Camera pose

[kimkj38]

Thanks for your great work first.
And I have some questions about the camera pose data.

1. As I understand, "final_camera_rotation" and "camera_rt_matrix" should have inverse relation.
   But when I made inverse matrix of "final_camera_rotation", the signs of the second and third rows are opposite. Did I miss something?
   

2. I can get "final_camera_rotation" by applying "rotation_from_original_to_point" to the "camera_original_rotation". But I don't understand the meaning of "camera_original_rotation". I thought that it would be a camera rotation of the first frame but it isn't. What is it and why do we need it?

[xuxiaoxxxx]

Can you slove this problem? I also don't konw how to proj 3D into 2D image.

[Geniusly-Stupid]

I also meet this problem. May I ask how to establish the pose_matrix from "pose.json" so that the point cloud can be transformed to global coordinate?