[Metadata] (px, py, pz) on objects

[cacoos]

How can I map the object positions into panoramic view? Positions are relative with respect to which reference?

I obtained these positions from https://github.com/niessner/Matterport/blob/master/data_organization.md (house_segmentations)

Thanks!

[MrEarle]

I'm trying to figure out the same thing! Is there a way to compute an object position with respect to the agent's heading from px py pz included in the object metadata?