Supports equirectangular camera model

[zwl995]

Hello, would you consider adding the equirectangular camera model?

[lcmrl]

Hi, this is a feature that would be nice to add. COLMAP_SLAM calls the COLMAP API, but currently in the official COLMAP the equirectangular camera model is not implemented yet. I think this would help https://github.com/colmap/colmap/issues/6. Have you seen if this https://github.com/daleydeng/colmap/tree/cvai works for a regular SfM with equirectangular model work? If yes, it should be quick to include it in COLMAP_SLAM

[zwl995]

Yes, I have to see , the effect is better is not so good, https://github.com/stella-cv/stella_vslam code offer equirectangular camera model SLAM system, but it use the ORB, the outdoor scene will be lost, the cumulative error is bigger

[lcmrl]

Hi, I've not tried yet, but If you have the binaries from https://github.com/daleydeng/colmap/tree/cvai you should able to run it with colmap-slam. In config.ini :

1. change COLMAP_EXE_DIR = C:\...\COLMAP\COLMAP-3.8-windows-cuda to point to the binaries
2. change camera calibration

   [CALIBRATION]
   # OPENCV camera model (see COLMAP doc)
   # {
   #    "0": "(SIMPLE_PINHOLE, 3)",
   #    "1": "(PINHOLE, 4)",
   #    "2": "(SIMPLE_RADIAL, 4)",
   #    "3": "(RADIAL, 5)",
   #    "4": "(OPENCV, 8)",
   #    "5": "(OPENCV_FISHEYE, 8)",
   #    "6": "(SIMPLE_RAFULL_OPENCVDIAL, 12)",
   #    "7": "(FOV, 5)",
   #    "8": "(SIMPLE_RADIAL_FISHEYE, 4)",
   #    "9": "(RADIAL_FISHEYE, 5)",
   #    "10": "(THIN_PRISM_FISHEYE, 12)"
   # }
   N_CAMERAS = 1
   CAM0 = 9,2448,2048,774.076,1273.05,1011.24,-0.06044,0.0025

   The first number is the camera model, you have to check the right number from the repository