Download camxtime_eval/source/eval_scene_005/transforms.json from HugMinjun/geo4d_evals: direct link, hf CLI and curl.
- Browser
- Download file 58.4 kB
-
https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/camxtime_eval/source/eval_scene_005/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/camxtime_eval/source/eval_scene_005/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/camxtime_eval/source/eval_scene_005/transforms.json
58.4 kB
| { | |
| "format_version": "1.0", | |
| "camera_model": "opencv_pinhole", | |
| "pose_type": "c2w", | |
| "coordinate_system": "opencv", | |
| "image_hw": [ | |
| 480, | |
| 832 | |
| ], | |
| "num_frames": 81, | |
| "frames": [ | |
| { | |
| "frame_index": 0, | |
| "c2w": [ | |
| [ | |
| 0.999999873340122, | |
| 0.00048827379942022094, | |
| 0.00012210010663739253, | |
| -6.112719711381942e-05 | |
| ], | |
| [ | |
| -0.0004882887005808211, | |
| 0.9999998733401219, | |
| 0.00012204050199268722, | |
| -0.00018307830032426864 | |
| ], | |
| [ | |
| -0.00012204050199282875, | |
| -0.00012210010663715325, | |
| 0.9999999850988396, | |
| -2.1666281099896878e-05 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 885.4857177734375, | |
| "fy": 891.4285888671875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.9999991879052251, | |
| 0.0012220892978472883, | |
| 0.0003615060685772313, | |
| 6.75861956551671e-05 | |
| ], | |
| [ | |
| -0.0012192730637049913, | |
| 0.999969684053401, | |
| -0.007690536219097558, | |
| 0.004745033103972673 | |
| ], | |
| [ | |
| -0.00037089363118662745, | |
| 0.007690089199041654, | |
| 0.9999703620438085, | |
| 0.0020506875589489937 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.9999988974832734, | |
| 0.0014617278728314691, | |
| -0.0002615030837719747, | |
| 0.0009323665872216225 | |
| ], | |
| [ | |
| -0.0014675376785038125, | |
| 0.9997156587534647, | |
| -0.023800167568492746, | |
| 0.011796724051237106 | |
| ], | |
| [ | |
| 0.00022663935934624918, | |
| 0.023800525094038384, | |
| 0.9997167016909586, | |
| 0.001937138382345438 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 885.4857177734375, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9999995158559494, | |
| 0.0009781685451902681, | |
| 0.0001071175258286323, | |
| 0.00044223159784451127 | |
| ], | |
| [ | |
| -0.0009745116718630081, | |
| 0.9995487461613349, | |
| -0.030022564419198174, | |
| 0.01508685015141964 | |
| ], | |
| [ | |
| -0.00013643631679476206, | |
| 0.030022445496672955, | |
| 0.9995492154724204, | |
| 0.0018728082068264484 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9999984529349858, | |
| 0.0010072399733886137, | |
| 0.0014420801888406145, | |
| -0.00015699546202085912 | |
| ], | |
| [ | |
| -0.0009411132823901687, | |
| 0.9989800605724065, | |
| -0.04514369152540304, | |
| 0.02182646468281746 | |
| ], | |
| [ | |
| -0.0014860798850490655, | |
| 0.04514226452435746, | |
| 0.9989794630122226, | |
| 0.0037359355483204126 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9999994024908437, | |
| 0.0005139653878508398, | |
| 0.0009648095850293276, | |
| -0.0009929378284141421 | |
| ], | |
| [ | |
| -0.00046192451413270907, | |
| 0.9985845550039841, | |
| -0.05318527176989251, | |
| 0.02541949413716793 | |
| ], | |
| [ | |
| -0.0009907793389632002, | |
| 0.05318479432200718, | |
| 0.9985841957537817, | |
| 0.0024397247470915318 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 885.4857177734375, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9999997841816513, | |
| 0.0006013836748724715, | |
| -0.00026452660799618764, | |
| -0.0005303728394210339 | |
| ], | |
| [ | |
| -0.0006179331972786342, | |
| 0.9976992198506963, | |
| -0.06779295588683908, | |
| 0.032457876950502396 | |
| ], | |
| [ | |
| 0.0002231484134855876, | |
| 0.06779310471564809, | |
| 0.9976993761438352, | |
| 0.0048970929346978664 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9999994568727285, | |
| 0.000402413519200188, | |
| 0.0009614143793900622, | |
| -0.000897147401701659 | |
| ], | |
| [ | |
| -0.0003290858144816584, | |
| 0.9971767711410114, | |
| -0.07508913902365824, | |
| 0.035733044147491455 | |
| ], | |
| [ | |
| -0.0009889169712570232, | |
| 0.0750887818528644, | |
| 0.9971763619756926, | |
| 0.006670117843896151 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9999989198907465, | |
| 0.0011407872254164174, | |
| 0.0009267264142498933, | |
| -0.0018057756824418902 | |
| ], | |
| [ | |
| -0.0010520999812899388, | |
| 0.9958837444075376, | |
| -0.09063366212645588, | |
| 0.04347825050354004 | |
| ], | |
| [ | |
| -0.0010263054954112439, | |
| 0.09063258922335547, | |
| 0.9958838689665079, | |
| 0.0098420986905694 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9999992118897405, | |
