exe/colmap.cc上层接口main；exe/feature.cc调用colmap::RunFeatureExtractor；controllers/feature_extraction.cc创建FeatureExtractorController控制图片读取ImageReader、图片下采样ImageResizerThread、特征提取SiftFeatureExtractorThread和结果写入数据库FeatureWriterThread；feature/sift.cc根据参数创建对应的FeatureExtractor进行特征提取；controllers/image_reader.cc对ImageReader图片读取的实现。
exe/colmap.cc上层接口main；exe/feature.cc调用colmap::RunSequentialMatcher；controllers/feature_matching.cc创建带有SequentialPairGenerator的GenericFeatureMatcher来控制匹配对生成输入FeatureMatcherController进行特征匹配；controllers/feature_matching_utils实现FeatureMatcherController控制特征匹配的过程，包含匹配FeatureMatcherWorker和对极几何验证VerifierWorker，其中FeatureMatcherController将外部通过Match接口传入的图像对插入FeatureMatcherWorker负责的队列，FeatureMatcherWorker通过实例化FeatureMatcher进行特征提取；feature/pairing.cc对SequentialPairGenerator匹配对生成的实现；feature/sift.cc根据参数创建对应的FeatureMatcher进行特征提取；estimators/two_view_geometry.cc估计匹配后的帧间对极几何关系。
exe/colmap.cc上层接口main；exe/sfm.cc调用colmap::Mapper；controllers/incremental_mapper.cc