Fix conversion of colmap pose prior #57
Draft
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Contributor
Author
|
@lpanaf Shall we merge this or anything is missing? |
Collaborator
I still have not find chance to test it in someway. I would wait until this is done :) |
h1063135843
reviewed
Nov 27, 2024
| 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) |
Contributor
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.
|
any possibility of getting pose priors accepted by glomap again soon? |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Fixes issue #34