I got the Insta360 One R Twin edition for a good price. Its image resolution is 6080x3040.
It supports HDR images as well as taking pictures at an interval. The minimum interval is currently 3 seconds.
It has support for RAW images and a proprietary “insp” file format for 360° images.
What’s the best way to use it with Mapillary?
The WIFI name of the camera ends with “.OSC” so I guess it supports the basic open spherical API.