| 0.0011250846887200941, | |
| 0.0005571394266809166, | |
| -0.0020195955876260996 | |
| ], | |
| [ | |
| -0.0010673904871166895, | |
| 0.9955228861960462, | |
| -0.09451478052369318, | |
| 0.046171195805072784 | |
| ], | |
| [ | |
| -0.0006609821824882715, | |
| 0.09451411135030122, | |
| 0.9955233025189403, | |
| 0.009657220914959908 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.999998988951594, | |
| 0.0007889017297447902, | |
| 0.0011831017924450315, | |
| -0.0020602827426046133 | |
| ], | |
| [ | |
| -0.000672938879320602, | |
| 0.9954769924226575, | |
| -0.09500055110579844, | |
| 0.0459924191236496 | |
| ], | |
| [ | |
| -0.001252696713167166, | |
| 0.094999658900449, | |
| 0.9954765168298767, | |
| 0.011503925547003746 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.9999997621708719, | |
| 0.0005106551508425746, | |
| 0.00046356177216320764, | |
| -0.0017733477288857102 | |
| ], | |
| [ | |
| -0.00046356175620763734, | |
| 0.9953373156410668, | |
| -0.09645420261934438, | |
| 0.04598593711853027 | |
| ], | |
| [ | |
| -0.0005106551653266643, | |
| 0.0964539647902162, | |
| 0.9953373156410594, | |
| 0.011447709985077381 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.9999993905089708, | |
| 0.001090057193572043, | |
| -0.00017537674549786424, | |
| -0.001262328471057117 | |
| ], | |
| [ | |
| -0.00110195763059504, | |
| 0.9952424088285754, | |
| -0.0974234743707856, | |
| 0.04615193232893944 | |
| ], | |
| [ | |
| 6.83452155811493e-05, | |
| 0.09742360824979483, | |
| 0.9952430034340973, | |
| 0.014697741717100143 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9999992270964306, | |
| 0.000302997654516851, | |
| 0.0012058187934156281, | |
| -0.0014369644923135638 | |
| ], | |
| [ | |
| -0.0001834813690553598, | |
| 0.9951953452613429, | |
| -0.09790909612872088, | |
| 0.04654053971171379 | |
| ], | |
| [ | |
| -0.0012296914769186807, | |
| 0.09790879920914797, | |
| 0.9951946316657331, | |
| 0.015681231394410133 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5428466796875, | |
| "fy": 885.4857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9999996655309852, | |
| 0.0007487315098154284, | |
| 0.0003291489693325516, | |
| -0.0009048734209500253 | |
| ], | |
| [ | |
| -0.0007125167023365568, | |
| 0.9950992709682567, | |
| -0.0988783759898656, | |
| 0.046594876796007156 | |
| ], | |
| [ | |
| -0.00040156925516579036, | |
| 0.09887810839397444, | |
| 0.9950994716220898, | |
| 0.019964154809713364 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 879.5428466796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9999999851950147, | |
| 0.00012757766818286635, | |
| 0.00011547254765870077, | |
| -0.0004192574415355921 | |
| ], | |
| [ | |
| -0.00011547254765870023, | |
| 0.9950511885816347, | |
| -0.09936356861731034, | |
| 0.04653660207986832 | |
| ], | |
| [ | |
| -0.00012757766818286256, | |
| 0.09936355381232476, | |
| 0.9950511885816348, | |
| 0.020472686737775803 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 879.5428466796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9999998731930149, | |
| 0.0004818375343350713, | |
| -0.00014644638797722367, | |
| -0.001047172350808978 | |
| ], | |
| [ | |
| -0.0004941467692803624, | |
| 0.9949049526337376, | |
| -0.10081612491972745, | |
| 0.04678255319595337 | |
| ], | |
| [ | |
| 9.712324364133332e-05, | |
| 0.10081618450154803, | |
| 0.994905064571301, | |
| 0.022653764113783836 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 879.5428466796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9999998142241914, | |
| 0.00046826200525905073, | |
| -0.00039023361650294085, | |
| -0.0003205467073712498 | |
| ], | |
| [ | |
| -0.0005057158872816964, | |
| 0.9947565773076957, | |
| -0.10226972256987377, | |
| 0.046972762793302536 | |
| ], | |
| [ | |
| 0.0003402984313350109, | |
| 0.10226990091797343, | |
| 0.9947566293135245, | |
| 0.025322120636701584 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 879.5428466796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.999999866250113, | |
| 0.0003462324819296168, | |
| -0.00038421715764897467, | |
| 8.588504897488747e-06 | |
| ], | |
| [ | |
| -0.00038421716180388026, | |
| 0.9946061494118887, | |
| -0.10372299614467216, | |
| 0.04785851016640663 | |
| ], | |
| [ | |
| 0.0003462324773188818, | |
| 0.10372312989455862, | |
| 0.9946061494118905, | |
| 0.028309935703873634 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 879.5428466796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9999997250896517, | |
| 0.0007240004250925221, | |
| -0.00016013745688291166, | |
| -0.000516447820700705 | |
| ], | |
| [ | |
| -0.0007367869901568812, | |
| 0.9945043529397133, | |
| -0.10469264123563449, | |
