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<!DOCTYPE html>
<html lang="en" data-content_root="./" data-theme="auto">
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<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="Changelog" />
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<meta property="og:description" content="COLMAP 4.1.1 (07/17/2026): Improvements: Load the mapper database lazily instead of at GUI startup, avoiding a redundant database read when opening the GUI or a project., Tint UI icons to the palet..." />
<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="COLMAP 4.1.1 (07/17/2026): Improvements: Load the mapper database lazily instead of at GUI startup, avoiding a redundant database read when opening the GUI or a project., Tint UI icons to the palet..." />
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<title>Changelog — COLMAP</title>
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<section id="changelog">
<span id="id1"></span><h1>Changelog<a class="headerlink" href="#changelog" title="Link to this heading">#</a></h1>
<section id="colmap-4-1-1-07-17-2026">
<h2>COLMAP 4.1.1 (07/17/2026)<a class="headerlink" href="#colmap-4-1-1-07-17-2026" title="Link to this heading">#</a></h2>
<section id="improvements">
<h3>Improvements<a class="headerlink" href="#improvements" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Load the mapper database lazily instead of at GUI startup, avoiding a
redundant database read when opening the GUI or a project.</p></li>
<li><p>Tint UI icons to the palette for improved dark theme legibility.</p></li>
<li><p>Show image/point viewer metadata when the source images are missing on disk.</p></li>
<li><p>Fail the Caspar build early with a clear error on CUDA architectures below 7.0.</p></li>
</ul>
</section>
<section id="bug-fixes">
<h3>Bug Fixes<a class="headerlink" href="#bug-fixes" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Fix feature matching slowdown (~4-6x) caused by a process-global OpenMP
critical section in <code class="docutils literal notranslate"><span class="pre">RANSAC</span></code>/<code class="docutils literal notranslate"><span class="pre">LORANSAC</span></code>.</p></li>
<li><p>Fix rescaling of already-undistorted images when <code class="docutils literal notranslate"><span class="pre">max_image_size</span></code> is
provided.</p></li>
<li><p>Fix missing SVG icons in the distributed Windows binaries.</p></li>
<li><p>Fix Caspar CUDA build with MSVC forced includes.</p></li>
<li><p>Fix glog color support version detection.</p></li>
<li><p>Fix typos in a user-facing help string and the FAQ.</p></li>
</ul>
</section>
<section id="breaking-changes">
<h3>Breaking Changes<a class="headerlink" href="#breaking-changes" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Renamed the misspelled pycolmap enum <code class="docutils literal notranslate"><span class="pre">GPSTransfromEllipsoid</span></code> to
<code class="docutils literal notranslate"><span class="pre">GPSTransformEllipsoid</span></code>. The old name has been removed without a
backwards-compatible alias; update any references accordingly.</p></li>
</ul>
</section>
</section>
<section id="colmap-4-1-0-06-26-2026">
<h2>COLMAP 4.1.0 (06/26/2026)<a class="headerlink" href="#colmap-4-1-0-06-26-2026" title="Link to this heading">#</a></h2>
<section id="new-features">
<h3>New Features<a class="headerlink" href="#new-features" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Added Caspar, a GPU-accelerated bundle adjustment backend, selectable as an
alternative to the default Ceres solver. Includes rig support, GPU device
selection, and pycolmap bindings for choosing the bundle adjustment and mapper
backends. Caspar is often 1-2 orders of magnitude faster than the Ceres CUDA
backend for medium- to large-scale problems, leading to drastic speedups
especially for the incremental mapper.</p></li>
<li><p>Added the spherical (equirectangular) camera models. This enables native
reconstruction of 360 panoramic images and is generally faster but less
accurate than rendering perspective views, as performed in the
<code class="docutils literal notranslate"><span class="pre">panorama_sfm</span></code> example.</p></li>
<li><p>Extended the <code class="docutils literal notranslate"><span class="pre">panorama_sfm</span></code> example to now convert perspective cameras
back to equirectangular and added global mapping support.</p></li>
<li><p>Added Enhanced Unified Camera Model (EUCM).</p></li>
