diff --git a/dgp/datasets/base_dataset.py b/dgp/datasets/base_dataset.py
index 21c4581..4707650 100644
--- a/dgp/datasets/base_dataset.py
+++ b/dgp/datasets/base_dataset.py
@@ -42,26 +42,8 @@
 
 AVAILABLE_DATUM_TYPES = ("image", "point_cloud", "radar_point_cloud")
 AVAILABLE_DISTORTION_PARAMS = (
-    'k1',
-    'k2',
-    'k3',
-    'k4',
-    'k5',
-    'k6',
-    'p1',
-    'p2',
-    'alpha',
-    'beta',
-    'xi',
-    's1',
-    's2',
-    's3',
-    's4',
-    'taux',
-    'tauy',
-    'fov',
-    'fisheye',
-    'w',
+    'k1', 'k2', 'k3', 'k4', 'k5', 'k6', 'p1', 'p2', 'alpha', 'beta', 'xi', 's1', 's2', 's3', 's4', 'taux', 'tauy',
+    'fov', 'fisheye', 'w', 'equirectangular'
 )
 
 
diff --git a/dgp/proto/geometry.proto b/dgp/proto/geometry.proto
index cd30c81..73cd3fb 100644
--- a/dgp/proto/geometry.proto
+++ b/dgp/proto/geometry.proto
@@ -82,4 +82,6 @@ message CameraIntrinsics {
   // Parameters for Double Sphere model
   double xi = 25;
 
+  // Flag to indicate camera model is Equirectangular
+  int32  equirectangular = 26;
 }
diff --git a/dgp/proto/geometry_pb2.py b/dgp/proto/geometry_pb2.py
index 71872ca..05baffd 100644
--- a/dgp/proto/geometry_pb2.py
+++ b/dgp/proto/geometry_pb2.py
@@ -19,7 +19,7 @@
   syntax='proto3',
   serialized_options=None,
   create_key=_descriptor._internal_create_key,
-  serialized_pb=b'\n\x18\x64gp/proto/geometry.proto\x12\tdgp.proto\"*\n\x07Point3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"*\n\x07Vector3\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"<\n\nQuaternion\x12\n\n\x02qx\x18\x01 \x01(\x01\x12\n\n\x02qy\x18\x02 \x01(\x01\x12\n\n\x02qz\x18\x03 \x01(\x01\x12\n\n\x02qw\x18\x04 \x01(\x01\"}\n\x04Pose\x12\'\n\x0btranslation\x18\x01 \x01(\x0b\x32\x12.dgp.proto.Vector3\x12\'\n\x08rotation\x18\x02 \x01(\x0b\x32\x15.dgp.proto.Quaternion\x12#\n\x1breference_coordinate_system\x18\x03 \x01(\t\"\xce\x02\n\x10\x43\x61meraIntrinsics\x12\n\n\x02\x66x\x18\x01 \x01(\x01\x12\n\n\x02\x66y\x18\x02 \x01(\x01\x12\n\n\x02\x63x\x18\x03 \x01(\x01\x12\n\n\x02\x63y\x18\x04 \x01(\x01\x12\x0c\n\x04skew\x18\x05 \x01(\x01\x12\x0b\n\x03\x66ov\x18\x06 \x01(\x01\x12\x0f\n\x07\x66isheye\x18\x07 \x01(\x05\x12\n\n\x02k1\x18\x08 \x01(\x01\x12\n\n\x02k2\x18\t \x01(\x01\x12\n\n\x02k3\x18\n \x01(\x01\x12\n\n\x02k4\x18\x0b \x01(\x01\x12\n\n\x02k5\x18\x0c \x01(\x01\x12\n\n\x02k6\x18\r \x01(\x01\x12\n\n\x02p1\x18\x0e \x01(\x01\x12\n\n\x02p2\x18\x0f \x01(\x01\x12\n\n\x02s1\x18\x10 \x01(\x01\x12\n\n\x02s2\x18\x11 \x01(\x01\x12\n\n\x02s3\x18\x12 \x01(\x01\x12\n\n\x02s4\x18\x13 \x01(\x01\x12\x0c\n\x04taux\x18\x14 \x01(\x01\x12\x0c\n\x04tauy\x18\x15 \x01(\x01\x12\r\n\x05\x61lpha\x18\x16 \x01(\x01\x12\x0c\n\x04\x62\x65ta\x18\x17 \x01(\x01\x12\t\n\x01w\x18\x18 \x01(\x01\x12\n\n\x02xi\x18\x19 \x01(\x01\x62\x06proto3'
+  serialized_pb=b'\n\x18\x64gp/proto/geometry.proto\x12\tdgp.proto\"*\n\x07Point3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"*\n\x07Vector3\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"<\n\nQuaternion\x12\n\n\x02qx\x18\x01 \x01(\x01\x12\n\n\x02qy\x18\x02 \x01(\x01\x12\n\n\x02qz\x18\x03 \x01(\x01\x12\n\n\x02qw\x18\x04 \x01(\x01\"}\n\x04Pose\x12\'\n\x0btranslation\x18\x01 \x01(\x0b\x32\x12.dgp.proto.Vector3\x12\'\n\x08rotation\x18\x02 \x01(\x0b\x32\x15.dgp.proto.Quaternion\x12#\n\x1breference_coordinate_system\x18\x03 \x01(\t\"\xe7\x02\n\x10\x43\x61meraIntrinsics\x12\n\n\x02\x66x\x18\x01 \x01(\x01\x12\n\n\x02\x66y\x18\x02 \x01(\x01\x12\n\n\x02\x63x\x18\x03 \x01(\x01\x12\n\n\x02\x63y\x18\x04 \x01(\x01\x12\x0c\n\x04skew\x18\x05 \x01(\x01\x12\x0b\n\x03\x66ov\x18\x06 \x01(\x01\x12\x0f\n\x07\x66isheye\x18\x07 \x01(\x05\x12\n\n\x02k1\x18\x08 \x01(\x01\x12\n\n\x02k2\x18\t \x01(\x01\x12\n\n\x02k3\x18\n \x01(\x01\x12\n\n\x02k4\x18\x0b \x01(\x01\x12\n\n\x02k5\x18\x0c \x01(\x01\x12\n\n\x02k6\x18\r \x01(\x01\x12\n\n\x02p1\x18\x0e \x01(\x01\x12\n\n\x02p2\x18\x0f \x01(\x01\x12\n\n\x02s1\x18\x10 \x01(\x01\x12\n\n\x02s2\x18\x11 \x01(\x01\x12\n\n\x02s3\x18\x12 \x01(\x01\x12\n\n\x02s4\x18\x13 \x01(\x01\x12\x0c\n\x04taux\x18\x14 \x01(\x01\x12\x0c\n\x04tauy\x18\x15 \x01(\x01\x12\r\n\x05\x61lpha\x18\x16 \x01(\x01\x12\x0c\n\x04\x62\x65ta\x18\x17 \x01(\x01\x12\t\n\x01w\x18\x18 \x01(\x01\x12\n\n\x02xi\x18\x19 \x01(\x01\x12\x17\n\x0f\x65quirectangular\x18\x1a \x01(\x05\x62\x06proto3'
 )
 
 
@@ -399,6 +399,13 @@
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='equirectangular', full_name='dgp.proto.CameraIntrinsics.equirectangular', index=25,
+      number=26, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
   ],
   extensions=[
   ],
@@ -412,7 +419,7 @@
   oneofs=[
   ],
   serialized_start=317,
-  serialized_end=651,
+  serialized_end=676,
 )
 
 _POSE.fields_by_name['translation'].message_type = _VECTOR3