><spanclass="mi">2</span><spanclass="mi">2</span>
<spanclass="mi">2</span><spanclass="mi">2</span><spanclass="mf">0.99816472047267968</span><spanclass="mf">0.037605501383281774</span><spanclass="mf">0.043101511724657163</span><spanclass="o">-</span><spanclass="mf">0.019881568259519072</span><spanclass="o">-</span><spanclass="mf">5.1956060695789192</span><spanclass="o">-</span><spanclass="mf">0.20794508616745555</span><spanclass="mf">0.14967533910764824</span><spanclass="mi">1</span><spanclass="n">CAMERA</span><spanclass="mi">3</span><spanclass="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>
<sectionid="images-txt">
<h4>images.txt<aclass="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>
<divclass="highlight-default notranslate"><divclass="highlight"><pre><span></span><spanclass="c1"># Image list with two lines of data per image:</span>
<spanclass="c1"># IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME</span>
<spanclass="c1"># POINTS2D[] as (X, Y, POINT3D_ID)</span>
<spanclass="c1"># Number of images: 2, mean observations per image: 2</span>
<spanclass="mi">1</span><spanclass="mf">0.851773</span><spanclass="mf">0.0165051</span><spanclass="mf">0.503764</span><spanclass="o">-</span><spanclass="mf">0.142941</span><spanclass="o">-</span><spanclass="mf">0.737434</span><spanclass="mf">1.02973</span><spanclass="mf">3.74354</span><spanclass="mi">1</span><spanclass="n">P1180141</span><spanclass="o">.</span><spanclass="n">JPG</span>
<spanclass="mf">2362.39</span><spanclass="mf">248.498</span><spanclass="mi">58396</span><spanclass="mf">1784.7</span><spanclass="mf">268.254</span><spanclass="mi">59027</span><spanclass="mf">1784.7</span><spanclass="mf">268.254</span><spanclass="o">-</span><spanclass="mi">1</span>
<spanclass="mi">2</span><spanclass="mf">0.851773</span><spanclass="mf">0.0165051</span><spanclass="mf">0.503764</span><spanclass="o">-</span><spanclass="mf">0.142941</span><spanclass="o">-</span><spanclass="mf">0.737434</span><spanclass="mf">1.02973</span><spanclass="mf">3.74354</span><spanclass="mi">1</span><spanclass="n">P1180142</span><spanclass="o">.</span><spanclass="n">JPG</span>
<spanclass="mf">1190.83</span><spanclass="mf">663.957</span><spanclass="mi">23056</span><spanclass="mf">1258.77</span><spanclass="mf">640.354</span><spanclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">(QW,</span><spanclass="pre">QX,</span><spanclass="pre">QY,</span><spanclass="pre">QZ)</span></code>
and a translation vector <codeclass="docutils literal notranslate"><spanclass="pre">(TX,</span><spanclass="pre">TY,</span><spanclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">-R^t</span><spanclass="pre">*</span><spanclass="pre">T</span></code>, where
<codeclass="docutils literal notranslate"><spanclass="pre">R^t</span></code> is the inverse/transpose of the 3x3 rotation matrix composed from the
quaternion and <codeclass="docutils literal notranslate"><spanclass="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
(<codeclass="docutils literal notranslate"><spanclass="pre">CAMERA_ID</span><spanclass="pre">=</span><spanclass="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>
<sectionid="points3d-txt">
<h4>points3D.txt<aclass="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>
<divclass="highlight-default notranslate"><divclass="highlight"><pre><span></span><spanclass="c1"># 3D point list with one line of data per point:</span>
<spanclass="c1"># POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)</span>
<spanclass="c1"># Number of points: 3, mean track length: 3.3334</span>
<spanclass="mi">63390</span><spanclass="mf">1.67241</span><spanclass="mf">0.292931</span><spanclass="mf">0.609726</span><spanclass="mi">115</span><spanclass="mi">121</span><spanclass="mi">122</span><spanclass="mf">1.33927</span><spanclass="mi">16</span><spanclass="mi">6542</span><spanclass="mi">15</span><spanclass="mi">7345</span><spanclass="mi">6</span><spanclass="mi">6714</span><spanclass="mi">14</span><spanclass="mi">7227</span>
