Absolutely insane 3D camera tracking with free tools.

COLMAP has been the same for years. It is technically better than most commercial tracking software. But it is buggy(or the gui is) and complicated to use due to strange input and output formats as well as very awkward gui workflow.

There are even better software like mega-sam https://github.com/mega-sam/mega-sam.

And there are wrappers around mega-sam that makes (almost) perfect tracking of any moving video in to a single command. A command that outputs industry standard .abc files as output.

You also have the recently released https://github.com/nv-tlabs/vipe it does not export as .abc but the tracking looks very good.