Stupid lib to extract gravity from pycolmap reconstructions (or just numpy arrays)
Project description
easy-gravity
A naive way to extract gravity from poses
See here for some alternative methods
Method
Assume cameras are not in plane rotated. This means that gravity must lie on the "pointing/up" plane for each camera. For any vector $x$ we can easily compute the squared distance to this plane as $x \cdot \hat{n}$. The normals of the plane is simply the x-direction of the camera. Differentiate this sum and solve for 0 you get an eigenvalue eq. Solve for smallest eigenvalue.
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