<spanclass="mi">63376</span><spanclass="mf">2.01848</span><spanclass="mf">0.108877</span><spanclass="o">-</span><spanclass="mf">0.0260841</span><spanclass="mi">102</span><spanclass="mi">209</span><spanclass="mi">250</span><spanclass="mf">1.73449</span><spanclass="mi">16</span><spanclass="mi">6519</span><spanclass="mi">15</span><spanclass="mi">7322</span><spanclass="mi">14</span><spanclass="mi">7212</span><spanclass="mi">8</span><spanclass="mi">3991</span>
<spanclass="mi">63371</span><spanclass="mf">1.71102</span><spanclass="mf">0.28566</span><spanclass="mf">0.53475</span><spanclass="mi">245</span><spanclass="mi">251</span><spanclass="mi">249</span><spanclass="mf">0.612829</span><spanclass="mi">118</span><spanclass="mi">4140</span><spanclass="mi">117</span><spanclass="mi">4473</span>
</pre></div>
</div>
<p>Here, there are three reconstructed 3D points, where <codeclass="docutils literal notranslate"><spanclass="pre">POINT2D_IDX</span></code> defines the
zero-based index of the keypoint in the <codeclass="docutils literal notranslate"><spanclass="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>
<sectionid="dense-reconstruction">
<h2>Dense Reconstruction<aclass="headerlink" href="#dense-reconstruction" title="Link to this heading">#</a></h2>
<p>COLMAP uses the following workspace folder structure:</p>
<divclass="highlight-default notranslate"><divclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">images</span></code> folder contains the undistorted images, the <codeclass="docutils literal notranslate"><spanclass="pre">sparse</span></code> folder
contains the sparse reconstruction with undistorted cameras, the <codeclass="docutils literal notranslate"><spanclass="pre">stereo</span></code> folder
contains the stereo reconstruction results, <codeclass="docutils literal notranslate"><spanclass="pre">fused.ply</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">meshed-poisson.ply</span></code>,
and <codeclass="docutils literal notranslate"><spanclass="pre">meshed-delaunay.ply</span></code> are the results of the fusion and meshing procedure,
the <codeclass="docutils literal notranslate"><spanclass="pre">textured</span></code> folder contains the textured mesh (<codeclass="docutils literal notranslate"><spanclass="pre">mesh.ply</span></code> with per-face UV
coordinates and <codeclass="docutils literal notranslate"><spanclass="pre">texture.png</span></code> with the texture atlas) produced by
<codeclass="docutils literal notranslate"><spanclass="pre">mesh_texturer</span></code>, and <codeclass="docutils literal notranslate"><spanclass="pre">run-colmap-geometric.sh</span></code> and
<codeclass="docutils literal notranslate"><spanclass="pre">run-colmap-photometric.sh</span></code> contain example command-line usage to perform the
dense reconstruction.</p>
<sectionid="depth-and-normal-maps">
<h3>Depth and Normal Maps<aclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">width&height&channels&</span></code>
followed by row-major <codeclass="docutils literal notranslate"><spanclass="pre">float32</span></code> binary data. For depth maps <codeclass="docutils literal notranslate"><spanclass="pre">channels=1</span></code> and
for normal maps <codeclass="docutils literal notranslate"><spanclass="pre">channels=3</span></code>. The depth and normal maps can be conveniently
read with Python using pycolmap and
with Matlab using the functions in <codeclass="docutils literal notranslate"><spanclass="pre">scripts/matlab/read_depth_map.m</span></code> and
<codeclass="docutils literal notranslate"><spanclass="pre">scripts/matlab/read_normal_map.m</span></code>.</p>
</section>
<sectionid="consistency-graphs">
<h3>Consistency Graphs<aclass="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 <codeclass="docutils literal notranslate"><spanclass="pre">int32</span></code> values in the format
<codeclass="docutils literal notranslate"><spanclass="pre"><row><col><N><image_idx1>...<image_idxN></span></code>. Here, <codeclass="docutils literal notranslate"><spanclass="pre">(row,</span><spanclass="pre">col)</span></code> defines the
location of the pixel in the image followed by a list of <codeclass="docutils literal notranslate"><spanclass="pre">N</span></code> image indices.
The indices are specified w.r.t. the ordering in the <codeclass="docutils literal notranslate"><spanclass="pre">images.txt</span></code> file.</p>
</section>
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