<li><p>Added advancing-front surface reconstruction meshing.</p></li>
<li><p>Added support for extracting gravity pose priors from EXIF orientation tags.</p></li>
<li><p>Added <code class="docutils literal notranslate"><span class="pre">CamRayFromImg</span></code> bearing-vector unprojection interface and bindings.</p></li>
<li><p>Estimate separate <code class="docutils literal notranslate"><span class="pre">fx</span></code>/<code class="docutils literal notranslate"><span class="pre">fy</span></code> in the p4pf solver for two-focal camera models.</p></li>
<li><p>Added a new <code class="docutils literal notranslate"><span class="pre">version</span></code> CLI command to print the COLMAP version.</p></li>
<li><p>Added <code class="docutils literal notranslate"><span class="pre">MVS_ENABLED</span></code> build option to compile without the MVS module.</p></li>
<li><p>Added <code class="docutils literal notranslate"><span class="pre">GlobalMapper.keep_max_num_tracks</span></code> option to bound the number of
established tracks.</p></li>
<li><p>Added rotation averaging options to the GlobalMapper configuration.</p></li>
<li><p>Added pycolmap bindings for <code class="docutils literal notranslate"><span class="pre">ReprojectionErrorType</span></code> and
additional point filter methods.</p></li>
<li><p>Added support for showing camera up vector in the viewer.</p></li>
<li><p>Replaced the GUI icons with Material Symbols (Apache 2.0).</p></li>
<li><p>Added keyboard shortcuts for model import/export in the GUI.</p></li>
</ul>
</section>
<section id="id2">
<h3>Improvements<a class="headerlink" href="#id2" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Accelerated the exhaustive matcher by using <code class="docutils literal notranslate"><span class="pre">IndexIVFScalarQuantizer</span></code>
instead of <code class="docutils literal notranslate"><span class="pre">IndexIVFFlat</span></code>.</p></li>
<li><p>Accelerated extraction of colors through parallelization across all images.</p></li>
<li><p>Accelerated incremental triangulator through reused BFS allocations and
simplified <code class="docutils literal notranslate"><span class="pre">merge_trials_</span></code>.</p></li>
<li><p>Added and updated sensor specs to the camera database.</p></li>
<li><p>Avoided a forced copy in <code class="docutils literal notranslate"><span class="pre">mvs::Image::SetBitmap</span></code>.</p></li>
<li><p>Support incremental <code class="docutils literal notranslate"><span class="pre">CorrespondenceGraph</span></code> and <code class="docutils literal notranslate"><span class="pre">ObservationManager</span></code>
construction, decoupling <code class="docutils literal notranslate"><span class="pre">reg_stats</span></code> from <code class="docutils literal notranslate"><span class="pre">ObservationManager</span></code>.</p></li>
<li><p>Return <code class="docutils literal notranslate"><span class="pre">std::optional</span></code> from <code class="docutils literal notranslate"><span class="pre">Bitmap::GetPixel</span></code>/<code class="docutils literal notranslate"><span class="pre">Interpolate*</span></code>.</p></li>
<li><p>Refit missing E/F/H in <code class="docutils literal notranslate"><span class="pre">MaybeDecomposeRelativePoses</span></code> for old databases.</p></li>
<li><p>Inherit all bundle adjustment options in the global mapper.</p></li>
<li><p>Guard against frame mutation after reconstruction insertion via
<code class="docutils literal notranslate"><span class="pre">FinalizeDataIds()</span></code>.</p></li>
<li><p>Move semantics for <code class="docutils literal notranslate"><span class="pre">SetPoints2D</span></code> (take <code class="docutils literal notranslate"><span class="pre">Point2D</span></code> vector by value).</p></li>
<li><p>Conditional initialization of Google logging.</p></li>
<li><p>Numerous benchmarking improvements: live progress display, <code class="docutils literal notranslate"><span class="pre">--fast</span></code> mode,
better parallelism and per-step logging, per-dataset/overall summary rows,
GT-covisibility-based filtering, and dynamic scheduling.</p></li>
<li><p>Added compiler warning flags and a <code class="docutils literal notranslate"><span class="pre">WERROR</span></code> option to the pycolmap build.</p></li>
<li><p>Robustified gravity-aligned rotation averaging against 180deg flips.</p></li>
<li><p>Clipping extreme pixels in fisheye undistortion.</p></li>