| 0.047793883830308914 | |
| ], | |
| [ | |
| 8.345988118008917e-05, | |
| 0.10469273044173892, | |
| 0.9945046129742694, | |
| 0.02872130461037159 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 879.5428466796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.9999999034245546, | |
| 0.00035212309606786886, | |
| -0.0002629832833690473, | |
| -0.0002634530246723443 | |
| ], | |
| [ | |
| -0.0003781570650487719, | |
| 0.9942988951342068, | |
| -0.10662815825161068, | |
| 0.04840809106826782 | |
| ], | |
| [ | |
| 0.000223937750881019, | |
| 0.10662824740293593, | |
| 0.994298932267184, | |
| 0.03170928731560707 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 879.5428466796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.999999970283405, | |
| 0.00024343833964076325, | |
| -1.3075289821072678e-05, | |
| -0.00023190789215732366 | |
| ], | |
| [ | |
| -0.0002434383397313322, | |
| 0.9942468487064582, | |
| -0.1071127656960223, | |
| 0.04845269396901131 | |
| ], | |
| [ | |
| -1.3075288134844635e-05, | |
| 0.10711276569602246, | |
| 0.9942468784230533, | |
| 0.03345850855112076 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.9999999035511983, | |
| -0.00022307069025658888, | |
| 0.0003783345889868009, | |
| -0.00021359299717005342 | |
| ], | |
| [ | |
| 0.000262825920395764, | |
| 0.9940893763551072, | |
| -0.10856446352490454, | |
| 0.04904286190867424 | |
| ], | |
| [ | |
| -0.00035188084580362744, | |
| 0.10856455249012895, | |
| 0.9940893391051377, | |
| 0.036668822169303894 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| -0.000762939453125 | |
| ], | |
| [ | |
| 0.0, | |
| 0.9940363890507871, | |
| -0.1090488754773392, | |
| 0.04893224313855171 | |
| ], | |
| [ | |
| 0.0, | |
| 0.1090488754773392, | |
| 0.9940363890507871, | |
| 0.03754232078790665 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.9999994504330282, | |
| -0.0006558976851385842, | |
| -0.0008178825521988229, | |
| 2.74646718025906e-05 | |
| ], | |
| [ | |
| 0.000561073710034413, | |
| 0.9938219980961498, | |
| -0.1109843290580657, | |
| 0.04947725683450699 | |
| ], | |
| [ | |
| 0.0008856240367500005, | |
| 0.11098380917234603, | |
| 0.9938218199313507, | |
| 0.04090007022023201 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 879.5428466796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9999987374231798, | |
| -0.001386425118289347, | |
| -0.0007765162189098595, | |
| 0.0005660289316438138 | |
| ], | |
| [ | |
| 0.001290776768882812, | |
| 0.9937126960682015, | |
| -0.11195272023581421, | |
| 0.05010851472616196 | |
| ], | |
| [ | |
| 0.0009268480888295161, | |
| 0.1119515765778085, | |
| 0.9937132309949197, | |
| 0.04372729733586311 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.9999989232174328, | |
| -0.00020547202001711102, | |
| -0.0014530468759286386, | |
| 0.0007856519659981132 | |
| ], | |
| [ | |
| 3.793870287197198e-05, | |
| 0.9934382126151656, | |
| -0.11437008471029202, | |
| 0.050290755927562714 | |
| ], | |
| [ | |
| 0.0014670121436035624, | |
| 0.11436990643186491, | |
| 0.9934371506935586, | |
| 0.045603249222040176 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9999996658433172, | |
| -0.0004074838075778934, | |
| -0.0007087102372918048, | |
| 0.000649878173135221 | |
| ], | |
| [ | |
| 0.0003226591447799663, | |
| 0.9932702199636132, | |
| -0.11581954077145734, | |
| 0.05051058530807495 | |
| ], | |
| [ | |
| 0.0007511353607506833, | |
| 0.1158192733977448, | |
| 0.9932700195341083, | |
| 0.04742918536067009 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9999997252841206, | |
| -0.0007227253090848165, | |
| 0.0001646202026016606, | |
| 0.00036281932261772454 | |
| ], | |
| [ | |
| 0.0007370435661220366, | |
| 0.9930998017570051, | |
| -0.11726994720294039, | |
| 0.05146719515323639 | |
| ], | |
| [ | |
| -7.87303317302989e-05, | |
| 0.1172700363192846, | |
| 0.9931000616167582, | |
| 0.05131158232688904 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.9999998737845689, | |
| -0.000493757267297837, | |
| -9.29225866649632e-05, | |
| 0.0007305459002964199 | |
| ], | |
| [ | |
| 0.00047938017550194664, | |
| 0.9930427440549388, | |
| -0.11775346565806012, | |
| 0.05138497054576874 | |
| ], | |
| [ | |
| 0.00015041772986460695, | |
| 0.11775340625050944, | |
| 0.9930428554150665, | |
| 0.051821839064359665 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9999999629115941, | |
| 0.00023592418119184415, | |
| -0.00013607568268119376, | |
| 0.0002818771463353187 | |
| ], | |
| [ | |
| -0.0002505665064913404, | |
| 0.9927535515372985, | |
| -0.120167895573261, | |
| 0.05233035236597061 | |
| ], | |
| [ | |
| 0.00010673910489093407, | |
| 0.1201679252124338, | |
| 0.9927535738323494, | |
