Format of pose.txt

[HaiDang2001VN]

@andyzeng
Sorry but could you please specify the format of camera poses in the data you use in demo code?
Because there're just 6 numbers in 6DoF format of pose or 7 numbers as in TUM RGB-D Trajectories Dataset but you have up to 16 params here (I noticed that 4 last ones is the same for all).
And I saw that most repos use 6DoF as camera poses, so if you have time then you can mark this as Pull request.
Thanks in advance!

[andyzeng]

Each pose.txt holds a 4x4 rigid transformation matrix, which consists of a 3x3 rotation matrix and a 3x1 translation vector:

r₁₁, r₁₂, r₁₃, t_x
r₂₁, r₂₂, r₂₃, t_y
r₃₁, r₃₂, r₃₃, t_z
0, 0, 0, 1

The 3x3 rotation matrix can be converted to and from 3 numbers (e.g. euler angles, axis angle representation) or 4 numbers (e.g. quaternions like the TUM dataset).

[HaiDang2001VN]

Thanks for your detailed explanation! @andyzeng

[hongsamvo]

Hi @andyzeng, can I ask that pose.txt is transformation matrix between consecutive frames or transformation matrix with an origin