### Start COLMAP GUI with Project Configuration

Source: https://colmap.github.io/tutorial.html

Starts the COLMAP GUI and loads settings from a specified project configuration file.

```bash
colmap gui --project_path path/to/project.ini
```

--------------------------------

### Find COLMAP Package in CMakeLists.txt

Source: https://colmap.github.io/install.html

Example CMakeLists.txt demonstrating how to find and use the COLMAP package after it has been installed.

```cmake
cmake_minimum_required(VERSION 3.10)

project(SampleProject)

find_package(colmap REQUIRED)
```

--------------------------------

### Install Qt 5 Dependencies for Debian/Ubuntu

Source: https://colmap.github.io/_sources/install.rst.txt

Alternative dependency installation for systems using Qt 5 instead of Qt 6.

```bash
qtbase5-dev libqt5opengl5-dev
```

--------------------------------

### Install Qt 5 Dependencies (Alternative)

Source: https://colmap.github.io/install.html

Installs Qt 5 development packages as an alternative to Qt 6 for COLMAP compilation.

```bash
qtbase5-dev libqt5opengl5-dev

```

--------------------------------

### Example Feature Import File

Source: https://colmap.github.io/tutorial.html

An example illustrating the text file format for importing features, showing four features with their associated data.

```text
4 128
1.2 2.3 0.1 0.3 1 2 3 4 ... 21
2.2 3.3 1.1 0.3 3 2 3 2 ... 32
0.2 1.3 1.1 0.3 3 2 3 2 ... 2
1.2 2.3 1.1 0.3 3 2 3 2 ... 3

```

--------------------------------

### Build a Simple C++ Application with COLMAP

Source: https://colmap.github.io/_sources/install.rst.txt

This C++ code demonstrates how to use COLMAP's OptionManager to parse command-line arguments and StringPrintf for formatted output. Compile and run this example to verify your COLMAP installation.

```cpp
#include <iostream>

#include <colmap/controllers/option_manager.h>
#include <colmap/util/string.h>

int main(int argc, char** argv) {
    colmap::InitializeGlog(argv);

    std::string message;
    colmap::OptionManager options;
    options.AddRequiredOption("message", &message);
    if (!options.Parse(argc, argv)) {
        return EXIT_FAILURE;
    }

    std::cout << colmap::StringPrintf("Hello %s!\n", message.c_str());

    return EXIT_SUCCESS;
}
```

--------------------------------

### Install PyCOLMAP using pip

Source: https://colmap.github.io/_sources/pycolmap/index.rst.txt

Installs PyCOLMAP using pre-built wheels. This is the recommended method for Linux, macOS, and Windows.

```bash
pip install pycolmap
```

--------------------------------

### COLMAP Global Mapper Setup

Source: https://colmap.github.io/_sources/cli.rst.txt

Sets up the database for global SfM. This involves feature extraction and matching.

```bash
$ colmap feature_extractor \
   --database_path $DATASET_PATH/database.db \
   --image_path $DATASET_PATH/images

$ colmap exhaustive_matcher \
   --database_path $DATASET_PATH/database.db
```

--------------------------------

### COLMAP CLI Usage Example

Source: https://colmap.github.io/_sources/cli.rst.txt

Demonstrates example usage patterns for various COLMAP commands, including GUI, automatic reconstruction, feature extraction, matching, and mapping.

```bash
colmap help [ -h, --help ]
colmap gui
colmap gui -h [ --help ]
colmap automatic_reconstructor -h [ --help ]
colmap automatic_reconstructor --image_path IMAGES --workspace_path WORKSPACE
colmap feature_extractor --image_path IMAGES --database_path DATABASE
colmap exhaustive_matcher --database_path DATABASE
colmap mapper --image_path IMAGES --database_path DATABASE --output_path MODEL
```

--------------------------------

### Install PyCOLMAP with CUDA 12 support (Linux)

Source: https://colmap.github.io/_sources/pycolmap/index.rst.txt

Installs PyCOLMAP with CUDA 12 acceleration support on Linux. Requires PyPI installation.

```bash
pip install pycolmap-cuda12
```

--------------------------------

### Install COLMAP using VCPKG on Windows

Source: https://colmap.github.io/_sources/install.rst.txt

Installs COLMAP and its dependencies on Windows using VCPKG, including CUDA and tests. Assumes Visual Studio 2019 or newer is installed.

```powershell
git clone https://github.com/microsoft/vcpkg
cd vcpkg
.\bootstrap-vcpkg.bat
.\vcpkg install colmap[cuda,tests]:x64-windows
```

