Kosheleva Elena

> I think there are multiple issues regarding using existing poses to triangulate the scene, e.g., #1057 > > I am not sure why you need this line `ROT_COLMAP_TO_NORMAL =...

> Orb-slam seems to use the same convention typically used in computer graphics (x-axis pointing right, y-axis pointing up, and the camera looking down the -z axis). This is how...