diff --git a/glomap/estimators/global_rotation_averaging.cc b/glomap/estimators/global_rotation_averaging.cc
index 3f7d031..a968fa1 100644
--- a/glomap/estimators/global_rotation_averaging.cc
+++ b/glomap/estimators/global_rotation_averaging.cc
@@ -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)
+    image.cam_from_world.translation =
+        (image.cam_from_world.rotation * image.cam_from_world.translation);
   }
 
   return true;
diff --git a/glomap/io/colmap_converter.cc b/glomap/io/colmap_converter.cc
index eceaead..3747308 100644
--- a/glomap/io/colmap_converter.cc
+++ b/glomap/io/colmap_converter.cc
@@ -184,14 +184,15 @@ void ConvertDatabaseToGlomap(const colmap::Database& database,
               << images_colmap.size() << std::flush;
     counter++;
 
-    image_t image_id = image.ImageId();
+    const image_t image_id = image.ImageId();
     if (image_id == colmap::kInvalidImageId) continue;
     auto ite = images.insert(std::make_pair(
         image_id, Image(image_id, image.CameraId(), image.Name())));
     const colmap::PosePrior prior = database.ReadPosePrior(image_id);
     if (prior.IsValid()) {
-      ite.first->second.cam_from_world = Rigid3d(
-          colmap::Rigid3d(Eigen::Quaterniond::Identity(), prior.position));
+      const colmap::Rigid3d world_from_cam_prior(Eigen::Quaterniond::Identity(),
+                                                 prior.position);
+      ite.first->second.cam_from_world = Rigid3d(Inverse(world_from_cam_prior));
     } else {
       ite.first->second.cam_from_world = Rigid3d();
     }
@@ -200,20 +201,18 @@ void ConvertDatabaseToGlomap(const colmap::Database& database,
 
   // Read keypoints
   for (auto& [image_id, image] : images) {
-    colmap::FeatureKeypoints keypoints = database.ReadKeypoints(image_id);
-
-    image.features.reserve(keypoints.size());
-    for (int i = 0; i < keypoints.size(); i++) {
-      image.features.emplace_back(
-          Eigen::Vector2d(keypoints[i].x, keypoints[i].y));
+    const colmap::FeatureKeypoints keypoints = database.ReadKeypoints(image_id);
+    const int num_keypoints = keypoints.size();
+    image.features.resize(num_keypoints);
+    for (int i = 0; i < num_keypoints; i++) {
+      image.features[i] = Eigen::Vector2d(keypoints[i].x, keypoints[i].y);
     }
   }
 
   // Add the cameras
   std::vector<colmap::Camera> cameras_colmap = database.ReadAllCameras();
   for (auto& camera : cameras_colmap) {
-    camera_t camera_id = camera.camera_id;
-    cameras[camera_id] = camera;
+    cameras[camera.camera_id] = camera;
   }
 
   // Add the matches