<li><p>Various tutorial and docstring improvements.</p></li>
<li><p>For other minor improvements, see the full list of changes below.</p></li>
</ul>
</section>
<section id="id3">
<h3>Bug Fixes<a class="headerlink" href="#id3" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Fix sequential matching hang with loop detection verification.</p></li>
<li><p>Fix SiftGPU device selection to include device 0.</p></li>
<li><p>Fix vocab tree selection in the UI.</p></li>
<li><p>Fix broken integration of SIFT features with the LightGlue matcher.</p></li>
<li><p>Fix <code class="docutils literal notranslate"><span class="pre">global_mapper</span></code> <code class="docutils literal notranslate"><span class="pre">point3D.error</span></code> units for <code class="docutils literal notranslate"><span class="pre">model_analyzer</span></code>.</p></li>
<li><p>Fix <code class="docutils literal notranslate"><span class="pre">PoissonRecon</span></code> <code class="docutils literal notranslate"><span class="pre">num_threads</span></code> handling and undefined behavior.</p></li>
<li><p>Fix <code class="docutils literal notranslate"><span class="pre">pycolmap.Database()</span></code> abort on garbage collection.</p></li>
<li><p>Fix Windows Unicode path handling in <code class="docutils literal notranslate"><span class="pre">Bitmap::Read</span></code>/<code class="docutils literal notranslate"><span class="pre">Bitmap::Write</span></code>.</p></li>
<li><p>Fix NaN failures in rotation averaging from non-PD Cholesky.</p></li>
<li><p>Fix rotation averaging crash with multi-image rigs.</p></li>
<li><p>Fix missing rig pose manifold in <code class="docutils literal notranslate"><span class="pre">RefineGeneralizedAbsolutePose</span></code> and only
set the manifold when residuals exist.</p></li>
<li><p>Fix applying <code class="docutils literal notranslate"><span class="pre">refine_sensor_from_rig</span></code> to all stages of the global mapper.</p></li>
<li><p>Fix <code class="docutils literal notranslate"><span class="pre">mesh_texturer</span></code> occlusion check edge case.</p></li>
<li><p>Fix SIGABRT in <code class="docutils literal notranslate"><span class="pre">RegisterNextStructureLessImage</span></code> when <code class="docutils literal notranslate"><span class="pre">NumRegImages</span> <span class="pre"><</span> <span class="pre">2</span></code>.</p></li>
<li><p>Fix thread pool worker processes crashing on shutdown.</p></li>
<li><p>Fix onnxruntime DLL copy error in <code class="docutils literal notranslate"><span class="pre">Findonnxruntime.cmake</span></code>.</p></li>
<li><p>Change <code class="docutils literal notranslate"><span class="pre">std::filesystem::relative</span></code> to <code class="docutils literal notranslate"><span class="pre">lexically_relative</span></code> for
<code class="docutils literal notranslate"><span class="pre">NormalizePath</span></code>.</p></li>
<li><p>Fix crash in <code class="docutils literal notranslate"><span class="pre">AdjustGlobalBundle</span></code> after aggressive frame filtering.</p></li>
<li><p>Fix stale <code class="docutils literal notranslate"><span class="pre">reg_stats</span></code>/observation stats and add underflow guards in mapper
bookkeeping, and clear <code class="docutils literal notranslate"><span class="pre">num_reg_images</span></code>.</p></li>
<li><p>Fix empty PatchMatch results on Blackwell GPUs (sm_100+).</p></li>
<li><p>Fix locale-dependent float parsing/formatting.</p></li>
<li><p>Fix thread oversubscription in the hierarchical mapper.</p></li>
<li><p>Fix mask usage log never printing in the feature writer thread.</p></li>
<li><p>Fix <code class="docutils literal notranslate"><span class="pre">pyceres</span></code> <code class="docutils literal notranslate"><span class="pre">.problem</span></code> attribute on <code class="docutils literal notranslate"><span class="pre">CeresBundleAdjuster</span></code> factory.</p></li>
<li><p>Fix conditional Eigen alignment for the 3.4.0 pre-release version.</p></li>
<li><p>Fix optional access in guided matching.</p></li>
<li><p>Fix reading of dynamic matrices in the SQLite database.</p></li>
<li><p>Fix using the ALIKED feature extractor with pycolmap and ALIKED <code class="docutils literal notranslate"><span class="pre">min_score</span></code>
keypoint filtering.</p></li>
<li><p>Fix various pycolmap and PoissonRecon installation/build issues.</p></li>
<li><p>Fix missing mesh simplification reset and duplicate sources.</p></li>
