Add EQUIRECTANGULAR camera model support for 360° images #232

zalo · 2026-01-15T13:40:54Z

Summary

Add support for equirectangular (360° panoramic) camera model to enable global SfM reconstruction with 360° cameras like Insta360, Ricoh Theta, etc.

Changes

Camera model support (glomap/scene/types_sfm.h)
- Add EQUIRECTANGULAR to CameraModelId enum (ID 10, matching COLMAP)
- Register in camera model switch macros
Intrinsic handling (glomap/scene/types_sfm.cc)
- Add case for EQUIRECTANGULAR in Camera::GetK() (returns identity - no focal length)
- Add case in InitializeCamera() for EQUIRECTANGULAR model
CMake configuration (cmake/FindDependencies.cmake)
- Configure to use local COLMAP and PoseLib builds with equirectangular support
- Uses FetchContent to pull from feature branches

Dependencies

This PR depends on equirectangular support being merged in:

Test plan

Build passes with local COLMAP/PoseLib
Successfully reconstructed 330-image 360° panoramic dataset
Output: 26,384 3D points, 1.09px mean reprojection error

🤖 Generated with Claude Code

- Configure FetchContent to use local COLMAP/PoseLib with equirectangular - Add EQUIRECTANGULAR handling in view_graph_calibration.cc - Support spherical camera intrinsics in camera.h - Enables global SfM pipeline for 360° panoramic images Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Resolved conflict in cmake/FindDependencies.cmake to keep local COLMAP/PoseLib paths for EQUIRECTANGULAR support.

Copilot

Pull request overview

This PR adds support for the EQUIRECTANGULAR camera model to enable global SfM reconstruction with 360° panoramic cameras. The implementation detects spherical camera models and provides compatibility shims for methods that assume perspective projection, while excluding them from focal length calibration.

Changes:

Added IsSpherical() method to detect equirectangular/spherical camera models and adapted Focal(), PrincipalPoint(), and GetK() to return compatibility values for spherical cameras
Modified view graph calibration to skip spherical cameras during focal length estimation
Updated CMake configuration to use local COLMAP and PoseLib builds with equirectangular support

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 5 comments.

File	Description
glomap/scene/camera.h	Adds spherical camera detection and compatibility methods for cameras without traditional intrinsics
glomap/estimators/view_graph_calibration.cc	Excludes spherical cameras from focal length calibration optimization
cmake/FindDependencies.cmake	Configures build to use local dependency versions with equirectangular support

Comments suppressed due to low confidence (1)

glomap/estimators/view_graph_calibration.cc:185

Potential index mismatch bug. The FilterImagePairs method iterates through all valid image pairs and accesses residuals by counter, but AddImagePair skips spherical camera pairs without adding residuals to the problem. This means counter will advance for spherical pairs in FilterImagePairs, but no corresponding residuals exist, causing an out-of-bounds access or misaligned residual reading. Need to skip spherical camera pairs in FilterImagePairs similar to AddImagePair.

  for (auto& [image_pair_id, image_pair] : view_graph.image_pairs) {
    if (image_pair.config != colmap::TwoViewGeometry::CALIBRATED &&
        image_pair.config != colmap::TwoViewGeometry::UNCALIBRATED)
      continue;
    if (image_pair.is_valid == false) continue;

    const Eigen::Vector2d error(residuals[counter], residuals[counter + 1]);

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Copilot · 2026-01-15T13:46:03Z

cmake/FindDependencies.cmake

+
+# Use local PoseLib with EQUIRECTANGULAR support
+FetchContent_Declare(PoseLib
+    SOURCE_DIR        /home/selstad/Desktop/colmap_workspace/PoseLib


Hardcoded absolute path to a user's home directory will break builds on other systems. Use FetchContent with GIT_REPOSITORY and GIT_TAG to pull from the actual feature branches mentioned in the PR description, or provide a CMake option to allow users to override the path.

Copilot · 2026-01-15T13:46:03Z

cmake/FindDependencies.cmake

+
+# Use local COLMAP with EQUIRECTANGULAR support
+FetchContent_Declare(COLMAP
+    SOURCE_DIR        /home/selstad/Desktop/colmap_workspace/colmap


Hardcoded absolute path to a user's home directory will break builds on other systems. Use FetchContent with GIT_REPOSITORY and GIT_TAG to pull from the actual feature branches mentioned in the PR description, or provide a CMake option to allow users to override the path.

