[Feat] Add support for panoramic image SfM

[AshadowZ]

Add support for panoramic image SfM

Summary

This PR adds support for SfM with panoramic images, implemented based on COLMAP's official panorama_sfm.py

For panoramic images, the script decomposes each image into 5 perspective views (front, back, left, right, and top). These views are organized as a camera rig to perform incremental reconstruction. Furthermore, the script leverages hloc to utilize learning-based descriptors and matchers for the SfM front-end. Additionally, I modified the forked hloc repository to support camera rigs

Result

360Roam bar

360Roam library

Key Findings

• I noticed that when running COLMAP, the default settings for SuperPoint+LightGlue seem to generate significantly more feature points, causing the Bundle Adjustment (BA) time to explode
• I tried compiling COLMAP and pycolmap with cuDSS and CUDA enabled, but GPU BA doesn't seem to offer much speedup. On top of that, it causes the program to crash unexpectedly