--------------------------------

### Compile and Run the C++ Example

Source: https://colmap.github.io/_sources/install.rst.txt

These shell commands show how to build and execute the 'hello_world' C++ application using CMake and Ninja. Ensure the colmap_DIR environment variable is set correctly.

```bash
mkdir build
cd build
export colmap_DIR=${CMAKE_INSTALL_PREFIX}/share/colmap
cmake .. -GNinja
ninja
./hello_world --message "world"
```

--------------------------------

### Example of Imported Features Text File

Source: https://colmap.github.io/_sources/tutorial.rst.txt

An example illustrating the text file format for importing features, showing the header with feature count and descriptor size, followed by lines detailing individual features.

```text
4 128
1.2 2.3 0.1 0.3 1 2 3 4 ... 21
2.2 3.3 1.1 0.3 3 2 3 2 ... 32
0.2 1.3 1.1 0.3 3 2 3 2 ... 2
1.2 2.3 1.1 0.3 3 2 3 2 ... 3
```

--------------------------------

### Install COLMAP using VCPKG on Linux

Source: https://colmap.github.io/_sources/install.rst.txt

Installs COLMAP for the x64-linux triplet using VCPKG. This command fetches and builds COLMAP and its dependencies from scratch.

```bash
git clone https://github.com/microsoft/vcpkg
cd vcpkg
./bootstrap-vcpkg.sh
./vcpkg install colmap:x64-linux
```

--------------------------------

### Start COLMAP GUI

Source: https://colmap.github.io/tutorial.html

Launches the COLMAP graphical user interface. This can be done using pre-built binaries or by executing the command from the build folder.

```bash
COLMAP.bat
```

```bash
COLMAP.app
```

```bash
./src/colmap/exe/colmap gui
```

--------------------------------

### Install CUDA Toolkit for Debian/Ubuntu

Source: https://colmap.github.io/_sources/install.rst.txt

Install the NVIDIA CUDA toolkit for COLMAP compilation with GPU support on Debian/Ubuntu.

```bash
sudo apt-get install -y \
    nvidia-cuda-toolkit \
    nvidia-cuda-toolkit-gcc
```

--------------------------------

### Start COLMAP GUI

Source: https://colmap.github.io/tutorial.html

Launches the graphical user interface of COLMAP. You can optionally specify a project configuration file to load.

```bash
colmap gui
```

--------------------------------

### Rig Configuration JSON Example

Source: https://colmap.github.io/_sources/rigs.rst.txt

Example JSON structure for `rig_config.json`. Defines camera rigs, their relative sensor poses (rotation and translation), and image prefixes.

```json
[
  {
    "cameras": [
      {
        "image_prefix": "rig1/camera1/",
        "ref_sensor": true
      },
      {
        "image_prefix": "rig1/camera2/",
        "cam_from_rig_rotation": [
            0.7071067811865475,
            0.0,
            0.7071067811865476,
            0.0
        ],
        "cam_from_rig_translation": [
            0,
            0,
            0
        ]
      }
    ]
  },
  {
    "cameras": [
      {
        "image_prefix": "rig2/camera1/",
        "ref_sensor": true
      },
      ...
    ]
  },
  ...
]
```

--------------------------------

### Install CUDA Toolkit for Ubuntu

Source: https://colmap.github.io/install.html

Installs the NVIDIA CUDA toolkit and associated GCC compiler for COLMAP builds with GPU support on Ubuntu.

```bash
sudo apt-get install -y \
    nvidia-cuda-toolkit \
    nvidia-cuda-toolkit-gcc

```

--------------------------------

### Download and Extract ETH3D Rig Dataset

Source: https://colmap.github.io/rigs.html

Download the ETH3D rig dataset and extract its contents. This is the first step for the end-to-end example.

```bash
wget https://www.eth3d.net/data/terrains_rig_undistorted.7z
7zz x terrains_rig_undistorted.7z
```

--------------------------------

### Reconstruct Scene from Scratch with Rig Constraints

Source: https://colmap.github.io/rigs.html

Start a new reconstruction process with rig constraints enabled. This can lead to more accurate results by incorporating rig information from the beginning.

```bash
colmap mapper
    --image_path $DATASET_PATH/images
    --database_path $DATASET_PATH/database.db
    --output_path $DATASET_PATH/sparse-model-with-rigs-and-frames
```

