getdepthRefined_structureIO it take the one directory "directory" and do 1. depth refinement function to refine depth: [depthRefined, image] = SiftFuv2warpFast(directory,frameIDtarget, interval); 2. calculate extrinsic 3. put it to annotation folder under /n/fs/sun3d/data/SUNRGBDv2/ 4. give you a link "webpagelink" for annotation. For example : https://sun3d.cs.princeton.edu/player/?name=SUNRGBDv2/2015-11-08T15.25.26.534-0000005351/&box3D=true&write=true&annotation=annotation3Dfinal&width=640&height=480&R=true&&highlight=false&rect=only Remember run it on server so the permission can be changed correctly, I haven't test it on server because of the intrinsic file.