Fix conversion of colmap pose prior #57
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@lpanaf Shall we merge this or anything is missing? |
I still have not find chance to test it in someway. I would wait until this is done :) |
h1063135843
reviewed
Nov 27, 2024
| @@ -56,6 +56,9 @@ bool RotationEstimator::EstimateRotations( | |||
| image.cam_from_world.rotation = Eigen::Quaterniond(AngleAxisToRotation( | |||
| rotation_estimated_.segment(image_id_to_idx_[image_id], 3))); | |||
| } | |||
| // Restore the prior position (t = -Rc = R * R_ori * t_ori = R * t_ori) | |||
There was a problem hiding this comment.
R * R_ori * t_ori = R * t_ori
The equation only holds when R_ori is identity.
However, EstimateRotations will be called twice in GlobalMapper::Solve.
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Fixes issue #34