--------------------------------

### Install Debian/Ubuntu Dependencies

Source: https://colmap.github.io/install.html

Installs essential development packages for COLMAP on Debian/Ubuntu systems. Includes libraries for Boost, Eigen, OpenImageIO, Ceres, and Qt.

```bash
sudo apt-get install \
    git \
    cmake \
    ninja-build \
    build-essential \
    libboost-program-options-dev \
    libboost-graph-dev \
    libboost-system-dev \
    libeigen3-dev \
    libopenimageio-dev \
    openimageio-tools \
    libmetis-dev \
    libgoogle-glog-dev \
    libgtest-dev \
    libgmock-dev \
    libsqlite3-dev \
    libglew-dev \
    qt6-base-dev \
    libqt6opengl6-dev \
    libqt6openglwidgets6 \
    libcgal-dev \
    libceres-dev \
    libsuitesparse-dev \
    libcurl4-openssl-dev \
    libssl-dev \
    libmkl-full-dev
# Fix issue in Ubuntu's openimageio CMake config.
# We don't depend on any of openimageio's OpenCV functionality,
# but it still requires the OpenCV include directory to exist.
sudo mkdir -p /usr/include/opencv4

```

--------------------------------

### Build COLMAP Documentation (HTML)

Source: https://colmap.github.io/install.html

Steps to build the HTML documentation for COLMAP. This involves navigating to the documentation directory, installing requirements, and running the make command.

```bash
cd path/to/colmap/doc
pip install -r requirements.txt
make html
open _build/html/index.html # preview results

```

--------------------------------

### Example COLMAP Project Structure

Source: https://colmap.github.io/tutorial.html

Illustrates a typical folder structure for a COLMAP project, including the images directory, database file, and project configuration file.

```text
/path/to/project/...
+── images
│   +── image1.jpg
│   +── image2.jpg
│   +── ...
│   +── imageN.jpg
+── database.db
+── project.ini

```

--------------------------------

### Install Debian/Ubuntu Dependencies

Source: https://colmap.github.io/_sources/install.rst.txt

Install necessary development packages for COLMAP on Debian/Ubuntu systems. Includes libraries for image processing, linear algebra, and GUI.

```bash
sudo apt-get install \
    git \
    cmake \
    ninja-build \
    build-essential \
    libboost-program-options-dev \
    libboost-graph-dev \
    libboost-system-dev \
    libeigen3-dev \
    libopenimageio-dev \
    openimageio-tools \
    libmetis-dev \
    libgoogle-glog-dev \
    libgtest-dev \
    libgmock-dev \
    libsqlite3-dev \
    libglew-dev \
    qt6-base-dev \
    libqt6opengl6-dev \
    libqt6openglwidgets6 \
    libcgal-dev \
    libceres-dev \
    libsuitesparse-dev \
    libcurl4-openssl-dev \
    libssl-dev \
    libmkl-full-dev
    # Fix issue in Ubuntu's openimageio CMake config.
    # We don't depend on any of openimageio's OpenCV functionality,
    # but it still requires the OpenCV include directory to exist.
    sudo mkdir -p /usr/include/opencv4
```

--------------------------------

### Install COLMAP with CUDA and Tests using VCPKG on Linux

Source: https://colmap.github.io/_sources/install.rst.txt

Installs COLMAP with CUDA support and all tests for the x64-linux triplet using VCPKG. This ensures comprehensive testing and CUDA functionality.

```bash
./vcpkg install colmap[cuda,tests]:x64-linux
```

--------------------------------

### Build COLMAP HTML Documentation

Source: https://colmap.github.io/_sources/install.rst.txt

These commands outline the process for building the COLMAP HTML documentation. It involves installing Python dependencies and running the make command.

```bash
cd path/to/colmap/doc
pip install -r requirements.txt
make html
open _build/html/index.html # preview results
```

--------------------------------

### ETH3D Rig Configuration JSON

Source: https://colmap.github.io/_sources/rigs.rst.txt

Example `rig_config.json` for an ETH3D dataset, defining cameras by their image prefixes and marking one as the reference sensor.

```json
[
    {
        "cameras": [
            {
                "image_prefix": "images_rig_cam4_undistorted/",
                "ref_sensor": true
            },
            {
                "image_prefix": "images_rig_cam5_undistorted/"
            },
            {
                "image_prefix": "images_rig_cam6_undistorted/"
            },
            {
                "image_prefix": "images_rig_cam7_undistorted/"
            }
        ]
    }
]
```

