Hello,

Thank you for creating this challenging dataset! It has been very useful.

I couldn't find the sensor coordinate frame conventions explicitly mentioned anywhere, but this is what I could infer from the visualization scripts:

The ground-truth, ARCore, ARKit, and Tango poses are all given in a global IMU frame whose y-axis points upwards, z-axis towards the viewer, and x-axis towards the viewer's right. Is the y-axis always aligned with the gravity?

The camera to IMU transform (T_imu_cam) given in the extrinsics file is the matrix that transforms points in the camera's frame to the IMU's frame. This is the inverse of what Kalibr provides i.e. T_cam_imu.

Can someone please confirm this?