Commit a972bd7b authored by Radim Tylecek's avatar Radim Tylecek

Update README.md

parent a721a764
......@@ -29,10 +29,10 @@ Please install [git lfs](https://git-lfs.github.com/) before cloning this reposi
| Sequence | cameras | range | frames |
| -------- | ------- | ------ | ------- | ------ |
| train_around_hedge | cam_0, cam_2 | 100:10:260 | 34 |
| train_boxwood_row | cam_0, cam_2 | 90:10:650 | 114 |
| train_boxwood_slope | cam_0, cam_2 | 120:10:340 | 46 |
| train_around_roses | cam_0, cam_2 | 590:10:690 | 11 |
| train_around_hedge | cam_0, cam_1*, cam_2 | 100:10:260 | 34 |
| train_boxwood_row | cam_0, cam_1*, cam_2 | 90:10:650 | 114 |
| train_boxwood_slope | cam_0, cam_1*, cam_2 | 120:10:340 | 46 |
| train_around_roses | cam_0, cam_1*, cam_2 | 590:10:690 | 11 |
* File `model_SSSS.ply` - point cloud with semantic labels (field `scalar_s` or color) for sequence `SSS`
* Subfolders `uvc_camera_cam_X`
......@@ -41,6 +41,8 @@ Please install [git lfs](https://git-lfs.github.com/) before cloning this reposi
* 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)
* *For `cam_1` there is no annotation provided, ie. _gtr and _over are missing
#### 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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