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<!DOCTYPE html>
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<meta property="og:description" content="COLMAP 4.2.1 (09/29/2026): Bug Fixes: Fix non-terminating Delaunay meshing (and unbounded memory growth) when a 3D point coincides with a camera center. Observations without a viewing direction are..." />
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<meta property="og:image:alt" content="COLMAP — Structure-from-Motion & Multi-View Stereo" />
<meta name="description" content="COLMAP 4.2.1 (09/29/2026): Bug Fixes: Fix non-terminating Delaunay meshing (and unbounded memory growth) when a 3D point coincides with a camera center. Observations without a viewing direction are..." />
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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-4-2-1-09-29-2026">
<h2>COLMAP 4.2.1 (09/29/2026)<a class="headerlink" href="#colmap-4-2-1-09-29-2026" title="Link to this heading">#</a></h2>
<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 non-terminating Delaunay meshing (and unbounded memory growth) when a
3D point coincides with a camera center. Observations without a viewing
direction are skipped and the ray walk is bounded.</p></li>
<li><p>Fix GPU memory leak in LoMa matching by upgrading ONNX Runtime to 1.30.0.</p></li>
<li><p>Fix darkened 3D point colors after track merging by treating black as
“not yet colored” in <code class="docutils literal notranslate"><span class="pre">Reconstruction::MergePoints3D</span></code>.</p></li>
<li><p>Fix the hash-map backend being derived from the build machine’s Boost
version, which made same-source builds ABI-incompatible and could corrupt
memory. The backend now defaults to <code class="docutils literal notranslate"><span class="pre">STD</span></code> and mismatches are reported
at configure time.</p></li>
<li><p>Restore legacy bundle-adjustment behavior in the global mapper, fixing a
regression introduced in 4.2.0. The inner L2 retriangulation refinement
additionally keeps camera poses and intrinsics fixed, optimizing only 3D
points, so triangulation outliers can no longer corrupt the cameras.</p></li>
<li><p>Fix LO-RANSAC local optimization running below the estimator sample
minimum.</p></li>
<li><p>Fix CUDA illegal memory access in image rotate/transpose/flip kernels for
large images by computing pitched row offsets in <code class="docutils literal notranslate"><span class="pre">size_t</span></code>.</p></li>
<li><p>Fix PoissonRecon binary PLY corruption and crashes caused by inconsistent
endianness initialization across translation units.</p></li>
<li><p>Honor <code class="docutils literal notranslate"><span class="pre">TwoViewGeometry.min_inlier_ratio</span></code> consistently in the
uncalibrated, forced-homography, and rig estimation paths.</p></li>
<li><p>Clear payloads of <code class="docutils literal notranslate"><span class="pre">DEGENERATE</span></code> two-view geometries during verification
and skip <code class="docutils literal notranslate"><span class="pre">UNDEFINED</span></code>/<code class="docutils literal notranslate"><span class="pre">DEGENERATE</span></code> pairs when loading the database
cache, so rejected pairs no longer flow into the mappers.</p></li>
<li><p>Prefer reference sensor poses when converting database images to rig
frames, avoiding inconsistent shared rig poses.</p></li>
<li><p>Fix dropped <code class="docutils literal notranslate"><span class="pre">THROW_CHECK</span></code> messages with recent glog versions and unify
full-precision text stream configuration.</p></li>
<li><p>Fix a race condition in download-cache directory creation during parallel
downloads.</p></li>
<li><p>Fix the image triangulator progress counter.</p></li>
<li><p>Fix missing pycolmap method-chaining overrides and NumPy stub annotations.</p></li>
<li><p>Keep at least one panorama rendering worker.</p></li>
<li><p>Fix builds without OpenMP, add missing header includes, fix a member
initialization order warning, and discard unused future return values in
the image undistorters.</p></li>
</ul>
</section>
</section>
<section id="colmap-4-2-0-08-31-2026">
<h2>COLMAP 4.2.0 (08/31/2026)<a class="headerlink" href="#colmap-4-2-0-08-31-2026" 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 multi-component support to the global mapper. Disconnected view-graph
components are reconstructed independently and returned as separate models,
including components revealed after filtering outlier relative rotations.
