3.9

What's Changed

• clang format all code and require clang-format-14 by @ahojnnes in #1785
• Fix compilation for vcpkg windows build by @ahojnnes in #1791
• Increment version number to 3.9 by @ahojnnes in #1794
• Remove unnecessary /arch:sse2 flag for MSVC by @ahojnnes in #1798
• Updated faq.rst by @CGCooke in #1801
• Fixed mistake in code comment for OpenCV Fisheye camera by @CGCooke in #1802
• Replace deprecated cudaThreadSynchronize with cudaDeviceSynchronize by @ahojnnes in #1806
• Replace deprecated Cuda texture references with texture objects by @ahojnnes in #1809
• Remove unused SIFT GPU cuda texture reference by @ahojnnes in #1823
• Upgrade SiftGPU to use CUDA texture objects by @ahojnnes in #1838
• Remove PBA as bundle adjustment backend to support CUDA 12+ by @ahojnnes in #1840
• Replace deprecated CUDA sature function call by @ahojnnes in #1841
• Avoid unnecessary mallocs during sampling by @ahojnnes in #1842
• Cleaned up docker readme and scripts by @ahojnnes in #1852
• add "Shared intrinsics per sub-folder" checkbox to automatic reconstruction window by @kenshi84 in #1853
• Update vcpkg by @ahojnnes in #1925
• Log the name of the file that causes Mat::Read() to checkfail by @SomeAlphabetGuy in #1923
• check Z_index correctly in ReadPly by @countywest in #1896
• Don't re-open files when reading and writing matrices by @SomeAlphabetGuy in #1926
• Update vcpkg to latest commit by @ahojnnes in #1948
• Remove unnecessary custom Eigen aligned allocator macros by @ahojnnes in #1947
• Prefix internal sources/includes with colmap by @ahojnnes in #1949
• Simplify clang-format config and sort includes by @ahojnnes in #1950
• Handle possible overflow in median function by @ahojnnes in #1951
• Run ASan pipeline under Ubuntu 22.04 by @ahojnnes in #1952
• Fix Ceres version test by @drkoller in #1954
• Fix deprecation warning for Qt font metrics width by @ahojnnes in #1958
• Setup clang-tidy and enable perf warnings by @ahojnnes in #1959
• VCPKG binary caching for windows CI by @ahojnnes in #1957
• Cosmetics for VS dev shell script by @ahojnnes in #1965
• Enable clang-tidy concurrency checks by @ahojnnes in #1967
• [Bug] fix finding shared points3D in FindLocalBundle by @wesleyliwei in #1963
• Enable compiler caching in CI by @ahojnnes in #1972
• Set number of features for different quality levels by @ahojnnes in #1975
• Specify parameter name using inline comment by @ahojnnes in #1976
• Fix Windows CCache by @ahojnnes in #1977
• Add e2e tests in CI pipeline using ETH3D datasets by @ahojnnes in #1397
• [feature] print verbose information for model analyzer by @wesleyliwei in #1978
• Add a missing include to compile with gcc13 by @EstebanDugueperoux2 in #1984
• Speed up snapshot construct in RigBundleAdjuster by @wesleyliwei in #1988
• Update outdated docker cuda image tag by @ahojnnes in #1992
• Add boulders ETH3D dataset to CI E2E tests by @ahojnnes in #1991
• Update executable paths in documentation by @ahojnnes in #1993
• Avoid unnecessary copy in ExtractTopScaleFeatures by @ahojnnes in #1994
• Move related code under new image library folder by @ahojnnes in #1995
• Move related code under new camera folder by @ahojnnes in #1996
• Added a virtual destructor to Sampler by @SomeAlphabetGuy in #2000
• Add a few more clang-tidy checks by @ahojnnes in #2001
• Move related code to new geometry module by @ahojnnes in #2006
• Use #pragma once as include guard by @ahojnnes in #2007
• Add bugprone-* clang-tidy checks by @ahojnnes in #2010
• Avoid const params in declarations by @ahojnnes in #2011
• Set and require C++14 by @ahojnnes in #2012
• Cleanup math functions that are now part of eigen/stdlib by @ahojnnes in #2013
• Add clang-analyzer checks by @ahojnnes in #2014
• Replace CMake provided find_package scripts and modern CMake targets by @ahojnnes in #2016
• Switch from Boost unit tests to Gtest by @ahojnnes in #2017
• Fix ccache restore keys in pipeline caching by @ahojnnes in #2018
