I'm trying to follow Performing SBA on Data from File. It has been running on ROS Groovy Galapagos on Ubuntu 12.04.

In the last part, Visualization with Rviz of the Performing SBA on Data from File, Rviz shows strange visualization because landmark points(x,y,z) and camera pose(x,y,z) in the result file have different sign in x values each other. I generated the result file by using writeBundlerFile() after running sparse bundle adjustment with samplebundlerfile.out.

This is the some part of the result file.

--

Bundle file v0.3

5 50

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 0.0000000000e+00 0.0000000000e+00

0.0000000000e+00 -1.0000000000e+00 0.0000000000e+00

0.0000000000e+00 0.0000000000e+00 -1.0000000000e+00

0.0000000000e+00 0.0000000000e+00 0.0000000000e+00 // camera pose (x y z)

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 -3.6102908617e-10 5.0166716117e-10

-3.6102908484e-10 -1.0000000000e+00 -2.6551691863e-09

5.0166716213e-10 2.6551691861e-09 -1.0000000000e+00

-7.5948160049e-01 1.3820343748e-08 4.6894949497e-09 // camera pose (x y z)

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 -3.6583800524e-10 4.3871802303e-10

-3.6583800343e-10 -1.0000000000e+00 -4.1200444567e-09

4.3871802454e-10 4.1200444565e-09 -1.0000000000e+00

-1.5189631969e+00 2.0895044828e-08 8.7468522540e-09 // camera pose (x y z)

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 -2.3371397854e-10 2.6513408110e-11

-2.3371397840e-10 -1.0000000000e+00 -5.5546336148e-09

2.6513409408e-11 5.5546336148e-09 -1.0000000000e+00

-2.2784447907e+00 2.7502454777e-08 1.3476074011e-08 // camera pose (x y z)

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 6.7231987136e-12 -5.6948044652e-10

6.7231951043e-12 -1.0000000000e+00 -6.3377854254e-09

-5.6948044656e-10 6.3377854254e-09 -1.0000000000e+00

-3.0379263828e+00 3.0655840763e-08 1.7106793080e-08 // camera pose (x y z)

0.2531605326 -0.2531605328 5.063210657 // landmark point (x y z)

255 255 255

5 0 0 21.5 21.5 1 0 -43 21.5 2 0 -107.5 21.5 3 0 -172 21.5 4 0 -236.5 21.5

0.2531605326 -0.7594815976 5.063210654 // landmark point (x y z)

255 255 255

5 0 1 21.5 64.5 1 1 -43 64.5 2 1 -107.5 64.5 3 1 -172 64.5 4 1 -236.5 64.5

0.2531605325 -1.265802662 5.063210651 // landmark point (x y z)

255 255 255

5 0 2 21.5 107.5 1 2 -43 107.5 2 2 -107.5 107.5 3 2 -172 107.5 4 2 -236.5 107.5

0.2531605324 -1.772123726 5.063210648 // landmark point (x y z)

255 255 255

5 0 3 21.5 150.5 1 3 -43 150.5 2 3 -107.5 150.5 3 3 -172 150.5 4 3 -236.5 150.5

0.2531605324 -2.27844479 5.063210645 // landmark point (x y z)

......

As you can see in the result file above, although sings of all x in camera pose are negative, Rviz shows camera pose in the same quadrant as x in landmark point as it is shown at the last part in Performing SBA on Data from File.

Any comments would be highly appreciated.

Thank you.