Dataloader and Classical Implementation

[rahulsk88]

This issue proposes the integration of COLMAP for Structure from Motion (SfM), along with any necessary dataloader implementations.

Scope

• Add COLMAP-based SfM pipeline for camera pose estimation and sparse/dense reconstruction.
• Identify and implement dataloader(s) required to efficiently load input data for COLMAP and subsequent processing.
• Document usage and integration steps for both COLMAP and dataloader components.

Motivation

• Enable robust camera pose estimation and 3D reconstruction using classical SfM tools.
• Ensure compatibility and ease of use with other models and implementations.

Tasks

• Integrate COLMAP into the processing pipeline.
• Design and implement dataloader for image data, camera intrinsics/extrinsics, etc.
• Provide documentation and example scripts.

Additional Notes

• Consider modular design for dataloaders to support future dataset formats.
• Explore existing COLMAP wrappers and Python bindings for ease of integration.

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