• Add missing cacheHitVar to fix ccache by @ahojnnes in #2020
• Add missing Boost::graph import by @sarlinpe in #2021
• Compressed/flattened correspondence graph for faster triangulation / less memory by @ahojnnes in #2019
• Fix window ccache key by @ahojnnes in #2024
• Consistently use shared_ptr for shared pointers for SFM objects by @ahojnnes in #2023
• Remove check on Qt version by @sarlinpe in #2022
• Synthetics for E2E incremental mapper tests by @ahojnnes in #2025
• New math module by @ahojnnes in #2028
• Simplify similarity transform and more tests by @ahojnnes in #2030
• Extract reconstruction alignment functions into new file by @ahojnnes in #2032
• Add E2E hierarchical mapper tests by @ahojnnes in #2033
• Rename SimilarityTransform3 to Sim3d by @ahojnnes in #2034
• Add Rigid3d transform class by @ahojnnes in #2035
• Consolidate and simplify Rigid3d and Sim3d by @ahojnnes in #2037
• Some small improvements/cleanup for rigid3d/sim3d usage by @ahojnnes in #2041
• CamFromWorld replaces qvec/tvec by @ahojnnes in #2039
• Retry download of ETH3D datasets by @ahojnnes in #2043
• WorldToImage becomes CamToImg by @ahojnnes in #2044
• Camera models operate on camera rays by @ahojnnes in #2045
• Ignore directory .vs by @whuaegeanse in #2046
• Use the reference of Rigid3d to reduce memory consumption by @whuaegeanse in #2047
• Inline point to image projection by @ahojnnes in #2050
• Point2D becomes simpler pure data struct by @ahojnnes in #2051
• Use Eigen math for estimator utils by @ahojnnes in #2052
• Move cost functions under geometry module and rename by @ahojnnes in #2053
• Bundle adjuster is an estimator by @ahojnnes in #2054
• Remaining base targets move to new scene module by @ahojnnes in #2055
• Vote and verify improvements/speedup by @ahojnnes in #2056
• Generate version info in .cc file to reduce number of recompilations by @ahojnnes in #2057
• Option manager moves to controllers to disentangle circular deps by @ahojnnes in #2058
• Granular CMake modules and build targets by @ahojnnes in #2059
• Fix docker build by @ahojnnes in #2069
• Remove warnings about duplicated marco NOMINMAX by @whuaegeanse in #2067
• lib folder becomes thirdparty folder by @ahojnnes in #2068
• Remove unnecessary checks in image pair conversion by @ahojnnes in #2074
• Replace flaky ETH3D terrace with courtyard dataset by @ahojnnes in #2075
• Synthesize chained match graph for more mapper tests by @ahojnnes in #2076
• Introduce abstract feature extractor by @ahojnnes in #2077
• Avoid unnecessary data copies in feature conversion utils by @ahojnnes in #2078
• Abstract feature matcher by @ahojnnes in #2082
• Encapsulate feature matching controller/worker implementations by @ahojnnes in #2085
• Some cosmetics for util/feature types by @ahojnnes in #2084
• Use std:: when cmath included by @whuaegeanse in #2081
• Encapsulate feature extraction controller/worker implementations by @ahojnnes in #2086
• Reenable VS2022 CI pipeline by @ahojnnes in #1689
• Consistent transform convention for CenterAndNormalizeImagePoints by @ahojnnes in #2092
• Retire Mac 11 CI build by @ahojnnes in #2094
• Add ReprojErrorConstantPoint3DCostFunction to speed up the RefineAbsolutePose function by @whuaegeanse in #2089
• Numeric differentiation of camera model using partial piv LU by @ahojnnes in #2100
• cmake: add testing.cc to colmap_util only if TESTS_ENABLED=ON by @NeroBurner in #2102
• Set CUDA_STANDARD to 14 by @ahojnnes in #2108
• Transform back to existing images positions after mapper processing if set fixed by @ferreram in #2095
• Update documentation with new branch policy by @ahojnnes in #2110
• Update CMake find dependencies for vcpkg by @ahojnnes in #2116
• Decouple SIFT match from two view geometry options by @ahojnnes in #2118
• Fix docker build by @vnmsklnk in #2122
• Trigger build pipeline on main branch by @ahojnnes in #2123
• Update Linux install documentation with new branch policy by @joshuaoreilly in #2126
• Fix link in camera model documentation by @CFretter in #2152