| 0.05527251586318016 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9999999257338608, | |
| 0.0003574318020024599, | |
| -0.00014413458753543195, | |
| 0.0005633849068544805 | |
| ], | |
| [ | |
| -0.00037230783948851055, | |
| 0.9925770354159108, | |
| -0.12161698134649675, | |
| 0.0530112162232399 | |
| ], | |
| [ | |
| 9.959490480002518e-05, | |
| 0.12161702597690945, | |
| 0.9925770947757089, | |
| 0.05716422572731972 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9999999257751337, | |
| -9.898331555591077e-05, | |
| 0.0003723600819879506, | |
| 0.0005633095279335976 | |
| ], | |
| [ | |
| 0.00014422941910768733, | |
| 0.9923385517165492, | |
| -0.12354828195882182, | |
| 0.05344716086983681 | |
| ], | |
| [ | |
| -0.0003572780458975178, | |
| 0.12354832649374563, | |
| 0.9923384923366584, | |
| 0.060779672116041183 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.9999998144829381, | |
| -0.0005093118545864551, | |
| -0.00033411902827637334, | |
| 0.0006217447808012366 | |
| ], | |
| [ | |
| 0.0004633615899698173, | |
| 0.9920961950916292, | |
| -0.1254787829903891, | |
| 0.05387184023857117 | |
| ], | |
| [ | |
| 0.0003953860483367762, | |
| 0.12547860489400978, | |
| 0.9920962470364085, | |
| 0.06242915242910385 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9999999703209724, | |
| -1.5670467047646154e-05, | |
| -0.00024313060378265884, | |
| 0.0004729372449219227 | |
| ], | |
| [ | |
| -1.5670465241912155e-05, | |
| 0.9917260257415705, | |
| -0.12837246442000705, | |
| 0.05439795181155205 | |
| ], | |
| [ | |
| 0.00024313060389904369, | |
| 0.12837246442000735, | |
| 0.9917259960625427, | |
| 0.06661607325077057 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.9999988353594655, | |
| 0.0006416784389968781, | |
| -0.001384748530857938, | |
| 0.0008705785148777068 | |
| ], | |
| [ | |
| -0.0008166410686836508, | |
| 0.9914743061491279, | |
| -0.1302997825918039, | |
| 0.054885413497686386 | |
| ], | |
| [ | |
| 0.0012893320277282405, | |
| 0.13030076168191557, | |
| 0.9914736754589278, | |
| 0.06951193511486053 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.6000366210938, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9999987392785873, | |
| -0.0009392891955025054, | |
| -0.0012803034965502575, | |
| 0.0015020788414403796 | |
| ], | |
| [ | |
| 0.0007617506124464764, | |
| 0.991219062982355, | |
| -0.13222779177006222, | |
| 0.055589914321899414 | |
| ], | |
| [ | |
| 0.0013932613683384216, | |
| 0.13222664979568055, | |
| 0.9912185288353773, | |
| 0.07441004365682602 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 867.6571655273438, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.9999989224898989, | |
| -0.0010479249349739316, | |
| -0.0010280429812166369, | |
| 0.001143213827162981 | |
| ], | |
| [ | |
| 0.0009005322754200638, | |
| 0.9909595773513993, | |
| -0.1341577619713372, | |
| 0.056283947080373764 | |
| ], | |
| [ | |
| 0.0011593363021553799, | |
| 0.13415669162910818, | |
| 0.9909594532726714, | |
| 0.07561936974525452 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 867.6571655273438, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.999998146362253, | |
| -0.0016545417956940615, | |
| -0.0009847657102357613, | |
| 0.0014672892866656184 | |
| ], | |
| [ | |
| 0.0015039745834235145, | |
| 0.990563681063534, | |
| -0.13704499924591806, | |
| 0.05649473890662193 | |
| ], | |
| [ | |
| 0.0012022198260594518, | |
| 0.13704326415153603, | |
| 0.990564333306112, | |
| 0.07978417724370956 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 867.6571655273438, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.9999981913084675, | |
| -0.001316458297044628, | |
| -0.0013727043914980948, | |
| 0.001121627283282578 | |
| ], | |
| [ | |
| 0.0011129166871975617, | |
| 0.990295611328481, | |
| -0.1389725282204991, | |
| 0.05751952901482582 | |
| ], | |
| [ | |
| 0.001542334672389004, | |
| 0.13897074915644012, | |
| 0.9902952852976006, | |
| 0.08203442394733429 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 867.6571655273438, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.9999994051387999, | |
| -0.0010080855439274985, | |
| -0.00041651600496764215, | |
| 0.0008751152199693024 | |
| ], | |
| [ | |
| 0.000938804014704578, | |
| 0.9898863783289514, | |
| -0.1418593551578917, | |
| 0.05783151090145111 | |
| ], | |
| [ | |
| 0.0005553098848789967, | |
| 0.14185887974436776, | |
| 0.9898867358787086, | |
| 0.08524037152528763 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 867.6571655273438, | |
| "fy": 867.6571655273438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.999998146807505, | |
| -0.0018655107328612913, | |
| -0.00047565876558141776, | |
| 0.0010826654033735394 | |
