> But as mentioned, the point cloud is free since they need the camera poses anyway. If you have a rigid multi-camera rig, the camera poses might be known from

> But as mentioned, the point cloud is free since they need the camera poses anyway. If you have a rigid multi-camera rig, the camera poses might be known from calibration, but then the particular scene shot on such a rig, could be reconstructed without COLMAP or other structure-from-motion tools, if I understand it correctly.