Question about synthetic dataset

[bmunkhtulga]

Thank you for sharing this repo.

I have a question about the coordinate system in the synthetic dataset. I am trying to get an object pose from the JSON file. I have converted the quaternion to get the rotation matrix of the object. And I got a translation matrix from the fourth column of matrix_4x4. Now I am trying to make sense of the data I have got.

• How does the coordination system work in the dataset?
• Do I have to do camera to object calibration to get the actual world rotation and location of the object?
• Is the location matrix in meters?
• How do I get XYZ position in world coordinate?

Thank you in advance.