Point cloud position

[li1u]

Sorry to trouble you — I was wondering if I could ask for your advice on something. After optimizing the camera parameters using the code below, I noticed that the position of the point cloud changed quite significantly. I was curious if you've come across a similar issue before, and if so, what you think might be the cause. I'd really appreciate any insights you could share.

[jytime]

Hi @li1u, thanks for the question! Just to clarify — in general, bundle adjustment (BA) jointly optimizes both (a) 3D point positions and (b) camera poses to minimize reprojection error. As a result, it’s expected that the optimized point cloud may shift significantly compared to the initial one. The absolute position of the point cloud is not preserved — only the relative geometry between points and cameras matters for reprojection.

I noticed you uploaded a visualization — could you clarify what you’re hoping to indicate with it?