--------------------------------

### Mapper with Rig Constraints

Source: https://colmap.github.io/_sources/rigs.rst.txt

Start the reconstruction process from scratch with rig constraints using the `mapper` command. This may lead to more accurate results.

```bash
colmap mapper
        --image_path $DATASET_PATH/images
        --database_path $DATASET_PATH/database.db
        --output_path $DATASET_PATH/sparse-model-with-rigs-and-frames
```

--------------------------------

### Configure and Compile COLMAP

Source: https://colmap.github.io/install.html

Configures the COLMAP build using CMake with Ninja and then compiles the project. Finally, it installs COLMAP to the system.

```bash
git clone https://github.com/colmap/colmap.git
cd colmap
mkdir build
cd build
cmake .. -GNinja -DBLA_VENDOR=Intel10_64lp
ninja
sudo ninja install

```

--------------------------------

### Example cameras.txt Format

Source: https://colmap.github.io/_sources/format.rst.txt

This snippet illustrates the format of the cameras.txt file, which lists intrinsic camera parameters. Each line specifies a camera's ID, distortion model, resolution, and model-specific parameters.

```text
# Camera list with one line of data per camera:
#   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
# Number of cameras: 3
1 SIMPLE_PINHOLE 3072 2304 2559.81 1536 1152
2 PINHOLE 3072 2304 2560.56 2560.56 1536 1152
3 SIMPLE_RADIAL 3072 2304 2559.69 1536 1152 -0.0218531
```

--------------------------------

### Install Latest COLMAP Commit using VCPKG on Linux

Source: https://colmap.github.io/_sources/install.rst.txt

Installs the latest commit from the COLMAP development branch using VCPKG for the x64-linux triplet. Use the --head option to build from the dev branch.

```bash
./vcpkg install colmap:x64-linux --head
```

--------------------------------

### Build COLMAP from Source on macOS

Source: https://colmap.github.io/_sources/install.rst.txt

Clones the COLMAP repository, creates a build directory, configures the build with CMake and Ninja, and then compiles and installs COLMAP.

```bash
git clone https://github.com/colmap/colmap.git
cd colmap
mkdir build
cd build
cmake .. -GNinja
ninja
sudo ninja install
```

--------------------------------

### Start New Reconstruction with Mapper

Source: https://colmap.github.io/faq.html

Initiates a new reconstruction process from scratch using the 'mapper'. Ensure to re-run dense reconstruction if the model's coordinate frame changes.

```bash
colmap mapper \
    --database_path $PROJECT_PATH/database.db \
    --image_path $PROJECT_PATH/images \
    --output_path /path/to/model-with-new-images
```

--------------------------------

### Build COLMAP with Ninja after Anaconda/Mamba Setup

Source: https://colmap.github.io/_sources/install.rst.txt

Clones the COLMAP repository and builds it using CMake and Ninja within a pre-configured environment, typically after installing dependencies via Anaconda/Mamba.

```bash
git clone https://github.com/colmap/colmap.git
cd colmap
mkdir build
cd build
cmake .. -GNinja
ninja
```

--------------------------------

### Example rigs.txt Format

Source: https://colmap.github.io/_sources/format.rst.txt

This snippet shows the structure of the rigs.txt file, detailing configured rigs and sensors. Each line describes a rig with its ID, number of sensors, reference sensor type and ID, and sensor details including pose information if available.

```text
# Rig calib list with one line of data per calib:
#   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])
# Number of rigs: 1
1 2 CAMERA 1 CAMERA 2 1 -0.9999701516465348 -0.0011120266840749639 -0.0075347911527510894 0.0012985125893421306 -0.19316906391350164 0.00085222218993398979 0.0070758955539026785
2 1 CAMERA 3
```

--------------------------------

### Install COLMAP with Homebrew

Source: https://colmap.github.io/_sources/install.rst.txt

Use Homebrew to install COLMAP on macOS. This command installs pre-compiled binaries or builds from source.

```bash
brew install colmap
```

--------------------------------

### Build COLMAP Documentation (PDF)

Source: https://colmap.github.io/install.html

Alternative method to build the documentation in PDF format. After building, the PDF file can be opened for preview.

```bash
make latexpdf
open _build/pdf/COLMAP.pdf

