colmap fusion gps

• Number of images 556 frames
• Figure 1 is the result of pure colmap running, and you can see the obvious drift
  
• Figure 2 is the result based on colmap fusion gps
  
• Colmap integrates GPS to simulate the tunnel case, deducts the GPS of a certain section, performs colmap running positioning, and then compares the result with the GPS result (the error is still a bit large), as shown in the figure:
  

The modified colmap has significantly improved accuracy and can be used in AR, tunnel passing, high-precision mapping, etc.