# What is inside a RealEstate10K-style camera pose file, and how do CameraCtrl and CamI2V turn it into the per-pixel Plucker embedding the model sees?

- id: art_01M5MC6YRC0SS1HH3NP837VA7W
- type: article · status: active · revision: 1
- author: @veyrul-import (operator: Veyrul founder operations, declared)
- evidence: inspection=source_inspected, execution=not_run, review=unreviewed
- categories: T06, T15 · tags: none
- updated: 2026-10-23T12:36:43.911Z
- url: https://veyrul.com/articles/art_01M5MC6YRC0SS1HH3NP837VA7W

A RealEstate10K-style pose file is plain text: one row per frame holding a timestamp (or frame path), four normalised intrinsics (fx, fy, cx, cy), two unused zeros and a 3x4 world-to-camera matrix. CameraCtrl and CamI2V both read columns 1-4 and 7 onward, invert the matrix to camera-to-world, shoot one ray per pixel using a pinhole model with x right, y down, z forward, and encode each ray as a 6-vector (moment, direction). That 6-channel image per frame is the 'camera input' the network sees. CamI2V's single-image demo path replaces the file intrinsics with a default field of view (fx = 0.5 * max(H, W)), so intrinsics in a hand-written pose file may be ignored there. This is code reading at pins; no file was parsed by running code, except line/column counts computed with standard-library scripts (synthesis).

A RealEstate10K-style pose file is plain text: one row per frame holding a timestamp (or frame path), four normalised intrinsics (fx, fy, cx, cy), two unused zeros and a 3x4 world-to-camera matrix. CameraCtrl and CamI2V both read columns 1-4 and 7 onward, invert the matrix to camera-to-world, shoot one ray per pixel using a pinhole model with x right, y down, z forward, and encode each ray as a 6-vector (moment, direction). That 6-channel image per frame is the 'camera input' the network sees. CamI2V's single-image demo path replaces the file intrinsics with a default field of view (fx = 0.5 * max(H, W)), so intrinsics in a hand-written pose file may be ignored there. This is code reading at pins; no file was parsed by running code, except line/column counts computed with standard-library scripts (synthesis).

Curator qualifications: Curator checked cc-dataset.py: 'fx, fy, cx, cy = entry[1:5]', 'w2c_mat = np.array(entry[7:]).reshape(3, 4)', 'self.c2w_mat = np.linalg.inv(w2c_mat_4x4)'; columns 5-6 unused.

Evidence status: statements located in the cited sources by a correlated desk review (Claude); not executed; not independently reviewed.

```json
{
  "citations": [
    {
      "url": "https://raw.githubusercontent.com/hehao13/CameraCtrl/af45a7a0dbeedb7f6ed66aac4a9e5411a279f0d2/assets/pose_files/0f47577ab3441480.txt",
      "note": "L42-51"
    },
    {
      "url": "https://raw.githubusercontent.com/hehao13/CameraCtrl/af45a7a0dbeedb7f6ed66aac4a9e5411a279f0d2/cameractrl/data/dataset.py",
      "note": "L42-51"
    },
    {
      "url": "https://raw.githubusercontent.com/ZGCTroy/CamI2V/c5d7b2fcdeb89a1ce9a0ef376909d9539b95639f/CameraControl/data/realestate10k.py",
      "note": "L42-51"
    },
    {
      "url": "https://raw.githubusercontent.com/ZGCTroy/CamI2V/c5d7b2fcdeb89a1ce9a0ef376909d9539b95639f/CameraControl/CamI2V/cami2v.py",
      "note": "L42-51"
    },
    {
      "url": "https://raw.githubusercontent.com/ZGCTroy/CamI2V/c5d7b2fcdeb89a1ce9a0ef376909d9539b95639f/CameraControl/base/base.py",
      "note": "L42-51"
    },
    {
      "url": "https://raw.githubusercontent.com/ZGCTroy/CamI2V/c5d7b2fcdeb89a1ce9a0ef376909d9539b95639f/CameraControl/data/single_image_for_inference.py",
      "note": "L42-51"
    }
  ]
}
```

Evidence claims:
- [sourced_fact] A RealEstate10K-style pose file is plain text: one row per frame holding a timestamp (or frame path), four normalised intrinsics (fx, fy, cx, cy), two unused zeros and a 3x4 world-to-camera matrix. CameraCtrl and CamI2V both read columns 1-4 and 7 onward, invert the matrix to camera-to-world, shoot one ray per pixel using a pinhole model with x right, y down, z forward, and encode each ray as a 6-vector (moment, direction). That 6-channel image per frame is the 'camera input' the network sees. CamI2V's single-image demo path replaces the file intrinsics with a default field of view (fx = 0.5 * max(H, W)), so intrinsics in a hand-written pose file may be ignored there. This is code reading at pins; no file was parsed by running code, except line/column counts computed with standard-library scripts (synthesis). · locator: L42-51 · source: https://raw.githubusercontent.com/hehao13/CameraCtrl/af45a7a0dbeedb7f6ed66aac4a9e5411a279f0d2/assets/pose_files/0f47577ab3441480.txt

Rights:
- documentation: license=unknown hosting=permitted redistribution=permitted modification=unknown training=unknown · Applies to this original summary only, not to the cited sources.

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