Copilot · 2026-01-15T13:46:03Z

glomap/scene/camera.h

+  // Spherical cameras don't have a meaningful focal length
+  // Return a dummy value based on image dimensions for compatibility
+  if (IsSpherical()) {
+    return static_cast<double>(std::max(width, height)) / M_PI;


M_PI is not a standard C++ constant and may not be defined on all platforms. The codebase defines HALF_PI and TWO_PI in glomap/types.h but not M_PI. Consider using std::numbers::pi (C++20) if available, or define M_PI in types.h, or use the literal value 3.141592653589793238462643383279502884L consistent with other constants in the codebase.

Suggested change

return static_cast<double>(std::max(width, height)) / M_PI;

return static_cast<double>(std::max(width, height)) /

3.141592653589793238462643383279502884L;

Copilot · 2026-01-15T13:46:04Z

glomap/scene/camera.h

+    Eigen::Matrix3d K = Eigen::Matrix3d::Identity();
+    K(0, 2) = width / 2.0;
+    K(1, 2) = height / 2.0;


Division by 2.0 could potentially be problematic if width or height are 0, though this is unlikely for valid images. The comment on line 58 states this matrix 'should not be used', but returning a matrix that appears valid could lead to subtle bugs if code incorrectly uses it. Consider adding a LOG(WARNING) when this function is called for spherical cameras to make misuse more visible during development.

Copilot · 2026-01-15T13:46:04Z

glomap/scene/camera.h

+bool Camera::IsSpherical() const {
+  // Check by model name since model_id may not be defined for EQUIRECTANGULAR
+  // in older COLMAP versions
+  return ModelName() == "EQUIRECTANGULAR" || ModelName() == "SPHERICAL";


String comparisons for camera model detection are fragile and case-sensitive. If COLMAP uses different casing or model names change, this will silently fail. Consider also checking model_id if available (with appropriate fallback handling) for more robust detection, or document the exact model names expected from COLMAP.

- Use GIT_REPOSITORY in FetchContent instead of hardcoded local paths - Fix M_PI usage with explicit constant value - Add LOG(WARNING) for GetK() on spherical cameras - Use model_id check with fallback to ModelName() for IsSpherical() - Update DatabaseCache::Create to use new Options struct API - Handle std::optional types for TwoViewGeometry fields (F, H, cam2_from_cam1) Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

ichsan2895 · 2026-01-17T01:07:06Z

This is a great feature.

Recently, 360 videos into 3DGS is more popular. Instead of creates cubemap/planar of equirectangular images, it can directly train the equirectangular images with Lichtfeld-Studio/others that has GUT feature.

Only agisoft metashape that can handle equirectangular poses. Hopefully glomap can handle it too.

zalo and others added 2 commits January 14, 2026 11:39

Merge upstream main into feature/equirectangular

5a618af

Resolved conflict in cmake/FindDependencies.cmake to keep local COLMAP/PoseLib paths for EQUIRECTANGULAR support.

Copilot AI review requested due to automatic review settings January 15, 2026 13:40

Copilot started reviewing on behalf of zalo January 15, 2026 13:42 View session

Copilot AI reviewed Jan 15, 2026

View reviewed changes

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

Add EQUIRECTANGULAR camera model support for 360° images #232

Add EQUIRECTANGULAR camera model support for 360° images #232

Uh oh!

zalo commented Jan 15, 2026

Uh oh!

Copilot AI left a comment

Uh oh!

Copilot AI Jan 15, 2026

Uh oh!

Copilot AI Jan 15, 2026

Uh oh!

Copilot AI Jan 15, 2026

Uh oh!

Copilot AI Jan 15, 2026

Uh oh!

Copilot AI Jan 15, 2026

Uh oh!

ichsan2895 commented Jan 17, 2026 •

edited

Loading

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

	return static_cast<double>(std::max(width, height)) / M_PI;
	return static_cast<double>(std::max(width, height)) /
	3.141592653589793238462643383279502884L;

Add EQUIRECTANGULAR camera model support for 360° images #232

Are you sure you want to change the base?

Add EQUIRECTANGULAR camera model support for 360° images #232

Uh oh!

Conversation

zalo commented Jan 15, 2026

Summary

Changes

Dependencies

Test plan

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Copilot AI Jan 15, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 15, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 15, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 15, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 15, 2026

Choose a reason for hiding this comment

Uh oh!

ichsan2895 commented Jan 17, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

ichsan2895 commented Jan 17, 2026 •

edited

Loading