convert poses of image to world coordinate system

[Dong Liu]

Hi,

Here is the colmap's documentation,

The coordinates of the projection/camera center are given by -R^t * T, where R^t is the inverse/transpose of the 3x3 rotation matrix composed from the quaternion and T is the translation vector.

My question is how about the orientation, how the camera's orientation is convert to the world coordinate system?

Thanks,

Dong

[Adam Polak]

I had the same question, let me know if you ever found an answer :)

[M E]

The rotation matrix transforms a point from the world to the camera coordinate system. If you need the rotation matrix in the world coordinate system, just take the inverse/transpose.