Rig extrinsics are not preserved #231
Description
Using glomap 1.2.0 I specify a rig with two cameras. The second camera has:
"cam_from_rig_rotation": [0.9999982956694152, 6.037841785203979e-05, 0.0012138303588930357, 0.001389830410931006],
"cam_from_rig_translation": [0.0005726410946748997, 0.12696233341238145, -0.0020167230616136983]
After running glomap mapper with BundleAdjustment.optimize_rig_poses = 0 I find that the rig has been modified:
5 2 CAMERA 1 CAMERA 2 1 0.99999829566941534 6.0378417852039797e-05 0.0012138303588930359 0.0013898304109310061 0.0027715877504992143 0.61449876953090021 -0.0097609567069074712
Whereas after running colmap mapper the extrinsics remain the same.
What is the correct way to keep the rig extrinsics constant?