<li><p>Add destructor to <code class="docutils literal notranslate"><span class="pre">ModelViewerWidget</span></code> to call <code class="docutils literal notranslate"><span class="pre">makeCurrent()</span></code>.</p></li>
<li><p>Fix checks in the <code class="docutils literal notranslate"><span class="pre">GpuMat</span></code> constructor.</p></li>
<li><p>Add missing LightGlue matcher type to the GUI.</p></li>
<li><p>Log an error instead of crashing on unknown EXIF orientation.</p></li>
</ul>
</section>
</section>
<section id="colmap-4-0-4-04-27-2026">
<h2>COLMAP 4.0.4 (04/27/2026)<a class="headerlink" href="#colmap-4-0-4-04-27-2026" title="Link to this heading">#</a></h2>
<section id="id4">
<h3>Bug Fixes<a class="headerlink" href="#id4" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Log an error instead of crash on unknown EXIF orientation</p></li>
<li><p>Fix crash in AdjustGlobalBundle after aggressive frame filtering</p></li>
<li><p>Change std::filesystem::relative to lexically_relative for NormalizePath</p></li>
<li><p>Fix onnxruntime DLL copy error under Windows in Findonnxruntime.cmake</p></li>
</ul>
</section>
</section>
<section id="colmap-4-0-3-04-06-2026">
<h2>COLMAP 4.0.3 (04/06/2026)<a class="headerlink" href="#colmap-4-0-3-04-06-2026" title="Link to this heading">#</a></h2>
<section id="id5">
<h3>Bug Fixes<a class="headerlink" href="#id5" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Fix various issues in incremental mapper’s reg_stats bookkeeping</p></li>
<li><p>Fix reading of dynamic matrices in SQLite3 database</p></li>
<li><p>Fix optional access in guided matching</p></li>
<li><p>Fix conditional Eigen alignment for 3.4.0 pre-release version</p></li>
<li><p>Fix ceres::GradientChecker constructor for older Ceres versions</p></li>
<li><p>Fix for pycolmap installation related to ONNX</p></li>
<li><p>Fix bug where num_reg_images was not cleared</p></li>
<li><p>Fix mask usage log never printing in feature writer thread</p></li>
<li><p>Fix undefined behavior in PoissonRecon</p></li>
<li><p>Fix locale-dependent float parsing/formatting</p></li>
<li><p>Fix empty PatchMatch results on Blackwell GPUs (sm_100+)</p></li>
<li><p>Fix pyceres .problem attribute on CeresBundleAdjuster returned by factory functions</p></li>
<li><p>Fix missing rotation averaging options to global mapper</p></li>
<li><p>Fix piping of bundle adjustment options in global mapper</p></li>
</ul>
</section>
<section id="id6">
<h3>Improvements<a class="headerlink" href="#id6" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Handle CHOLMOD includes not being in a subdirectory</p></li>
<li><p>Use non-deprecated SQLite3::SQLite3 CMake target</p></li>
<li><p>Reduce thread oversubscription in hierarchical mapper</p></li>
</ul>
</section>
</section>
<section id="colmap-4-0-2-03-18-2026">
<h2>COLMAP 4.0.2 (03/18/2026)<a class="headerlink" href="#colmap-4-0-2-03-18-2026" title="Link to this heading">#</a></h2>
<section id="id7">
<h3>Bug Fixes<a class="headerlink" href="#id7" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Fix ALIKED keypoint score filtering</p></li>
<li><p>Fix ALIKED extraction with pycolmap</p></li>
<li><p>Fix missing reset of mesh simplification options</p></li>
</ul>
</section>
</section>
<section id="colmap-4-0-1-03-15-2026">
<h2>COLMAP 4.0.1 (03/15/2026)<a class="headerlink" href="#colmap-4-0-1-03-15-2026" title="Link to this heading">#</a></h2>
<section id="id8">
<h3>Bug Fixes<a class="headerlink" href="#id8" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Add missing LightGlue matcher type to GUI</p></li>
<li><p>Fix checks in GpuMat constructor</p></li>
<li><p>Add destructor to ModelViewerWidget to call makeCurrent()</p></li>
</ul>
</section>
</section>
<section id="colmap-4-0-0-03-14-2026">
<h2>COLMAP 4.0.0 (03/14/2026)<a class="headerlink" href="#colmap-4-0-0-03-14-2026" title="Link to this heading">#</a></h2>
<section id="id9">
<h3>New Features<a class="headerlink" href="#id9" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Integrated GLOMAP global SfM pipeline into COLMAP as a first-class alternative
to the incremental/hierarchical mappers, available via the <code class="docutils literal notranslate"><span class="pre">global_mapper</span></code> and
<code class="docutils literal notranslate"><span class="pre">automatic_reconstructor</span> <span class="pre">--mapper</span> <span class="pre">GLOBAL</span></code> commands. Many fixes and improvements
have been applied to the GLOMAP codebase as part of this migration.
