Function getImageWorldQuaternion

src/utils/colmapTransforms.ts:18–25

(image: Image)

 * The result is inverted to convert from world-to-camera to camera-to-world.
 */
export function getImageWorldQuaternion(image: Image): THREE.Quaternion {
  return new THREE.Quaternion(
    image.qvec[1],  // x
    image.qvec[2],  // y
    image.qvec[3],  // z
    image.qvec[0]   // w
  ).invert();
}

/**
 * Get the world position of a camera from its COLMAP pose.