Function transformPoint

src/utils/sim3dTransforms.ts:97–106

(
  sim3d: Sim3d,
  xyz: [number, number, number]
)

 * Reference: colmap/geometry/sim3.h operator*(Sim3d, Vector3d)
 */
export function transformPoint(
  sim3d: Sim3d,
  xyz: [number, number, number]
): [number, number, number] {
  const p = new THREE.Vector3(xyz[0], xyz[1], xyz[2]);
  p.applyQuaternion(sim3d.rotation); // R * x
  p.multiplyScalar(sim3d.scale); // scale * (R * x)
  p.add(sim3d.translation); // + t
  return [p.x, p.y, p.z];
}

/**
 * Compute inverse of Sim3d transformation.