GLOMAP is maintained through the COLMAP repository going forward.
The global pipeline uses view graph calibration to estimate
intrinsics from two-view geometries, which may produce different camera
parameters compared to the incremental pipeline’s self-calibration.</p></li>
<li><p>Added ALIKED (N16Rot/N32) feature extraction through ONNX support. Support for brute-force
and LightGlue matching as well as scalable matching with pre-trained vocabulary trees.</p></li>
<li><p>Added LightGlue ONNX feature matching for SIFT and ALIKED.</p></li>
<li><p>Added Python bindings for feature extractor and matcher.</p></li>
<li><p>Added support for reading image orientation from EXIF and auto-rotating images
during feature extraction/matching for better robustness against rotational viewpoint changes.</p></li>
<li><p>Added structure-less image registration fallback using generalized
relative pose estimator for registering images without 3-view overlap.</p></li>
<li><p>Added division camera models (SIMPLE_DIVISION, DIVISION).</p></li>
<li><p>Added fisheye camera model without distortion parameters (FISHEYE).</p></li>
<li><p>Improved Ceres bundle adjustment performance by ~10% through single pose parameter block.</p></li>
<li><p>Improved Ceres bundle adjustment performance by ~15% for SIMPLE_RADIAL camera model
and trivial frames through analytical Jacobians.</p></li>
<li><p>Added abstract general bundle adjuster and solver summary in preparation for
supporting different optimization backends.</p></li>
<li><p>Replaced FreeImage with OpenImageIO for ~2.5x faster image I/O, support for more
image formats, and using an actively maintained dependency with security fixes, etc.</p></li>
<li><p>Added guided geometric verification using a known reconstruction.</p></li>
<li><p>Added view graph calibration as a new module.</p></li>
<li><p>Added model clustering to partition large reconstructions into
smaller, manageable sub-models based on scene connectivity.</p></li>
<li><p>Added mesh simplification using Quadric Error Metric (QEM) decimation.</p></li>
<li><p>Added mesh texture mapping for producing textured meshes from calibrated images.</p></li>
<li><p>Added option to specify JPEG quality during image undistortion.</p></li>
<li><p>Added support for loading bitmaps with alpha channel.</p></li>
<li><p>Added option to control refinement of 3D points in bundle adjuster.</p></li>
<li><p>Added optional support for position prior in absolute pose refinement.</p></li>
<li><p>Added supernodal CHOLMOD L1 solver support.</p></li>
<li><p>Added multi-threading support for (LO)RANSAC loop.</p></li>
<li><p>Added support for custom SSL certificate locations through
SSL_CERT_FILE and SSL_CERT_DIR environment variables.</p></li>
<li><p>Added support for static Windows builds with CUDA.</p></li>
<li><p>Exposed <code class="docutils literal notranslate"><span class="pre">pycolmap.match_from_pairs</span></code> for custom pair matching on GPU.</p></li>
<li><p>Added Python bindings for depth and normal maps.</p></li>
<li><p>Added Python type checking (mypy) for all code.</p></li>
<li><p>Improved incremental mapper and triangulator Python bindings.</p></li>
<li><p>Added support for visualizing (textured) meshes in the GUI.</p></li>
<li><p>Added drag-and-drop folder support for model import in the GUI.</p></li>
<li><p>Added drag-and-drop support for PLY import in the GUI.</p></li>
<li><p>Switched to native menu bar in GUI on macOS.</p></li>
<li><p>Added support for building shared libraries.</p></li>
<li><p>Improved patch match stereo performance by reading inputs in parallel.</p></li>
<li><p>Reduced model viewer memory usage in the GUI.</p></li>
<li><p>Added automatic fallback to BA CPU solver if GPU solver fails.</p></li>
<li><p>For other minor improvements, see full list of changes below.</p></li>
</ul>
</section>
<section id="id10">
<h3>Bug Fixes<a class="headerlink" href="#id10" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Fixed guided matching for calibrated non-linear cameras.</p></li>
<li><p>Fixed database race conditions in mapping pipelines.</p></li>
<li><p>Fixed MSVC compatibility with <code class="docutils literal notranslate"><span class="pre">isnan</span></code>.</p></li>
<li><p>Fixed undefined behavior in feature match swapping.</p></li>
<li><p>Fixed SVD computation in affine transform.</p></li>
<li><p>Fixed 2D association issue at <code class="docutils literal notranslate"><span class="pre">AddPoint3D</span></code> with <code class="docutils literal notranslate"><span class="pre">point3D_id</span></code>.</p></li>
