We provide ground truth camera parameters for the images in the UCB dataset.
Each file contains the focal length (in pixel), the pitch and the roll angle
(in radian). Each parameter is stored in a separate line.
We use a coordinate system where the camera is located at the world origin
and looking down the negative z-axis whene there is no rotation.
The pitch angle is the amount of rotation around the camera's z axis, the
roll is around the camera's z axis. Positive angles mean clockwise rotation.
For more details, please see [1].
Ground truth camera parameters are found using a semi-automatic procedure [1],
and can be estimated only when at least four room edges are visible on the image
plane. We provide ground truth parameters only for these images.
Evaluation on camera parameters in our work for CVPR 2011 are computed
only on the 274 images for which we provide ground truth here.

[1]L. D. Pero, J. Guan, E. Brau, J. Schlecht, and K. Barnard. Sampling bedrooms. In
IEEE Conference on Computer Vision and Pattern Recognition, May 2011.