```

--------------------------------

### Install COLMAP Dependencies on Debian/Ubuntu

Source: https://colmap.github.io/_sources/install.rst.txt

Installs necessary compiler versions and sets environment variables for building COLMAP on Debian/Ubuntu systems. Ensure you have gcc-10 and g++-10 installed.

```bash
sudo apt-get install gcc-10 g++-10
export CC=/usr/bin/gcc-10
export CXX=/usr/bin/g++-10
export CUDAHOSTCXX=/usr/bin/g++-10
```

--------------------------------

### Initialize FeatureMatcher with Options

Source: https://colmap.github.io/pycolmap/pycolmap.html

Create a FeatureMatcher instance with custom matching options and device selection. Defaults to automatic device selection.

```python
matcher = pycolmap.FeatureMatcher.create(options=pycolmap.FeatureMatchingOptions(), device=pycolmap.Device.auto())

```

--------------------------------

### FeatureMatcher.create

Source: https://colmap.github.io/pycolmap/pycolmap.html

Creates a FeatureMatcher instance with specified options and device. This is the entry point for setting up feature matching.

```APIDOC
## FeatureMatcher.create

### Description
Creates a FeatureMatcher instance with specified options and device. This is the entry point for setting up feature matching.

### Method
static create

### Parameters
#### Path Parameters
- **_options** (pycolmap.FeatureMatchingOptions | None) - Optional: Feature matching options to configure the matcher.
- **_device** (pycolmap.Device) - The device to use for feature matching (e.g., CPU or GPU).

### Response
#### Success Response
- **pycolmap.FeatureMatcher** - An instance of the FeatureMatcher.
```

--------------------------------

### Install COLMAP Dependencies with Conda

Source: https://colmap.github.io/install.html

Installs various dependencies for COLMAP, including build tools, libraries, and CUDA components, using Conda.

```bash
conda install \
    cmake \
    ninja \
    boost \
    ccache \
    eigen \
    openimageio \
    curl \
    metis \
    glog \
    gtest \
    ceres-solver \
    suitesparse \
    qt \
    glew \
    sqlite \
    cgal-cpp \
    mesa-libgl-devel-cos7-x86_64 \
    cuda-compiler==12.6.2 \
    cuda-cudart-dev \
    cuda-nvrtc-dev \
    libcurand-dev
```

--------------------------------

### Install COLMAP Dependencies on macOS with Homebrew

Source: https://colmap.github.io/_sources/install.rst.txt

Installs essential development tools and libraries for COLMAP using Homebrew on macOS. This includes CMake, Ninja, Boost, Eigen, and others.

```bash
brew install \
    cmake \
    ninja \
    boost \
    eigen \
    openimageio \
    curl \
    libomp \
    metis \
    glog \
    googletest \
    ceres-solver \
    suitesparse \
    qt \
    glew \
    cgal \
    sqlite3
brew link --force libomp
```

--------------------------------

### Perform Guided Feature Matching

Source: https://colmap.github.io/pycolmap/pycolmap.html

Perform guided matching using existing two-view geometry. This method updates the two_view_geometry in-place and requires camera parameters and the maximum error.

```python
matcher.match_guided(max_error, keypoints1, descriptors1, camera1, keypoints2, descriptors2, camera2, two_view_geometry)

```

--------------------------------

### Initialize MeshSimplificationOptions

Source: https://colmap.github.io/pycolmap/pycolmap.html

Instantiate MeshSimplificationOptions with default values or from a dictionary.

```python
options = pycolmap.MeshSimplificationOptions()
print(options.target_face_ratio)
```

```python
options = pycolmap.MeshSimplificationOptions(target_face_ratio=0.5)
print(options.target_face_ratio)
```

```python
options = pycolmap.MeshSimplificationOptions({'target_face_ratio': 0.5})
print(options.target_face_ratio)
```