| ], | |
| [ | |
| 0.0017777374690377498, | |
| 0.9896080597744602, | |
| -0.1437801365937556, | |
| 0.058280427008867264 | |
| ], | |
| [ | |
| 0.0007389391361096886, | |
| 0.14377902454507557, | |
| 0.9896095422285598, | |
| 0.087906114757061 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 867.6571655273438, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.9999966947715753, | |
| -0.0022855484947066716, | |
| -0.0011775882147988111, | |
| 0.0008414984913542867 | |
| ], | |
| [ | |
| 0.002089320526316565, | |
| 0.9893007546163598, | |
| -0.14587546625542858, | |
| 0.058296844363212585 | |
| ], | |
| [ | |
| 0.0014983943618425398, | |
| 0.14587252374446244, | |
| 0.9893022599947692, | |
| 0.09004038572311401 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 867.6571655273438, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.9999976811273475, | |
| -0.0015750279115741203, | |
| -0.0014686820639557428, | |
| 0.0012557010632008314 | |
| ], | |
| [ | |
| 0.0013376848919316627, | |
| 0.9887540756801445, | |
| -0.14954460346342754, | |
| 0.05971389636397362 | |
| ], | |
| [ | |
| 0.0016877023010946717, | |
| 0.14954229205472824, | |
| 0.9887538897763999, | |
| 0.09495897591114044 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 867.6571655273438, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.9999984724021109, | |
| -0.001638311128072158, | |
| -0.0006092044746703693, | |
| 0.0013518375344574451 | |
| ], | |
| [ | |
| 0.0015269509776869934, | |
| 0.9884283682934482, | |
| -0.1516806816093039, | |
| 0.059699296951293945 | |
| ], | |
| [ | |
| 0.0008506551334495811, | |
| 0.1516795196768465, | |
| 0.9884293599931383, | |
| 0.09709791094064713 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 867.6571655273438, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.9999968539920147, | |
| -0.002280304931613993, | |
| -0.001045091140983137, | |
| 0.0013820460299029946 | |
| ], | |
| [ | |
| 0.002091340950149672, | |
| 0.9879773151637363, | |
| -0.15458476967310184, | |
| 0.06033572554588318 | |
| ], | |
| [ | |
| 0.0013850267522079135, | |
| 0.15458209770628217, | |
| 0.9879789758742952, | |
| 0.10088089108467102 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 861.7142944335938, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.999995878825417, | |
| -0.00284465755478831, | |
| -0.0003876281440444177, | |
| 0.0010598780354484916 | |
| ], | |
| [ | |
| 0.0027497387263339438, | |
| 0.9878244566042886, | |
| -0.1555483264820903, | |
| 0.06097232922911644 | |
| ], | |
| [ | |
| 0.000825390282817164, | |
| 0.15554661956416158, | |
| 0.9878282076722866, | |
| 0.10253464430570602 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 861.7142944335938, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.9999974834626603, | |
| -0.002222093239621877, | |
| -0.00030882030448656445, | |
| 0.00046720614773221314 | |
| ], | |
| [ | |
| 0.002143991274068392, | |
| 0.9870992397340006, | |
| -0.16009526606984706, | |
| 0.06204533949494362 | |
| ], | |
| [ | |
| 0.0006605828962023654, | |
| 0.16009420107609387, | |
| 0.9871015198104217, | |
| 0.10850255191326141 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 861.7142944335938, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.9999969102031616, | |
| -0.0024690219928111454, | |
| -0.0002889888038395978, | |
| 0.00032585408189333975 | |
| ], | |
| [ | |
| 0.002389378329138534, | |
| 0.9867372909217228, | |
| -0.16230776190823307, | |
| 0.062127746641635895 | |
| ], | |
| [ | |
| 0.0006858974631627883, | |
| 0.16230656990663814, | |
| 0.9867401415316049, | |
| 0.10968896746635437 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 861.7142944335938, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 49, | |
| "c2w": [ | |
| [ | |
| 0.9999982031923369, | |
| -0.0018658761929538, | |
| -0.00033484045589094336, | |
| -0.00021638859470840544 | |
| ], | |
| [ | |
| 0.001784299957239492, | |
| 0.9860968196806043, | |
| -0.16616220535807577, | |
| 0.06289111077785492 | |
| ], | |
| [ | |
| 0.0006402232118008295, | |
| 0.1661613093407407, | |
| 0.9860983771370933, | |
| 0.11458474397659302 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 861.7142944335938, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 50, | |
| "c2w": [ | |
| [ | |
| 0.999996284500376, | |
| -0.00263100468790709, | |
| 0.0007133020222294864, | |
| -0.0005994953098706901 | |
| ], | |
| [ | |
| 0.0027134693204234005, | |
| 0.9857677334742502, | |
| -0.16809108460976455, | |
| 0.063302181661129 | |
| ], | |
| [ | |
| -0.00026090168613210194, | |
| 0.1680923955905566, | |
| 0.9857712100051097, | |
| 0.11680184304714203 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 861.7142944335938, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 51, | |
