diff --git a/pkgs/applications/science/misc/colmap/default.nix b/pkgs/applications/science/misc/colmap/default.nix
index d071c90562cd..59e58351c0f6 100644
--- a/pkgs/applications/science/misc/colmap/default.nix
+++ b/pkgs/applications/science/misc/colmap/default.nix
@@ -1,43 +1,62 @@
-{ mkDerivation, lib, fetchFromGitHub, cmake, boost179, ceres-solver, eigen,
+{ lib, fetchFromGitHub, cmake, boost179, ceres-solver, eigen,
   freeimage, glog, libGLU, glew, qtbase,
+  flann,
+  cgal,
+  gmp,
+  mpfr,
   autoAddDriverRunpath,
   config,
-  cudaSupport ? config.cudaSupport, cudaPackages
+  stdenv,
+  qt5,
+  xorg,
+  cudaSupport ? config.cudaSupport,
+  cudaCapabilities ? cudaPackages.cudaFlags.cudaCapabilities,
+  cudaPackages
 }:
 
 assert cudaSupport -> cudaPackages != { };
 
 let
   boost_static = boost179.override { enableStatic = true; };
+  stdenv' = if cudaSupport then cudaPackages.backendStdenv else stdenv;
 
   # TODO: migrate to redist packages
   inherit (cudaPackages) cudatoolkit;
 in
-mkDerivation rec {
-  version = "3.7";
+stdenv'.mkDerivation rec {
+  version = "3.9.1";
   pname = "colmap";
   src = fetchFromGitHub {
      owner = "colmap";
      repo = "colmap";
      rev = version;
-     hash = "sha256-uVAw6qwhpgIpHkXgxttKupU9zU+vD0Za0maw2Iv4x+I=";
+     hash = "sha256-Xb4JOttCMERwPYs5DyGKHw+f9Wik1/rdJQKbgVuygH8=";
   };
 
-  # TODO: rm once the gcc11 issue is closed, https://github.com/colmap/colmap/issues/1418#issuecomment-1049305256
   cmakeFlags = lib.optionals cudaSupport [
-    "-DCUDA_ENABLED=ON"
-    "-DCUDA_NVCC_FLAGS=--std=c++14"
+    (lib.cmakeBool "CUDA_ENABLED" true)
+    (lib.cmakeFeature "CMAKE_CUDA_ARCHITECTURES"
+      (lib.strings.concatStringsSep ";"
+        (map cudaPackages.cudaFlags.dropDot
+          cudaCapabilities)))
   ];
 
   buildInputs = [
     boost_static ceres-solver eigen
     freeimage glog libGLU glew qtbase
+    flann
+    cgal
+    gmp
+    mpfr
+    xorg.libSM
   ] ++ lib.optionals cudaSupport [
     cudatoolkit
+    cudaPackages.cuda_cudart.static
   ];
 
   nativeBuildInputs = [
     cmake
+    qt5.wrapQtAppsHook
   ] ++ lib.optionals cudaSupport [
     autoAddDriverRunpath
   ];