The behavior is controlled by <code class="docutils literal notranslate"><span class="pre">GlobalMapper.multiple_models</span></code> and
<code class="docutils literal notranslate"><span class="pre">GlobalMapper.min_model_size</span></code> and is also available through pycolmap.</p></li>
<li><p>Added LoMa learned feature extraction and matching through ONNX, including
<code class="docutils literal notranslate"><span class="pre">LOMA_B</span></code> and <code class="docutils literal notranslate"><span class="pre">LOMA_B128</span></code> descriptors, brute-force matching, and multiple
dedicated matcher variants. LoMa is available through the CLI, GUI, and
pycolmap, with optional BF16 inference.</p></li>
<li><p>Added ROCm/HIP acceleration for <code class="docutils literal notranslate"><span class="pre">patch_match_stereo</span></code>, enabling dense
reconstruction on supported AMD GPUs through the <code class="docutils literal notranslate"><span class="pre">HIP_ENABLED</span></code> build
option. CUDA and HIP builds are mutually exclusive.</p></li>
<li><p>Added a browser-based, local-only 3D viewer for sparse binary
reconstructions, including camera and point inspection, source images, and
reprojections.</p></li>
<li><p>Added incremental, global, and hierarchical mapper selection to the GUI,
with mapper-specific configuration and progress rendering.</p></li>
<li><p>Added complete pycolmap bindings for hierarchical mapping, including
<code class="docutils literal notranslate"><span class="pre">hierarchical_mapping</span></code>, <code class="docutils literal notranslate"><span class="pre">HierarchicalPipeline</span></code>, and scene-clustering
options. Expanded the global pipeline bindings and callbacks.</p></li>
<li><p>Added 6-point shared-focal and one-sided-focal relative-pose solvers,
improving reconstruction when camera intrinsics are unknown or only
partially known.</p></li>
<li><p>Added optional DEGENSAC fundamental-matrix estimation for scenes dominated
by a plane. It is disabled by default and available through
<code class="docutils literal notranslate"><span class="pre">TwoViewGeometry.use_degensac</span></code>.</p></li>
<li><p>Added nanosecond-resolution timestamps and conversion utilities in C++ and
pycolmap.</p></li>
<li><p>Added graceful shutdown for long-running CLI processing pipelines. A first
<code class="docutils literal notranslate"><span class="pre">SIGINT</span></code> or <code class="docutils literal notranslate"><span class="pre">SIGTERM</span></code> preserves usable intermediate results, while a
second signal terminates immediately. PyCOLMAP exposes the same cooperative
cancellation through <code class="docutils literal notranslate"><span class="pre">CancellationToken</span></code>.</p></li>
</ul>
</section>
<section id="improvements">
<h3>Improvements<a class="headerlink" href="#improvements" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Replaced Sampson error on camera bearings with pixel-consistent tangent
Sampson error for calibrated two-view geometry, relative-pose refinement,
guided matching, and generalized pose estimation. This particularly
improves wide-field-of-view and spherical cameras.</p></li>
<li><p>Added camera and image-space point overloads for
<code class="docutils literal notranslate"><span class="pre">pycolmap.estimate_relative_pose</span></code> and <code class="docutils literal notranslate"><span class="pre">refine_relative_pose</span></code> while
retaining the camera-ray overloads for backwards compatibility.</p></li>
<li><p>Estimate homographies on camera rays for distorted and spherical cameras,
enabling geometrically correct planar and panoramic detection.</p></li>
<li><p>Refine fundamental matrices with Sampson error by default and use MSAC for
robust two-view geometry estimation. Significantly improved accuracy
for recovered two-view geometries with small improvements on e2e metrics.</p></li>
<li><p>Added analytical reprojection Jacobians for every camera model and fixed-pose
bundle adjustment. Benchmarks show approximately 1.2–1.55x faster
incremental mapping for common pinhole and OpenCV camera configurations.</p></li>
<li><p>Added selectable standard or Boost hash-map backends. Recent Boost versions
can improve incremental-mapping performance, especially for large scenes.</p></li>
<li><p>Optimized image warping for modest downscales, with reported 4–7x
improvements in common undistortion cases. Added configurable nearest-neighbor
or bilinear interpolation in C++ and pycolmap.</p></li>
<li><p>Accelerated image preprocessing by using antialiased triangle filtering for
bilinear bitmap downscaling and vectorizing RGB-to-grayscale conversion.
