6D poses matrix?

[zx-joe]

Hello, thanks for your great job. I have one question in the generated 6d-pose mat file. In the mat file, there is '6ds', which I interpret as the object's relative pose matrix wrt. the camera It should have the form as [ [ r11,r12,r13,t1], [r21,r22,r23,t2], [r31,r32,r33,t3], [0,0,0,1] ] May I ask why it is like this? (not the form a transfer matrix)

[DIYer22]

We follow the YCB dataset's 6d pose format here