Function getImageWorldPose

src/utils/colmapTransforms.ts:41–46

(image: Image)

 * More efficient when you need both values.
 */
export function getImageWorldPose(image: Image): { position: THREE.Vector3; quaternion: THREE.Quaternion } {
  const quaternion = getImageWorldQuaternion(image);
  const t = new THREE.Vector3(image.tvec[0], image.tvec[1], image.tvec[2]);
  const position = t.negate().applyQuaternion(quaternion);
  return { position, quaternion };
}