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, 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, full named intrinsics and position — optionally with rays to (or highlighting of) the 3D points that image observes
Play button to step through all cameras in image id order; 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)