| "c2w": [ | |
| [ | |
| 0.9999954023900067, | |
| -0.002847281006864752, | |
| 0.0010431633215635344, | |
| -0.00012713031901512295 | |
| ], | |
| [ | |
| 0.0029842411921426463, | |
| 0.9851025255760666, | |
| -0.1719421658819068, | |
| 0.06386987119913101 | |
| ], | |
| [ | |
| -0.0005380551594657584, | |
| 0.1719444884098409, | |
| 0.985106493432118, | |
| 0.11970565468072891 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 861.7142944335938, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 52, | |
| "c2w": [ | |
| [ | |
| 0.9999995161385922, | |
| -0.0008078810908351647, | |
| 0.0005612937952823302, | |
| -0.000251806020969525 | |
| ], | |
| [ | |
| 0.0008935688445198677, | |
| 0.984598600191059, | |
| -0.1748279097756611, | |
| 0.06470390409231186 | |
| ], | |
| [ | |
| -0.000411408922672918, | |
| 0.17482832673783064, | |
| 0.9845988456791674, | |
| 0.12158787250518799 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 861.7142944335938, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 53, | |
| "c2w": [ | |
| [ | |
| 0.9999977790557699, | |
| -0.0018739799515521223, | |
| 0.0009644079366755319, | |
| 6.151296929601813e-06 | |
| ], | |
| [ | |
| 0.0020161368943201786, | |
| 0.9839070849908592, | |
| -0.1786694805970336, | |
| 0.06553846597671509 | |
| ], | |
| [ | |
| -0.0006140647771234343, | |
| 0.17867102816050395, | |
| 0.9839086779882159, | |
| 0.12554848194122314 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 54, | |
| "c2w": [ | |
| [ | |
| 0.9999996955596286, | |
| -0.000430397353019367, | |
| 0.0006508753860143007, | |
| 0.000341319217113778 | |
| ], | |
| [ | |
| 0.0005419613711732303, | |
| 0.9832033256232302, | |
| -0.18251281259487173, | |
| 0.06691478192806244 | |
| ], | |
| [ | |
| -0.0005613898126625972, | |
| 0.18251310977992086, | |
| 0.9832032595551845, | |
| 0.1291322112083435 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 861.7142944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 55, | |
| "c2w": [ | |
| [ | |
| 0.9999978559290996, | |
| -0.0020695509952452246, | |
| 7.138544798976209e-05, | |
| 0.0007657998939976096 | |
| ], | |
| [ | |
| 0.0020466023215866243, | |
| 0.9824813626744978, | |
| -0.1863496268206573, | |
| 0.06732999533414841 | |
| ], | |
| [ | |
| 0.00031552518343416997, | |
| 0.1863493733714686, | |
| 0.9824834917126691, | |
| 0.13503482937812805 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 56, | |
| "c2w": [ | |
| [ | |
| 0.9999992518277607, | |
| -0.0012232342132445563, | |
| -6.479033232202005e-06, | |
| 0.0003144780348520726 | |
| ], | |
| [ | |
| 0.0012001406108979487, | |
| 0.9821173105703602, | |
| -0.18826616249490014, | |
| 0.06745267659425735 | |
| ], | |
| [ | |
| 0.00023665678185312106, | |
| 0.18826601386363287, | |
| 0.9821180438305088, | |
| 0.135736882686615 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 57, | |
| "c2w": [ | |
| [ | |
| 0.9999971842718658, | |
| -0.002089126758604014, | |
| 0.0011256099353275423, | |
| -0.0004543359100352973 | |
| ], | |
| [ | |
| 0.002267809309575242, | |
| 0.9809979284342383, | |
| -0.19400495212408347, | |
| 0.06867572665214539 | |
| ], | |
| [ | |
| -0.0006989200779971692, | |
| 0.1940069585275719, | |
| 0.9809999039518836, | |
| 0.14100444316864014 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 58, | |
| "c2w": [ | |
| [ | |
| 0.9999975026244369, | |
| -0.0019721933484528713, | |
| 0.0010512841124049241, | |
| -0.0008504309225827456 | |
| ], | |
| [ | |
| 0.0021399374383205467, | |
| 0.9806184269702766, | |
| -0.19591559752633536, | |
| 0.06916522979736328 | |
| ], | |
| [ | |
| -0.0006445251343056384, | |
| 0.19591735793374032, | |
| 0.9806201983681623, | |
| 0.1422846019268036 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 59, | |
| "c2w": [ | |
| [ | |
| 0.9999979775632084, | |
| -0.0018912239437811273, | |
| 0.0006842086576534934, | |
| -0.0004322440945543349 | |
| ], | |
| [ | |
| 0.001990344728740989, | |
| 0.9794555504760986, | |
| -0.2016503487956914, | |
| 0.06974215805530548 | |
| ], | |
| [ | |
| -0.00028878599950828035, | |
| 0.20165130278170215, | |
| 0.9794573337767647, | |
| 0.14796766638755798 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 60, | |
| "c2w": [ | |
| [ | |
| 0.9999962005086671, | |
| -0.0024358391964704688, | |
| 0.0012906028202125126, | |
| -0.0008664882043376565 | |
| ], | |
| [ | |
| 0.0026475501070876597, | |
| 0.9790602431942298, | |
| -0.20355350813701478, | |
| 0.07040668278932571 | |
| ], | |
| [ | |
| -0.0007677542973254359, | |
| 0.2035561516728591, | |
| 0.9790629722696464, | |
| 0.14829741418361664 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 61, | |
| "c2w": [ | |
| [ | |
| 0.9999986802395278, | |