<li><p>Fixed several issues in database merging.</p></li>
<li><p>Fixed MVS workspace image downsizing.</p></li>
<li><p>Fixed pycolmap to respect <code class="docutils literal notranslate"><span class="pre">fix_existing_frames</span></code> option in the incremental pipeline.</p></li>
<li><p>Fixed transcription of image IDs in reconstruction from database.</p></li>
<li><p>Fixed <code class="docutils literal notranslate"><span class="pre">BundleAdjustmentConfig::NumResiduals</span></code> ignoring point statistics.</p></li>
<li><p>Fixed incorrect propagation of incremental options in automatic reconstructor.</p></li>
<li><p>Fixed triangulation angle computation in patch match sampling.</p></li>
<li><p>Fixed inverted units in <code class="docutils literal notranslate"><span class="pre">ExifFocalLength</span></code> metadata extraction.</p></li>
<li><p>Fixed slow performance of generalized absolute pose estimator verification.</p></li>
<li><p>Propagate exceptions from <code class="docutils literal notranslate"><span class="pre">ThreadPool::Wait</span></code>.</p></li>
<li><p>Fixed empty patch match results on CUDA compute >= 100 (Blackwell GPUs).</p></li>
<li><p>Fixed <code class="docutils literal notranslate"><span class="pre">filter_frames_</span></code> usage in <code class="docutils literal notranslate"><span class="pre">FindNextImages</span></code>.</p></li>
<li><p>Fixed <code class="docutils literal notranslate"><span class="pre">model_aligner</span></code> crash by using new pose prior API.</p></li>
<li><p>For other bug fixes, see full list of changes below.</p></li>
</ul>
</section>
<section id="id11">
<h3>Breaking Changes<a class="headerlink" href="#id11" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Replaced FreeImage with OpenImageIO for image I/O. There may be slight differences
in terms of supported image formats and loaded pixel values.</p></li>
<li><p>Dropped support for Python 3.9 due to EOL.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">TwoViewGeometry</span></code> fields <code class="docutils literal notranslate"><span class="pre">cam2_from_cam1</span></code>, <code class="docutils literal notranslate"><span class="pre">E</span></code>, <code class="docutils literal notranslate"><span class="pre">F</span></code>, <code class="docutils literal notranslate"><span class="pre">H</span></code> are now <code class="docutils literal notranslate"><span class="pre">std::optional</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">Rigid3d</span></code> and <code class="docutils literal notranslate"><span class="pre">Sim3d</span></code> parameters stored as single vector.
Use <code class="docutils literal notranslate"><span class="pre">rotation()</span></code> and <code class="docutils literal notranslate"><span class="pre">translation()</span></code> accessor methods instead of direct member access.</p></li>
<li><p>Bundle adjustment cost functors use single pose parameter blocks.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">BundleAdjuster</span></code> now returns <code class="docutils literal notranslate"><span class="pre">std::shared_ptr<BundleAdjusterSummary></span></code> instead of <code class="docutils literal notranslate"><span class="pre">ceres::SolverSummary</span></code>.</p></li>
<li><p>Ceres-related CLI options are prefixed with <code class="docutils literal notranslate"><span class="pre">BundleAdjustmentCeres.*</span></code>.</p></li>
<li><p>GPS/ENU coordinate conversion functionality cleaned up, breaking the Python interface.</p></li>
<li><p>Feature descriptors are now associated with a type that is propagated through
the pipeline and storage. Fails matching if descriptor types are inconsistent.</p></li>
<li><p>Pose priors associated with generic sensor measurement data.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">DatabaseCache</span></code> initialization consolidated into a single options struct
instead of scattered arguments.</p></li>
<li><p>Switched paths from <code class="docutils literal notranslate"><span class="pre">std::string</span></code> to <code class="docutils literal notranslate"><span class="pre">std::filesystem::path</span></code> throughout
the C++ codebase. Python <code class="docutils literal notranslate"><span class="pre">pathlib.Path</span></code> objects are now automatically
converted. No breaking impact on the Python interface.</p></li>
</ul>
</section>
<section id="full-change-list-sorted-temporally">