Why does the colmap example invert the rotation matrix here?
https://github.com/nerfstudio-project/viser/blob/567580e0af1ef850b506dc85295e82c53bf55557/examples/04_demos/01_colmap_visualizer.py#L139-L141
The docs state that the rotation needs to be from the parent frame (world) to the local (camera) frame https://viser.studio/main/api/core/scene_api/#viser.SceneApi.add_frame
However, colmap gives you W2C poses in the binary/text file already, so inverting should turn it into C2W poses.
https://colmap.github.io/format.html#images-txt
However, the example works fine and renders properly for my scenes, so there is something I'm missing in my understanding
Why does the colmap example invert the rotation matrix here?
https://github.com/nerfstudio-project/viser/blob/567580e0af1ef850b506dc85295e82c53bf55557/examples/04_demos/01_colmap_visualizer.py#L139-L141
The docs state that the rotation needs to be from the parent frame (world) to the local (camera) frame https://viser.studio/main/api/core/scene_api/#viser.SceneApi.add_frame
However, colmap gives you W2C poses in the binary/text file already, so inverting should turn it into C2W poses.
https://colmap.github.io/format.html#images-txt
However, the example works fine and renders properly for my scenes, so there is something I'm missing in my understanding