There is a CLI photogrammetry OSS project with rather litigious faculty members behind the code. However, at least that group was upfront about what was expected of the library users, and didn't do something dodgy like quietly merge it into another community library like OpenCV.

I discovered that while porting it to a Pi ARM platform years ago (yes it was slow... lol.) Forgot when the IP becomes public domain, but you might want to check that out. If I recall it was unrelated to the COLMAP project design. =3