• [Bugfix] Fix GUI_ENABLED=OFF and skip SiftGPU if no GUI and no CUDA by @sarlinpe in #2151
• [Bugfix] Properly handle CGAL_ENABLED by @sarlinpe in #2149
• Refinement of intrinsics in the point_triangulator by @tsattler in #2144
• Bugfix in handling COLMAP_GPU_ENABLED by @sarlinpe in #2163
• Expose exe as libs by @sarlinpe in #2165
• Add Sim3d::FromMatrix by @sarlinpe in #2147
• Check code format in CI by @ahojnnes in #2171
• Clean up dependencies by @sarlinpe in #2173
• Move tests into anonymous namespaces by @ahojnnes in #2175
• Fix glew/qopengl conflict warning by @ahojnnes in #2176
• Update documentation with new link to GitHub discussions by @ahojnnes in #2177
• Restore GLEW include by @sarlinpe in #2178
• Align reconstructions via shared 3D points by @sarlinpe in #2169
• Add clang-tidy-cachein CI by @ahojnnes in #2182
• Disable GUI build in one CI config by @ahojnnes in #2181
• Show verbose ccache stats by @ahojnnes in #2183
• Add EstimateGeneralizedAbsolutePose by @sarlinpe in #2174
• Fix bug in ReconstructionManagerWidget::Update by @whuaegeanse in #2186
• Fix missing retrieval dependency by @ahojnnes in #2189
• Removing clustering_options_ and mapper_options_ in Hierarchical Mapper Controller by @Serenitysmk in #2193
• Publish docker image to docker hub by @ahojnnes in #2195
• Fix Cuda architecture in docker build by @ahojnnes in #2196
• Fix all-major cuda arch missing in CMake < 3.23 by @ahojnnes in #2197
• Update triangulation.cc by @RayShark0605 in #2205
• Update author and acknowledgements by @ahojnnes in #2207
• Code formatting for Python by @ahojnnes in #2208
• Retire outdated build script by @ahojnnes in #2217
• Remove mention of deprecated build script by @sarlinpe in #2220
• Improve word spelling by @zchrissirhcz in #2235
• Stack allocate camera param idx arrays by @ahojnnes in #2234
• fix: typo in colmap/src/colmap/ui/project_widget.cc by @varundhand in #2241
• Update reconstruction.cc by @RayShark0605 in #2238
• Update to Docker CUDA 12.2.2 by @ahojnnes in #2244
• Stop setting C++ standard flags manually by @AdrianBunk in #2251
• Setting clear_points to true per default in point_triangulator by @tsattler in #2252
• Update cameras.rst to fix link to code by @tsattler in #2246
• Fix matching of imported features without descriptors by @ahojnnes in #2269
• Consistent versioning between documentation and code by @ahojnnes in #2275
• Reduce mallocs for RANSAC estimator models by @ahojnnes in #2283
• Migrate to glog logging by @ahojnnes in #2172
• Turn Point3D into simple data struct by @ahojnnes in #2285
• Camera becomes simple data struct by @ahojnnes in #2286
• Recover custom Eigen std::vector allocator for Eigen <3.4 support by @ahojnnes in #2293
• Replace result_of with invoke_result_t by @sarlinpe in #2300
• Allow getters FocalLength{X,Y} for isotropic models by @sarlinpe in #2301
• Add missing Boost targets and cleanup includes by @sarlinpe in #2304
• Expose IncrementalMapperOptions::{mapper,triangulation} by @sarlinpe in #2308
• Update install instructions for Mac by @Dawars in #2310
• Remove unused ceres reference in doc by @ahojnnes in #2315
• Fix typo by @whuaegeanse in #2317
• Stable version 3.9 release by @ahojnnes in #2319

New Contributors

• @CGCooke made their first contribution in #1801
• @kenshi84 made their first contribution in #1853
• @countywest made their first contribution in #1896
• @EstebanDugueperoux2 made their first contribution in #1984
• @NeroBurner made their first contribution in #2102
• @vnmsklnk made their first contribution in #2122
• @joshuaoreilly made their first contribution in #2126
• @CFretter made their first contribution in #2152
• @RayShark0605 made their first contribution in #2205
• @zchrissirhcz made their first contribution in #2235
• @varundhand made their first contribution in #2241
• @AdrianBunk made their first contribution in #2251
• @Dawars made their first contribution in #2310

Full Changelog: 3.8...3.9