How to use the the syntheticRT.txt file?

[mcharawi]

We have downloaded the CU3D dataset and are using the dragon synthetic data for testing. We were wondering how to use the the syntheticRT.txt file.

It looks like each line contains a translation vector (x,y,z) and a rotation matrix.

We have been transforming our point clouds (generated from the png files using the synthetic camera param) by applying the rotation followed by the translation, but the resulting point clouds are not correctly aligned.

For example we take the point cloud from "synDep_0000.png" apply the rotation found in line 1 of syntheticRT.txt, then apply the translation in line 1. We then do the same for "synDep_0001.png" with line 2 and see if the clouds are aligned in meshlab.

Are we doing something incorrectly?