Loading poses into COLMAP about objectron

[ahmadyan]

The geometry.pbdata contains the original ARKit camera poses.

@lzhang57 did this the other way around (bringing COLMAP camera poses to our coordinates without any problem. The result are written in sfm_arframe.pbdata file next to geometry.pbdata. The pose/point cloud in sfm_arframe.pbdata is computed using COLMAP then converted to our coordinate system.

[weders]

Thanks a lot for the answer! Is this code for the COLMAP conversion available?

[lzhang57]

Hi weder,

When converting camera coordinates from COLMAP to our convention, we left multiplied the view_matrix with the below adjust_matrix, which swaps x and y and inverts z:

adjust_matrix = np.array(
    [[0.,   1.,   0.],
     [1.,   0.,   0.],
     [0.,   0.,  -1.] ])

You can just do it reversely.