Commit 2803f59e authored by Radim Tylecek's avatar Radim Tylecek

Update README.md

parent c7b9071b
......@@ -15,6 +15,8 @@ and the quality of semantically annotated 3D models.
* File `labels.yaml` - semantic label definition list
* File `colors.yaml` - label color definition (for display)
Please install [git lfs](https://git-lfs.github.com/) before cloning this repository.
### Training
| Sequence | cameras | range | frames |
......@@ -31,7 +33,7 @@ and the quality of semantically annotated 3D models.
* Files `uvc_camera_cam_X_fXXXXX_over.png` - overlay of annotation over greyscale image (for display)
* Files `uvc_camera_cam_X_fXXXXX_cam.txt` - camera parameters (f,c,q,t)
####
#### Camera parameters
The pose format is `fx fy cx cy qw qx qy qz tx ty tz`, where `q` is the quaternion denoting the camera orientation and `t` is the camera translation.
The transformation from world to camera coordinates is given as `[R(q)|t]`, where `R(q)` is the rotation matrix corresponding to quaternion `q`.
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