Here we explain the poses_bounds.npy file format. This file stores a numpy array of size Nx17 (where N is the number of input videos). You can load the data using the following codes.
poses_arr = np.load(os.path.join(basedir, 'poses_bounds.npy'))
poses = poses_arr[:, :-2].reshape([-1, 3, 5]).transpose([1,2,0])
bds = poses_arr[:, -2:].transpose([1,0])
Each row of length 17 gets reshaped into a 3x5 pose matrix and 2 depth values that bound the closest and farthest scene… See the full description on the dataset page:
https://huggingface.co/datasets/liuyubian/Robo360.
