Point Cloud Tools

Pre-built COLMAP and pycolmap binaries with CUDA support for Windows and Linux.

Note: GLOMAP has been merged into COLMAP. Use colmap global_mapper for global Structure-from-Motion.

Downloads

Download the latest release from GitHub Releases.

Available Packages

Package	Description
COLMAP	Structure-from-Motion and Multi-View Stereo (v4.0.2)
pycolmap	Python bindings for COLMAP

Release Variants

Variant	Description	Use Case
CPU	CPU-only build	Systems without NVIDIA GPU
CUDA	GPU-accelerated with CUDA	NVIDIA GPU (CUDA Toolkit not required)
CUDA-cuDSS	CUDA + cuDSS sparse solver	Best performance (2-5x faster sparse solving)
CUDA-GUI	CUDA + Qt GUI	Interactive reconstruction with GPU
CUDA-cuDSS-GUI	CUDA + cuDSS + Qt GUI	Best performance with GUI

Installation

COLMAP

Windows:

# Extract the archive
Expand-Archive COLMAP-windows-latest-CUDA.zip -DestinationPath C:\Tools\COLMAP

# Add to PATH (optional)
$env:PATH = "C:\Tools\COLMAP\bin;$env:PATH"

# Run COLMAP
colmap gui
colmap automatic_reconstructor --workspace_path ./project --image_path ./images

# Global SfM (previously GLOMAP)
colmap global_mapper --database_path ./database.db --image_path ./images --output_path ./sparse

# ALIKED + LightGlue (learned features)
colmap feature_extractor --database_path ./database.db --image_path ./images --FeatureExtraction.type ALIKED_N16ROT
colmap exhaustive_matcher --database_path ./database.db --FeatureMatching.type ALIKED_LIGHTGLUE
colmap mapper --database_path ./database.db --image_path ./images --output_path ./sparse

Linux:

# Extract the archive
unzip COLMAP-ubuntu-22.04-CUDA.zip -d ~/tools/colmap

# Add to PATH (optional)
export PATH="$HOME/tools/colmap/bin:$PATH"

# Run COLMAP
colmap gui
colmap automatic_reconstructor --workspace_path ./project --image_path ./images

# Global SfM (previously GLOMAP)
colmap global_mapper --database_path ./database.db --image_path ./images --output_path ./sparse

# ALIKED + LightGlue (learned features)
colmap feature_extractor --database_path ./database.db --image_path ./images --FeatureExtraction.type ALIKED_N16ROT
colmap exhaustive_matcher --database_path ./database.db --FeatureMatching.type ALIKED_LIGHTGLUE
colmap mapper --database_path ./database.db --image_path ./images --output_path ./sparse

pycolmap (Python Wheels)

Install from wheel file:

# Download the wheel for your Python version (e.g., cp312 = Python 3.12)
pip install pycolmap-4.0.2-cp312-cp312-win_amd64.whl      # Windows
pip install pycolmap-4.0.2-cp312-cp312-linux_x86_64.whl   # Linux

# Verify installation
python -c "import pycolmap; print(pycolmap.__version__)"

Available Python versions: 3.10, 3.11, 3.12, 3.13, 3.14

Usage example:

import pycolmap

database_path = "./database.db"
image_path = "./images"
output_path = "./sparse"

# Extract features and match
pycolmap.extract_features(database_path, image_path)
pycolmap.match_exhaustive(database_path)

# Incremental SfM
maps = pycolmap.incremental_mapping(database_path, image_path, output_path)

# Or Global SfM (GLOMAP)
maps = pycolmap.global_mapping(database_path, image_path, output_path)

ALIKED + LightGlue (learned features):

import pycolmap

database_path = "./database.db"
image_path = "./images"

# Extract ALIKED features
pycolmap.extract_features(database_path, image_path,
    options=pycolmap.FeatureExtractionOptions(
        type=pycolmap.FeatureExtractorType.ALIKED_N16ROT))

# Match with LightGlue
pycolmap.match_exhaustive(database_path)

# Reconstruct
maps = pycolmap.incremental_mapping(database_path, image_path, "./sparse")

Package Size Differences

Linux packages are significantly smaller than Windows packages:

Package	Linux	Windows	Reason
COLMAP CUDA	~45 MB	~1.3 GB	CUDA runtime bundling
pycolmap	~26 MB	~1 GB	CUDA runtime bundling

Why?

• Linux: Dynamically links to system CUDA libraries. Requires CUDA Toolkit installed separately for GPU features.
• Windows: Bundles all CUDA runtime DLLs for self-contained operation. No separate CUDA installation needed.

Linux CUDA Requirements

For GPU acceleration on Linux, install the CUDA Toolkit:

# Ubuntu/Debian
sudo apt-get install nvidia-cuda-toolkit

# Or download from NVIDIA
# https://developer.nvidia.com/cuda-downloads

System Requirements

Minimum

• OS: Windows 10/11 x64 or Ubuntu 22.04+ x64
• RAM: 8 GB (16 GB+ recommended for large datasets)
• Storage: 2 GB for COLMAP

For CUDA builds

• GPU: NVIDIA GPU with Compute Capability 7.5+ (RTX 20 series or newer)
• Driver: NVIDIA driver 570+ (CUDA 12.8)
• CUDA: Not required on Windows (bundled). Required on Linux (CUDA 12.0+)

Supported GPU Architectures

• Turing (RTX 20 series, GTX 16 series) - SM 7.5
• Ampere (RTX 30 series, A100) - SM 8.0, 8.6
• Ada Lovelace (RTX 40 series) - SM 8.9
• Hopper (H100) - SM 9.0
• Blackwell (RTX 50 series) - SM 12.0

Migration from GLOMAP

If you were previously using the standalone GLOMAP binary, simply replace:

# Old (standalone GLOMAP)
glomap mapper --database_path db.db --image_path images --output_path sparse

# New (COLMAP 4.0+)
colmap global_mapper --database_path db.db --image_path images --output_path sparse

CI / Release Workflow

Releases are fully automated via GitHub Actions:

# Create and push a tag — this builds everything and creates a GitHub release
git tag v4.0.2
git push origin v4.0.2

What happens: release.yml triggers → builds 8 COLMAP variants + 25 pycolmap wheels → packages → publishes GitHub release. Build steps auto-retry up to 3 times on transient failures (e.g., vcpkg HTTP 502).

If a job still fails (rare), retry only the failed jobs without restarting everything:

gh run rerun <run-id> --failed

Manual builds (without releasing):

# Trigger from GitHub Actions UI or:
gh workflow run build-colmap.yml
gh workflow run build-pycolmap.yml

Building from Source

See CLAUDE.md for detailed build instructions.

Quick start:

# Windows
.\scripts_windows\build.ps1 -Configuration Release

# Linux
./scripts_linux/build.sh --config Release

License

• COLMAP: BSD-3-Clause
• This build system: MIT

Links

• COLMAP Documentation
• pycolmap Documentation