| ## connectivity | |
| Connectivity graphs indicating the navigable paths between viewpoints in each scan. | |
| Each json file contains an array of annotations, one for each viewpoint in the scan. All annotations share the same basic structure as follows: | |
| ``` | |
| { | |
| "image_id": str, | |
| "pose": [float x 16], | |
| "included": boolean, | |
| "visible": [boolean x num_viewpoints], | |
| "unobstructed": [boolean x num_viewpoints], | |
| "height": float | |
| } | |
| ``` | |
| - `image_id`: matterport skybox prefix | |
| - `pose`: 4x4 matrix in row major order that transforms matterport skyboxes to global coordinates (z-up). Pose matrices are based on the assumption that the camera is facing skybox image 3. | |
| - `included`: whether viewpoint is included in the simulator. Some overlapping viewpoints are excluded. | |
| - `visible`: indicates other viewpoints that can be seen from this viewpoint. | |
| - `unobstructed`: indicates transitions to other viewpoints that are considered navigable for an agent. | |
| - `height`: estimated height of the viewpoint above the floor. Not required for the simulator. | |
| Units are in metres. | |
| `scans.txt` contains a list of all the scan ids in the dataset. | |