@@ -50,7 +50,7 @@ _NOTE_: Due to bug in Gitlab server valid PLY files are not downloaded with ZIP

**For `cam_1` and `cam_3` there is no annotation provided, ie. _gtr and _over are missing, and _undist is greyscale only

#### 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 pose format is `fx fy cx cy qw qx qy qz tx ty tz`, where `f` is focal length in pixels `c` centre point in pixels, `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`.