KITTI data

[LAnastasiia]

Question - What actually are the first three values in each entry in poses.txt? According to the official repo (https://github.com/bostondiditeam/kitti/blob/master/Papers_Summary/Geiger2013IJRR/readme.md), KITTI odometry has 7 values (the first three being box size along respective dimensions), but in poses.txt there're just six... And why are they involved in the camera rotation matrix?

I would really appreciate it If you could explain what is going on here:

continuous_view_synthesis/data/kitti_data_loader.py

Lines 51 to 54 in c6fc39e

	RB = ROT.from_euler('xyz',poseB[0:3]).as_dcm()
	TA = poseA[3:].reshape(3, 1)
	RA = ROT.from_euler('xyz',poseA[0:3]).as_dcm()
	T = RA.T.dot(TB-TA)/50.

.

Thank you

[LAnastasiia]

I suspect those denote a pre-calculated camera direction in Euler angles, is that right?