Function run_spherical

python/examples/panorama_sfm.py:484–511

Reconstruct directly on the equirectangular panoramas with the native EQUIRECTANGULAR camera model, without rendering perspective images.

(
    args: argparse.Namespace, database_path: Path, rec_path: Path
)

def run_spherical(
    args: argparse.Namespace, database_path: Path, rec_path: Path
) -> None:
    """Reconstruct directly on the equirectangular panoramas with the native
    EQUIRECTANGULAR camera model, without rendering perspective images."""

    logging.info("Reconstructing with spherical camera")

    reader_options = pycolmap.ImageReaderOptions(camera_model="EQUIRECTANGULAR")
    pycolmap.extract_features(
        database_path,
        args.input_image_path,
        reader_options=reader_options,
        camera_mode=pycolmap.CameraMode.SINGLE,
    )

    # A single EQUIRECTANGULAR camera observes the whole sphere from one
    # center, so there is no rig and no per-frame image-pair skipping.
    run_matcher(args, database_path, pycolmap.FeatureMatchingOptions())

    # The EQUIRECTANGULAR model has no focal length, principal point, or
    # distortion to refine; its (w, h) params are held constant in bundle
    # adjustment.
    recs = pycolmap.incremental_mapping(
        database_path, args.input_image_path, rec_path
    )
    for idx, rec in recs.items():
        logging.info(f"#{idx} {rec.summary()}")


def run_perspective(