Commit 7ee1ebf5 authored by Radim Tylecek's avatar Radim Tylecek

Update README.md

parent 5c44f8ce
......@@ -38,7 +38,7 @@ _NOTE_: Due to bug in Gitlab server valid PLY files are not downloaded with ZIP
* File [`labels.yaml`](https://gitlab.inf.ed.ac.uk/3DRMS/Challenge2018/blob/master/calibration/labels.yaml) - semantic label definition list
* File [`colors.yaml`](https://gitlab.inf.ed.ac.uk/3DRMS/Challenge2018/blob/master/calibration/colors.yaml) - label color definition (for display)
* File [`calibration/camchain-DDDD.yaml`](https://gitlab.inf.ed.ac.uk/3DRMS/Challenge2018/blob/master/calibration/camchain-2017-05-16-09-53-50.yaml) - camera rig calibration (for real data)
* File [`calibration/camchain-DDDD.yaml`](https://gitlab.inf.ed.ac.uk/3DRMS/Challenge2018/blob/master/calibration/camchain-2017-05-16-09-53-50.yaml) - camera rig calibration (for real data), [Kalibr format](https://github.com/ethz-asl/kalibr/wiki/yaml-formats)
### Training (Synthetic data)
......@@ -86,7 +86,7 @@ with open('training/clear_0001/vcam_0/vcam_0_f00001_dmap.bin', 'rb') as f:
There are five camera pairs arranged in a pentagonal rig. The stereo pairs are `cam_0/cam_1`, `cam_2/cam_3`, `cam_4/cam_5`, `cam_6/cam_7`, `cam_8/cam_9`.
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`.
The poses and are also rendered in PLY files, single environments in `cams_EEEE_SSSS_fXXXX.ply` and all jointly in `cams_all_SSSS_fXXXX.ply`.
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