Method FromMatrix

src/colmap/geometry/sim3.h:83–90

  }

  static inline Sim3d FromMatrix(const Eigen::Matrix3x4d& matrix) {
    Sim3d t;
    t.scale() = matrix.col(0).norm();
    t.rotation() =
        Eigen::Quaterniond(matrix.leftCols<3>() / t.scale()).normalized();
    t.translation() = matrix.rightCols<1>();
    return t;
  }

  // Read from or write to text file without loss of precision.
  void ToFile(const std::filesystem::path& path) const;