| -0.0015353410368134876, | |
| 0.0005312693330909555, | |
| -0.0008172953384928405 | |
| ], | |
| [ | |
| 0.0016127172720475386, | |
| 0.9776514104263107, | |
| -0.21022635142732551, | |
| 0.071507029235363 | |
| ], | |
| [ | |
| -0.00019662706844666186, | |
| 0.21022693076612625, | |
| 0.9776525962316321, | |
| 0.1552259474992752 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 62, | |
| "c2w": [ | |
| [ | |
| 0.9999971293682948, | |
| -0.00178424726345901, | |
| 0.0015992863635832246, | |
| -0.0010609191376715899 | |
| ], | |
| [ | |
| 0.002084045277574806, | |
| 0.9770333017736146, | |
| -0.2130764744889234, | |
| 0.07158977538347244 | |
| ], | |
| [ | |
| -0.0011823749197790016, | |
| 0.2130791958100335, | |
| 0.9770342155229251, | |
| 0.15754884481430054 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 63, | |
| "c2w": [ | |
| [ | |
| 0.9999927839564277, | |
| -0.0026339677578621178, | |
| 0.0027375625882364134, | |
| -0.0013272331561893225 | |
| ], | |
| [ | |
| 0.003169087169645103, | |
| 0.975769472251266, | |
| -0.21877818426204648, | |
| 0.07288842648267746 | |
| ], | |
| [ | |
| -0.0020949753185083866, | |
| 0.21878528112361054, | |
| 0.9757707783296641, | |
| 0.16147558391094208 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 64, | |
| "c2w": [ | |
| [ | |
| 0.9999934906546879, | |
| -0.0026639979388233545, | |
| 0.0024334673277540387, | |
| -0.001493616378866136 | |
| ], | |
| [ | |
| 0.0031370631452342906, | |
| 0.9751282404964692, | |
| -0.22161920815011174, | |
| 0.07366970926523209 | |
| ], | |
| [ | |
| -0.0017825495999029008, | |
| 0.22162539949482737, | |
| 0.9751302501797812, | |
| 0.16497007012367249 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 65, | |
| "c2w": [ | |
| [ | |
| 0.999994468866641, | |
| -0.001108544557267561, | |
| 0.003135819683793855, | |
| -0.0019821987953037024 | |
| ], | |
| [ | |
| 0.0017973790319746569, | |
| 0.9734098962854264, | |
| -0.22906318613476837, | |
| 0.07386564463376999 | |
| ], | |
| [ | |
| -0.0027985111649115085, | |
| 0.22906755541228596, | |
| 0.97340650470022, | |
| 0.16788730025291443 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 66, | |
| "c2w": [ | |
| [ | |
| 0.999996246078215, | |
| -0.00105730839207062, | |
| 0.002527830778003713, | |
| -0.0017571485368534923 | |
| ], | |
| [ | |
| 0.001616892783821013, | |
| 0.9725074293220074, | |
| -0.232866239655357, | |
| 0.07465002685785294 | |
| ], | |
| [ | |
| -0.002212122782259903, | |
| 0.23286945272505077, | |
| 0.9725054881594918, | |
| 0.17051737010478973 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 67, | |
| "c2w": [ | |
| [ | |
| 0.9999975761848302, | |
| -0.0012524472366130185, | |
| 0.001810801033973584, | |
| -0.001943535404279828 | |
| ], | |
| [ | |
| 0.0016497059566622494, | |
| 0.9708916122174225, | |
| -0.2395135816527141, | |
| 0.07538661360740662 | |
| ], | |
| [ | |
| -0.0014581134118073576, | |
| 0.23951598840531324, | |
| 0.9708913251252711, | |
| 0.1755085438489914 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 68, | |
| "c2w": [ | |
| [ | |
| 0.9999975292125212, | |
| -0.0011194936377407136, | |
| 0.0019204954688464891, | |
| -0.002427168656140566 | |
| ], | |
| [ | |
| 0.0015531290153541087, | |
| 0.9699474025005536, | |
| -0.24330972889033828, | |
| 0.07588193565607071 | |
| ], | |
| [ | |
| -0.0015903958980282872, | |
| 0.243312110500943, | |
| 0.9699467446847087, | |
| 0.17912334203720093 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 69, | |
| "c2w": [ | |
| [ | |
| 0.9999965916727688, | |
| -0.0018596420514254103, | |
| 0.0018325867746447032, | |
| -0.0022199826780706644 | |
| ], | |
| [ | |
| 0.0022586517019800773, | |
| 0.968260088222575, | |
| -0.24993459153886669, | |
| 0.07651450484991074 | |
| ], | |
| [ | |
| -0.0013096317555615162, | |
| 0.24993787885522933, | |
| 0.9682609883590338, | |
| 0.18415085971355438 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 849.82861328125, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 70, | |
| "c2w": [ | |
| [ | |
| 0.9999988476898883, | |
| -0.0008207382600163971, | |
| 0.0012771090808923575, | |
| -0.0017574497032910585 | |
| ], | |
| [ | |
| 0.0011199018574578137, | |
| 0.9667828395390632, | |
| -0.25559672727289756, | |
| 0.07893539220094681 | |
| ], | |
| [ | |
| -0.001024909130418424, | |
| 0.25559786298303583, | |
| 0.9667826446517229, | |
| 0.18854235112667084 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 849.82861328125, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 71, | |
| "c2w": [ | |
| [ | |
| 0.9999980888344797, | |
| -0.0019177511891957538, | |
| 0.00038020752846412064, | |
| -0.00021417983225546777 | |
| ], | |
| [ | |
| 0.0019502162161209459, | |
| 0.9647620125155064, | |
