[kekeblom]

Pretty much yeah. Just to be clear, we only use the color and depth images from the camera. There is actually an offline calibration step to obtain camera intrinsic parameters, which are copied into each scene.

The integrate step runs a SLAM pipeline to compute the trajectory of the camera. Then we run an integration step to obtain the mesh.

Our core philosophy is to not stand in the way once you want to do something custom. So totally, if you want to just read the camera poses and 3D labels and do your own thing, you can totally do that and the data is available in each scene folder.