Panorama Image Poses

The file pano/pano-poses.csv explicitly stores collected information about 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

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.