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Colmap and Mast3r pose scales are inconsistent #83
Description
I have a question, theoretically speaking, the pose scales of colmap and mast3R are not consistent because dust3R cannot estimate a point cloud of the same scale as colmap. Therefore, you used colmap's pose for optimization during testing. Is this correct, or was there something I thought wrong? Please correct me. Thank you
Activity
jashshah999 commentedon May 6, 2026
For the scale inconsistency between COLMAP and learned SfM (MASt3R/VGGT) — I built a pipeline that handles this via Sim(3) alignment across chunks with confidence weighting. Also exports directly to COLMAP format with consistent scale:
Factor graph (iSAM2 + DINOv2 loop closure) ensures global scale consistency across chunks. Works on 8GB+ GPUs.
https://github.com/jashshah999/vggt-factor-refinement
jashshah999 commentedon May 8, 2026
recon3d handles scale consistency via Sim(3) chunk alignment + factor graph. Outputs COLMAP format directly:
Works on 8GB+ GPUs, 250k Gaussians in ~5 min.