Function getImageWorldPosition

src/utils/colmapTransforms.ts:31–35

(image: Image)

 * Converts from world-to-camera (qvec, tvec) to camera position in world space.
 */
export function getImageWorldPosition(image: Image): THREE.Vector3 {
  const quat = getImageWorldQuaternion(image);
  const t = new THREE.Vector3(image.tvec[0], image.tvec[1], image.tvec[2]);
  return t.negate().applyQuaternion(quat);
}

/**
 * Get both world position and quaternion for an image.