Add docs on the left convention in COLMAP for covariance propagation. #3167
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ahojnnes
approved these changes
Feb 17, 2025
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This was a big confusion. I added some comments to explain why the fix in #3155 was correct.
In the end its because that in COLMAP we use the left convention, while in GTSAM and its reference paper here https://arxiv.org/pdf/1812.01537 the right convention was employed.
This is also in preparation for another PR on propagating relative pose covariance in COLMAP (with left convention) with cross-pose correlation available. This will encode the fact that the close image has lower relative pose covariance and does not get affected by Gauge ambiguity.