ScanCapture pose format

[Yzhbuaa]

Hello, I captured several datasets using the ScanCapture App. But I don't know the definition of the image pose in poses.txt file. Could you explain it in detail? Thank you!

[sarlinpe]

The pose is the transformation from camera frame to world frame but follows the computer graphics conventions: https://developer.apple.com/documentation/arkit/arcamera/2866108-transform https://developer.apple.com/documentation/arkit/configuration_objects/understanding_world_tracking

the y-axis points upward, and (when relevant) the z-axis points toward the viewer and the x-axis points toward the viewer's right.

Here is how to parse it: https://github.com/microsoft/lamar-benchmark/blob/ede1c434cd6345ba61cc783223b6f3fdf2b9e7bf/scantools/run_phone_to_capture.py#L106-L118