Visualizing the model via prior poses rotates poses

[famfa693]

Hi, Thanks for your amazing work!

I generated an empty model using prior poses and triangulated the points to construct the SFM model. The issue is that when I plot the camera poses of reconstructed model via scatter plot, the correct trajectory is shown. However, when I use "viz_3d.plot_reconstruction" or "viz_3d.plot_camera_colmap" functions the trajectory is no longer shown correctly. I have there questions here:

1. Will this effect on the localization results?
2. How can I plot the correct trajectory of the model?
3. Do I need to rotate the ground truth poses before generating the SFM model?

Thanks so much in advance for your help!

[sarlinpe]

In COLMAP models, camera poses are expected to transform from world to camera coordinates. You likely assumed the opposite. This will yield an incorrect 3D model.

[famfa693]

Thanks! That resolved the issue.