Panorama Image Poses

The file pano/pano-poses.csv stores collected information about the position and  orientation (known as the Poses) of each panorama. Here is an example file with poses for five panorama images:

# pano poses v1.0: ID; filename; timestamp; pano_pos_x; pano_pos_y; pano_pos_z; pano_ori_w; pano_ori_x; pano_ori_y; pano_ori_z
0; 00000-pano.jpg; 1455816514.953352; 0.150759; 0.050760; 1.855066; 0.999906; -0.013171; -0.001434; 0.003539
1; 00001-pano.jpg; 1455816529.513326; 0.026798; -0.029831; 1.858386; 0.734674; -0.003241; -0.014103; -0.678266
3; 00003-pano.jpg; 1455816548.603365; -0.031058; 0.228025; 1.846029; 0.517938; -0.017467; 0.016546; 0.855080
4; 00004-pano.jpg; 1455816554.833330; 0.154507; 0.316930; 1.849011; 0.860577; -0.017961; 0.007917; 0.508943

What is meant by X, Y and Z axis?

The X, Y, and Z axes indicate the device's location in three-dimensional space. When scanning begins, the device establishes its position starting from the coordinates (0,0,0), which serves as the mapping's origin.

• The front facing direction of the device is the X axis.

• The right-hand side is the Y axis.

• The gravity direction (vertical direction) is the Z axis.

The position changes from (0,0,0), as well as the orientations of the device  as you move.

Note: All coordinates are calculated in metric metres

Description of the fields:

• ID: A unique integer serving as an identifier for the panorama image. Note that the sequence of integers may contain gaps and is not necessarily ordered.

• filename: The plain filename of the panorama image file including the extension.

• timestamp: The time in seconds since 1/1/1970 00:00:00.

• The following fields denote the location of the panorama image in the coordinate system of the Dataset:

  • pano_pos_x: The x-coordinate.

  • pano_pos_y: The y-coordinate.

  • pano_pos_z: The z-coordinate.

• The following fields denote the orientation of the panorama image in the coordinate system of the dataset expressed as quaternion. Note that quaternions can easily be converted to Rotation matrices or Euler angles.

  • pano_ori_w: The real part of the quaternion.

  • pano_ori_x: The x-component of the quaternion.

  • pano_ori_y: The y-component of the quaternion.

  • pano_ori_z: The z-component of the quaternion.

The file `pano/pano-poses.csv` contains data regarding the poses of various panorama images. Each entry includes an ID, filename, timestamp, and coordinates (x, y, z) that indicate the position of the panorama in a 3D space. Additionally, the orientation of each panorama is represented using quaternion components (w, x, y, z). The ID serves as a unique identifier, while the filename specifies the image file. The timestamp records the time in seconds since January 1, 1970. The position fields (`pano_pos_x`, `pano_pos_y`, `pano_pos_z`) denote the spatial coordinates, and the orientation fields (`pano_ori_w`, `pano_ori_x`, `pano_ori_y`, `pano_ori_z`) describe the rotation in the dataset's coordinate system. This structured data is essential for understanding the spatial and rotational attributes of the panorama images.