Centering camera extrinsics to find absolute positions

It seems to me when visualizing some of the object's camera extrinsics that the origin is not at (0, 0, 0) and that the reference frame is offset (the circle of all the cameras is offset by an angle). I am trying to find the absolute position (and preferably rotation) of the cameras and am therefore wondering whether this information is contained within the dataset?

No files, tests, or entry points are named. Start by inspecting the dataset documentation and the representation of camera extrinsics, then determine whether absolute camera positions and rotations are available and document the result.

Written by the indexing model from the issue text.