Questions about the dataset 360RGBD

[Jaheim-s]

Hi, your work Egocentric Scene Reconstruction from an Omnidirectional Video is very attractive to me, thank you for open sourcing the project.
The dataset 360RGBD published by the project I downloaded successfully, and I have some questions about this.
Cloud you please help commet on:
1. Is the file rt.csv the camera pose ground truth of the video frame ?
2. How the physical coordinate system corresponding to the camera pose matrix is defined, what about the orientation of the XYZ coordinate axis?

[Hyeonjoong-Jang]

Hi, sorry for the late comments.

1. Yes, camera poses in the file rt.csv is ground truth. They are world_to_camera matrices, and they map points in the world to the camera coordinates.
2. The Z axis points forward, the X axis points right, and the Y axis points bottom with respect to the camera.

[HugoNTL]

Hi. Thanks for providing the wonderful dataset. I would like to calculate the world cooridnate by the 4x4 world_to_camera matrices in rt.csv. Could you please advise the camera intrinsics matrices for my calculation, i.e., focal length and Principal point (cx, cy)?
Many Thanks!