| -0.26311681030246004, | |
| 0.08041278272867203 | |
| ], | |
| [ | |
| 0.00013778279552034567, | |
| 0.2631170489295717, | |
| 0.9647639087250806, | |
| 0.1949954777956009 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 849.82861328125, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 72, | |
| "c2w": [ | |
| [ | |
| 0.9999977842893513, | |
| -0.002103540713623486, | |
| -8.082607225396165e-05, | |
| -0.00047007002285681665 | |
| ], | |
| [ | |
| 0.002005663211058952, | |
| 0.9637231787864139, | |
| -0.266896256970556, | |
| 0.08060160279273987 | |
| ], | |
| [ | |
| 0.00063932110213271, | |
| 0.26689550349579805, | |
| 0.9637252624489271, | |
| 0.19560138881206512 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 849.82861328125, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 73, | |
| "c2w": [ | |
| [ | |
| 0.9999987253719059, | |
| -0.0009280289843105676, | |
| 0.0012992369942967756, | |
| -0.0011886133579537272 | |
| ], | |
| [ | |
| 0.0012469535776484086, | |
| 0.9621543724254727, | |
| -0.2725021261005505, | |
| 0.0815945416688919 | |
| ], | |
| [ | |
| -0.000997176683572009, | |
| 0.27250339884990404, | |
| 0.9621543032455409, | |
| 0.1956336796283722 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 849.82861328125, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 74, | |
| "c2w": [ | |
| [ | |
| 0.9999995756833681, | |
| 7.91108858184532e-06, | |
| 0.0009211788639925137, | |
| -0.0025608185678720474 | |
| ], | |
| [ | |
| 0.00024860204020942016, | |
| 0.9605454783837005, | |
| -0.2781228544252599, | |
| 0.08299769461154938 | |
| ], | |
| [ | |
| -0.0008870344471286523, | |
| 0.2781229654200519, | |
| 0.9605450688415655, | |
| 0.19787341356277466 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 75, | |
| "c2w": [ | |
| [ | |
| 0.999992346269417, | |
| 0.0009273105673585287, | |
| 0.0038009864113315085, | |
| -0.0038405642844736576 | |
| ], | |
| [ | |
| 0.0002043167062216227, | |
| 0.9578033035135342, | |
| -0.287424407511341, | |
| 0.08358913660049438 | |
| ], | |
| [ | |
| -0.003907129031785393, | |
| 0.28742298424738727, | |
| 0.9577957832800562, | |
| 0.20043298602104187 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 76, | |
| "c2w": [ | |
| [ | |
| 0.9999967603766072, | |
| -0.00011085762639601289, | |
| 0.002543019244477242, | |
| -0.003330386010929942 | |
| ], | |
| [ | |
| 0.000851082974079596, | |
| 0.9561141063059888, | |
| -0.2929933299248829, | |
| 0.08472057431936264 | |
| ], | |
| [ | |
| -0.0023989360271469665, | |
| 0.2929945450572195, | |
| 0.9561111032054017, | |
| 0.20671522617340088 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 849.82861328125, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 77, | |
| "c2w": [ | |
| [ | |
| 0.9999931626150199, | |
| 0.0013951774537345415, | |
| 0.0034246464171505345, | |
| -0.003916000947356224 | |
| ], | |
| [ | |
| -0.00029287391220427205, | |
| 0.9530684742802151, | |
| -0.30275468214059736, | |
| 0.0858173817396164 | |
| ], | |
| [ | |
| -0.003686319042277986, | |
| 0.30275160910068727, | |
| 0.953062366395223, | |
| 0.21379703283309937 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 849.82861328125, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 78, | |
| "c2w": [ | |
| [ | |
| 0.9999944405779027, | |
| 0.0019133636919559107, | |
| 0.0027309069316619554, | |
| -0.0037110794801265 | |
| ], | |
| [ | |
| -0.0009843376291101178, | |
| 0.9518779750783565, | |
| -0.30647569502353594, | |
| 0.08624516427516937 | |
| ], | |
| [ | |
| -0.0031858896275628163, | |
| 0.30647130306133036, | |
| 0.9518745665827885, | |
| 0.21658654510974884 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 849.82861328125, | |
| "fy": 849.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 79, | |
| "c2w": [ | |
| [ | |
| 0.9999766776035515, | |
| 0.00410897763168905, | |
| 0.0054553232521458266, | |
| -0.005236366763710976 | |
| ], | |
| [ | |
| -0.002163790299373642, | |
| 0.9482285028037972, | |
| -0.3175815241509004, | |
| 0.090196393430233 | |
| ], | |
| [ | |
| -0.006477828378666784, | |
| 0.31756231321315637, | |
| 0.9482152788086706, | |
| 0.21666553616523743 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 80, | |
| "c2w": [ | |
| [ | |
| 0.9999781973574634, | |
| 0.003963481723213478, | |
| 0.0052816306522850695, | |
| -0.005510119721293449 | |
| ], | |
| [ | |
| -0.0020566189148387014, | |
| 0.9469876685218586, | |
| -0.3212633281066699, | |
| 0.08966231346130371 | |
| ], | |
| [ | |
| -0.006274960426690479, | |
| 0.3212454614156661, | |
| 0.946975173059716, | |
| 0.21607746183872223 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 855.7714233398438, | |
| "fy": 855.7714233398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |