Support of pinhole-equi model (KB-Model)

[TheRealKaufmann]

Hi there,

I really like this project and the paper about it. But I have a question, what would have to be done in order to support the equidistant (Kannala Brandt) camera model instead of the poly fisheye model? I have seen that the Kannala Brandt model is also available under camera_model/include/camera_model/camera_models.

Thanks, Tom