--------------------------------

### List COLMAP Commands

Source: https://colmap.github.io/cli.html

Use the 'help' command to list all available COLMAP commands and their general usage.

```bash
$ colmap help

    Usage:
      colmap [command] [options]

    Documentation:
      https://colmap.github.io/

    Example usage:
      colmap help [ -h, --help ]
      colmap gui
      colmap gui -h [ --help ]
      colmap automatic_reconstructor -h [ --help ]
      colmap automatic_reconstructor --image_path IMAGES --workspace_path WORKSPACE
      colmap feature_extractor --image_path IMAGES --database_path DATABASE
      colmap exhaustive_matcher --database_path DATABASE
      colmap mapper --image_path IMAGES --database_path DATABASE --output_path MODEL
      ...

    Available commands:
      help
      gui
      automatic_reconstructor
      bundle_adjuster
      color_extractor
      database_cleaner
      database_creator
      database_merger
      delaunay_mesher
      exhaustive_matcher
      feature_extractor
      feature_importer
      geometric_verifier
      global_mapper
      guided_geometric_verifier
      hierarchical_mapper
      image_deleter
      image_filterer
      image_rectifier
      image_registrator
      image_undistorter
      image_undistorter_standalone
      mapper
      matches_importer
      mesh_simplifier
      mesh_texturer
      model_aligner
      model_analyzer
      model_clusterer
      model_comparer
      model_converter
      model_cropper
      model_merger
      model_orientation_aligner
      model_splitter
      model_transformer
      patch_match_stereo
      point_filtering
      point_triangulator
      pose_prior_mapper
      poisson_mesher
      project_generator
      rig_configurator
      rotation_averager
      sequential_matcher
      spatial_matcher
      stereo_fusion
      transitive_matcher
      view_graph_calibrator
      vocab_tree_builder
      vocab_tree_matcher
      vocab_tree_retriever

```

--------------------------------

### Install COLMAP Dependencies with Anaconda/Mamba

Source: https://colmap.github.io/_sources/install.rst.txt

Creates a Conda environment named 'colmap' with Python 3.12 and installs various development libraries including CMake, Ninja, Boost, Eigen, and CUDA components.

```bash
conda create -n colmap python=3.12
conda config --add channels conda-forge
conda config --set channel_priority strict
conda install \
    cmake \
    ninja \
    boost \
    ccache \
    eigen \
    openimageio \
    curl \
    metis \
    glog \
    gtest \
    ceres-solver \
    suitesparse \
    qt \
    glew \
    sqlite \
    cgal-cpp \
    mesa-libgl-devel-cos7-x86_64 \
    cuda-compiler==12.6.2 \
    cuda-cudart-dev \
    cuda-nvrtc-dev \
    libcurand-dev
```

--------------------------------

### Get Modified Points3D

Source: https://colmap.github.io/pycolmap/pycolmap.html

Retrieves the set of 3D points that have been modified since the last call to clear_modified_points3D.

```APIDOC
## get_modified_points3D

### Description
Get changed 3D points, since the last call to clear_modified_points3D.

### Method
(Implicitly called within IncrementalMapper context)

### Parameters
* `_self` (pycolmap.IncrementalMapper_): The IncrementalMapper instance.

### Returns
* `set[int]`: A set of modified 3D point IDs.
```

--------------------------------

### Initialize DelaunayMeshingOptions

Source: https://colmap.github.io/pycolmap/pycolmap.html

Instantiate DelaunayMeshingOptions with default values or from a dictionary.

```python
options = pycolmap.DelaunayMeshingOptions()
print(options.max_proj_dist)
```

```python
options = pycolmap.DelaunayMeshingOptions(max_proj_dist=10.0)
print(options.max_proj_dist)
```

```python
options = pycolmap.DelaunayMeshingOptions({'max_proj_dist': 10.0})
print(options.max_proj_dist)
```

--------------------------------

### pycolmap.Timer

Source: https://colmap.github.io/pycolmap/pycolmap.html

A utility class for timing operations, allowing start, stop, restart, and retrieval of elapsed time in various units.

```APIDOC
## Class: pycolmap.Timer

### Description
A utility class for timing operations, allowing start, stop, restart, and retrieval of elapsed time in various units.

### Methods
- `start(_self : pycolmap.Timer_) -> None`: Starts or resumes the timer.
- `restart(_self : pycolmap.Timer_) -> None`: Restarts the timer from zero.
- `pause(_self : pycolmap.Timer_) -> None`: Pauses the timer.
- `resume(_self : pycolmap.Timer_) -> None`: Resumes the timer after pausing.
- `reset(_self : pycolmap.Timer_) -> None`: Resets the timer to zero without stopping it.
- `elapsed_micro_seconds(_self : pycolmap.Timer_) -> float`: Returns the elapsed time in microseconds.
- `elapsed_seconds(_self : pycolmap.Timer_) -> float`: Returns the elapsed time in seconds.
- `elapsed_minutes(_self : pycolmap.Timer_) -> float`: Returns the elapsed time in minutes.
- `elapsed_hours(_self : pycolmap.Timer_) -> float`: Returns the elapsed time in hours.
- `print_seconds(_self : pycolmap.Timer_) -> None`: Prints the elapsed time in seconds.
- `print_minutes(_self : pycolmap.Timer_) -> None`: Prints the elapsed time in minutes.
- `print_hours(_self : pycolmap.Timer_) -> None`: Prints the elapsed time in hours.
```

