Fix left-vs-right multiplication for adjustments in world coordinate system#3723
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najmemhmdb wants to merge 1 commit intonerfstudio-project:mainfrom
Open
Fix left-vs-right multiplication for adjustments in world coordinate system#3723najmemhmdb wants to merge 1 commit intonerfstudio-project:mainfrom
najmemhmdb wants to merge 1 commit intonerfstudio-project:mainfrom
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In camera_optimizer.py, the forward output is an adjustment in world coordinates applied to rays whose directions are also expressed in world space.
Therefore, in apply_to_raybundle, the adjustment must left-multiply the ray directions.
In viewer.py (update_camera_poses), camera poses are stored in world coordinates. The delta (the forward output/adjustment) should likewise left-multiply the pose.
The current code right-multiplies the pose, which implicitly treats the forward output as a camera-frame adjustment. This is inconsistent with the world-space assumption used in camera_optimizer.py.
What changed:
Switched camera pose update (in viewer.py) from right multiplication to left multiplication to keep everything in world coordinates.