Bitmap rescaling now also honors the requested bilinear or box filter.</p></li>
<li><p>Added CoreML as an ONNX execution provider on macOS, with automatic CPU
fallback for unsupported models.</p></li>
<li><p>Added optional match-count weighting for global rotation averaging.</p></li>
<li><p>Improved sequential pairing for camera rigs by avoiding unrelated
cross-sensor temporal pairs.</p></li>
<li><p>Added <code class="docutils literal notranslate"><span class="pre">SequentialMatching.loop_detection_min_index_distance</span></code> to exclude
nearby frames from sequential loop detection without consuming the
retrieval budget.</p></li>
<li><p>Added configurable loading of all images during image registration.</p></li>
<li><p>Expanded reconstruction benchmarks with TartanAir panoramas, IMC2025
datasets, multi-seed comparisons, and end-to-end incremental-mapping
benchmarks.</p></li>
<li><p>Modernized the documentation site, deployment, landing page, mobile
installation selector, and camera-model documentation.</p></li>
</ul>
</section>
<section id="id2">
<h3>Bug Fixes<a class="headerlink" href="#id2" title="Link to this heading">#</a></h3>
<ul class="simple">
<li><p>Fix pose-prior alignment and scale preservation for multi-camera rigs.</p></li>
<li><p>Fix spatial matching with missing pose priors and large projected
coordinates.</p></li>
<li><p>Fix hierarchical clustering overlap propagation and leaf-size enforcement.</p></li>
<li><p>Fix corrupted PatchMatch source textures when input images have different
widths.</p></li>
<li><p>Fix guided matching for spherical cameras.</p></li>
<li><p>Fix Caspar option handling and the fixed-rotation stage of global bundle
adjustment.</p></li>
<li><p>Fall back to CPU Ceres bundle adjustment when CUDA support is compiled in but
no compatible GPU is available.</p></li>
<li><p>Fix reconstruction merges with inconsistent image ID/name mappings.</p></li>
<li><p>Fix point-triangulator image-list handling.</p></li>
<li><p>Restore the <code class="docutils literal notranslate"><span class="pre">gflags::gflags</span></code> target for downstream CMake consumers.</p></li>
<li><p>Fix stale reconstruction statistics and elapsed time in the viewer after
clearing a reconstruction.</p></li>
<li><p>Fix dense reconstruction from the GUI in HIP-only builds.</p></li>
<li><p>Fix pose-prior bundle adjustment changing rig poses configured as constant.</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>The global mapper now reconstructs every connected component by default and
may therefore return multiple models for disconnected datasets. Set
<code class="docutils literal notranslate"><span class="pre">GlobalMapper.multiple_models</span></code> to false to retain the previous
largest-component-only behavior. Models with fewer than
<code class="docutils literal notranslate"><span class="pre">GlobalMapper.min_model_size</span></code> registered frames are discarded.</p></li>
<li><p>The <code class="docutils literal notranslate"><span class="pre">hierarchical_mapper</span></code> options <code class="docutils literal notranslate"><span class="pre">num_threads</span></code>, <code class="docutils literal notranslate"><span class="pre">num_workers</span></code>,
<code class="docutils literal notranslate"><span class="pre">image_overlap</span></code>, and <code class="docutils literal notranslate"><span class="pre">leaf_max_num_images</span></code> are now prefixed with
<code class="docutils literal notranslate"><span class="pre">HierarchicalMapper.</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pycolmap.estimate_essential_matrix</span></code> no longer returns
<code class="docutils literal notranslate"><span class="pre">inlier_points3D</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">pycolmap.cost_functions.SampsonErrorCost</span></code> now accepts image-plane points
instead of camera rays.</p></li>
<li><p>The C++ <code class="docutils literal notranslate"><span class="pre">HierarchicalPipeline::Options</span></code> type was renamed to
<code class="docutils literal notranslate"><span class="pre">HierarchicalPipelineOptions</span></code>.</p></li>
<li><p>Several C++ relative-pose APIs now use <code class="docutils literal notranslate"><span class="pre">CamRayWithJac</span></code>.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">PoseFromEssentialMatrix</span></code> now returns valid correspondence indices instead
of triangulated points.</p></li>
<li><p>The C++ <code class="docutils literal notranslate"><span class="pre">CameraModelIsFisheye</span></code> function was renamed to
<code class="docutils literal notranslate"><span class="pre">CameraModelIsPerspectiveFisheye</span></code>.</p></li>
<li><p>The global <code class="docutils literal notranslate"><span class="pre">std::hash<std::pair<...>></span></code> specializations were removed.
Downstream unordered containers using pair keys should explicitly use
<code class="docutils literal notranslate"><span class="pre">colmap::PairHash</span></code>.</p></li>
</ul>
</section>
</section>
<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="id3">
<h3>Improvements<a class="headerlink" href="#id3" 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="id4">
<h3>Bug Fixes<a class="headerlink" href="#id4" 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="id5">
<h3>Breaking Changes<a class="headerlink" href="#id5" 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="id6">
<h3>New Features<a class="headerlink" href="#id6" 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="id7">
<h3>Improvements<a class="headerlink" href="#id7" 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="id8">
<h3>Bug Fixes<a class="headerlink" href="#id8" 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>