Visualize COLMAP sparse reconstructions directly inside VS Code, powered by Three.js.
Features
Reads standard COLMAP sparse models: cameras / images / points3D in .bin or .txt format
Renders the sparse point cloud with true RGB colors, plus reprojection-error and height color modes
Draws every registered image with model-aware camera geometry, using the true per-model unprojection (including lens distortion): pinhole-family models get the classic frustum (with an "up" indicator), fisheye models a curved-border frustum that stays correct beyond 180° FOV, and equirectangular panoramas a wireframe sphere; size, line width and color are all adjustable
Optional camera trajectory polyline (ordered by image name)
Filters: max reprojection error, min track length
Click a camera to inspect image name / camera model / position; double-click the cloud to re-center the orbit pivot
Handles all COLMAP camera models (IDs 0–17: standard models plus division, fisheye, EUCM and equirectangular extensions), and reads models written by both current COLMAP (16-param RAD_TAN_THIN_PRISM_FISHEYE, 2-param EQUIRECTANGULAR) and older writers (legacy 14-/3-param variants)
Download the .vsix from GitHub Releases and run code --install-extension colmap-sparse-viewer-<version>.vsix
Usage
Double-click any cameras.bin, images.bin, or points3D.bin in the Explorer, or
Right-click a folder (e.g. sparse/0, or any ancestor — the model is auto-discovered up to 3 levels deep) → COLMAP: Visualize Sparse Model, or
Run COLMAP: Visualize Sparse Model from the command palette and pick a folder.
Controls
Action
Effect
Left drag
Orbit
Right drag
Pan
Scroll
Zoom
Click frustum
Show image info
Double-click cloud
Set orbit pivot
Development
git clone https://github.com/Vincentqyw/vscode-colmap-viewer.git
cd vscode-colmap-viewer
npm install
npm run build # bundle extension + webview
npm run package # create .vsix
Install the generated .vsix with code --install-extension colmap-sparse-viewer-<version>.vsix.
Releasing
Bump version in package.json, then push a matching tag — CI builds the .vsix, attaches it to a GitHub Release, and (if the VSCE_PAT secret is set) publishes to the Marketplace:
