connectivity readme

connectivity/README.md

@@ -5,21 +5,21 @@ Each json file contains an array of annotations, one for each viewpoint in the s
 
 ```
 {
-"image_id": str,
-"pose": [float x 16],
-"included": boolean,
-"visible": [boolean x num_viewpoints],
-"unobstructed": [boolean x num_viewpoints],
-"height": float
+  "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).
-- 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.
+- `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.
+`scans.txt` contains a list of all the scan ids in the dataset.