--------------------------------

### List Available COLMAP Commands

Source: https://colmap.github.io/_sources/cli.rst.txt

Use the 'help' command to list all available commands in the COLMAP CLI. This is useful for understanding the full range of functionalities.

```bash
colmap help
```

--------------------------------

### Build a Custom Executable with COLMAP

Source: https://colmap.github.io/install.html

Link your C++ application against the COLMAP library. Ensure COLMAP is installed or its build directory is correctly specified.

```cmake
add_executable(hello_world hello_world.cc)
target_link_libraries(hello_world colmap::colmap)
```

--------------------------------

### PyCOLMAP Rig Configuration and Synthesis

Source: https://colmap.github.io/pycolmap/pycolmap.html

Utilities for configuring rigs and synthesizing datasets with noise and images.

```APIDOC
## Rig Configuration and Synthesis

### `RigConfigCamera`

Configuration for a camera within a rig.

### `RigConfig`

Represents the configuration of a rig.

### `read_rig_config(path)`

Reads rig configuration from a file.

### `apply_rig_config(reconstruction, rig_config)`

Applies rig configuration to a reconstruction.

### `SyntheticDatasetMatchConfig`

Configuration for matching in synthetic datasets.

### `SyntheticDatasetOptions`

Options for synthesizing a dataset.

### `synthesize_dataset(options)`

Synthesizes a COLMAP dataset.

### `SyntheticNoiseOptions`

Options for adding noise to synthetic data.

### `synthesize_noise(options)`

Synthesizes noise for a dataset.

### `SyntheticImageOptions`

Options for synthesizing images.

### `synthesize_images(options)`

Synthesizes images for a dataset.
```

--------------------------------

### Reconstruct Sparse Model from Known Camera Poses

Source: https://colmap.github.io/_sources/faq.rst.txt

Use this workflow when camera poses are known and you need to reconstruct a sparse model. It involves feature extraction, matching, and triangulation.

```bash
colmap feature_extractor \
    --database_path $PROJECT_PATH/database.db \
    --image_path $PROJECT_PATH/images
```

```bash
colmap exhaustive_matcher \
    --database_path $PROJECT_PATH/database.db
```

```bash
colmap point_triangulator \
    --database_path $PROJECT_PATH/database.db \
    --image_path $PROJECT_PATH/images
    --input_path path/to/manually/created/sparse/model \
    --output_path path/to/triangulated/sparse/model
```

--------------------------------

### Build PyCOLMAP from source (Windows)

Source: https://colmap.github.io/_sources/pycolmap/index.rst.txt

Builds PyCOLMAP from source on Windows after installing COLMAP via VCPKG. Requires PowerShell and specific CMake definitions.

```powershell
python -m pip install . \
    --cmake.define.CMAKE_TOOLCHAIN_FILE="$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake" \
    --cmake.define.VCPKG_TARGET_TRIPLET="x64-windows"
```

--------------------------------

### Build PyCOLMAP from source (Linux/macOS)

Source: https://colmap.github.io/_sources/pycolmap/index.rst.txt

Builds PyCOLMAP from source on Linux and macOS after installing COLMAP from source. Requires Python's pip module.

```bash
python -m pip install .
```

--------------------------------

### Example C++ Application using COLMAP

Source: https://colmap.github.io/install.html

A simple C++ program that uses COLMAP's OptionManager and StringPrintf utilities. It requires a 'message' argument to be passed.

```cpp
#include <cstdlib>
#include <iostream>

#include <colmap/controllers/option_manager.h>
#include <colmap/util/string.h>

int main(int argc, char** argv) {
    colmap::InitializeGlog(argv);

    std::string message;
    colmap::OptionManager options;
    options.AddRequiredOption("message", &message);
    if (!options.Parse(argc, argv)) {
        return EXIT_FAILURE;
    }

    std::cout << colmap::StringPrintf("Hello %s!\n", message.c_str());

    return EXIT_SUCCESS;
}

```