Download camxtime_eval/source/eval_scene_010/transforms.json from HugMinjun/geo4d_evals: direct link, hf CLI and curl.
- Browser
- Download file 57.6 kB
-
https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/camxtime_eval/source/eval_scene_010/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/camxtime_eval/source/eval_scene_010/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/camxtime_eval/source/eval_scene_010/transforms.json
57.6 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": [ | |
| [ | |
| 0.9999999627471077, | |
| -0.00024418155225616154, | |
| -0.00012198832975052343, | |
| 0.0005492438212968409 | |
| ], | |
| [ | |
| 0.00024409959588267183, | |
| 0.999999744817627, | |
| -0.0006714015704534124, | |
| 0.00024420293630100787 | |
| ], | |
| [ | |
| 0.00012215224249871622, | |
| 0.0006713717681394191, | |
| 0.9999997671693623, | |
| 0.00010704254236770794 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 647.7714233398438, | |
| "fy": 644.7999877929688, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.9999643625944603, | |
| 0.0023071072752497215, | |
| 0.008121009609303, | |
| -0.0036858906969428062 | |
| ], | |
| [ | |
| -0.0023315084716867556, | |
| 0.9999927924537564, | |
| 0.0029965161078724704, | |
| -0.00142205273732543 | |
| ], | |
| [ | |
| -0.008114037792637816, | |
| -0.0030153435225152105, | |
| 0.9999625343452326, | |
| 0.0012549231760203838 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 644.7999877929688, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.9996674066160327, | |
| 0.007492459503868174, | |
| 0.024676693460785565, | |
| -0.010227647610008717 | |
| ], | |
| [ | |
| -0.007641423655661822, | |
| 0.9999531145992779, | |
| 0.005947877580964687, | |
| -0.002611751202493906 | |
| ], | |
| [ | |
| -0.02463097225221458, | |
| -0.006134464425387548, | |
| 0.9996777898663771, | |
| -0.0004648807807825506 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 647.7714233398438, | |
| "fy": 644.7999877929688, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9994918110097396, | |
| 0.009884535508018441, | |
| 0.030305373818218833, | |
| -0.012181674130260944 | |
| ], | |
| [ | |
| -0.010128363985209946, | |
| 0.9999174776601659, | |
| 0.007902791450779082, | |
| -0.003219453152269125 | |
| ], | |
| [ | |
| -0.030224757525153786, | |
| -0.008205719195910784, | |
| 0.9995094447802997, | |
| 0.0021194976288825274 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9987912616311295, | |
| 0.014562411334729113, | |
| 0.046946265723855025, | |
| -0.019056124612689018 | |
| ], | |
| [ | |
| -0.015202810996297316, | |
| 0.9997957980159616, | |
| 0.01331303148935344, | |
| -0.00582793727517128 | |
| ], | |
| [ | |
| -0.04674280936259109, | |
| -0.014010654722168045, | |
| 0.9988086960610365, | |
| 0.0021018185652792454 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9984065864357523, | |
| 0.01772353302705974, | |
| 0.05357391658956993, | |
| -0.02127254009246826 | |
| ], | |
| [ | |
| -0.018623544063274874, | |
| 0.9996929206971898, | |
| 0.01634710721945252, | |
| -0.007120035123080015 | |
| ], | |
| [ | |
| -0.05326773665391412, | |
| -0.017318795713320484, | |
| 0.9984300714355555, | |
| 0.0025283927097916603 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9974176949810863, | |
| 0.02161272550387481, | |
| 0.06848964764773537, | |
| -0.028422849252820015 | |
| ], | |
| [ | |
| -0.022995913397771652, | |
| 0.9995459146120843, | |
| 0.0194718399051888, | |
| -0.008191595785319805 | |
| ], | |
| [ | |
| -0.06803770796858863, | |
| -0.02099653968122623, | |
| 0.9974617865441239, | |
| 0.0023348191753029823 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 644.7999877929688, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9967943783257621, | |
| 0.02397587124493195, | |
| 0.07632905695869698, | |
| -0.030940067023038864 | |
| ], | |
| [ | |
| -0.025748850766975907, | |
| 0.999419032741102, | |
| 0.022329211338976713, | |
| -0.00930402148514986 | |
| ], | |
| [ | |
| -0.07574934997963727, | |
| -0.024223017831953304, | |
| 0.9968326245587948, | |
| 0.0037314591463655233 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.995461359803457, | |
| 0.027799238009076396, | |
| 0.09101584205163271, | |
| -0.037025757133960724 | |
| ], | |
| [ | |
| -0.0304094430609975, | |
| 0.9991613995765992, | |
| 0.027418303537083365, | |
| -0.011738539673388004 | |
| ], | |
| [ | |
| -0.0901773081821201, | |
| -0.030061602789046887, | |
| 0.9954719248310228, | |
| 0.004048070404678583 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9947127461891557, | |
| 0.029572693558691947, | |
| 0.09834636935094064, | |
| -0.04035649821162224 | |
| ], | |
| [ | |
| -0.03262487332185128, | |
| 0.999030066245979, | |
| 0.029572696483200836, | |
| -0.012066954746842384 | |
| ], | |
| [ | |
| -0.09737643559691965, | |
| -0.03262487597276167, | |
| 0.9947127461022102, | |
| 0.005484063643962145 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.9928484899224366, | |
| 0.033827339426396964, | |
| 0.11448837131372429, | |
| -0.04700648784637451 | |
| ], | |
| [ | |
| -0.038133896714250874, | |
| 0.9986369989276198, | |
| 0.035636361966743205, | |
| -0.01460734847933054 | |
| ], | |
| [ | |
| -0.11312684022867762, | |
| -0.03974739589167022, | |
| 0.9927852046337654, | |
| 0.004569794051349163 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.9919498692055708, | |
| 0.036271658691822854, | |
| 0.12132528079009164, | |
| -0.049010105431079865 | |
| ], | |
| [ | |
| -0.04104079101835827, | |
| 0.998470574085247, | |
| 0.0370427612154519, | |
| -0.014445428736507893 | |
| ], | |
| [ | |
| -0.11979612036972716, | |
| -0.041723847636830486, | |
| 0.991921372933732, | |
| 0.006727459840476513 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.9898623115752972, | |
| 0.04067111901911367, | |
| 0.13608256391081938, | |
| -0.056445274502038956 | |
| ], | |
| [ | |
| -0.04691974633208177, | |
| 0.9979714715894329, | |
| 0.043028819386031, | |
| -0.01789737306535244 | |
| ], | |
| [ | |
| -0.13405648632924266, | |
| -0.048977566000727064, | |
| 0.9897626263411358, | |
| 0.0047446140088140965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 644.7999877929688, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9888480989766159, | |
| 0.04183277566825963, | |
| 0.14293164810573517, | |
| -0.05743837729096413 | |
| ], | |
| [ | |
| -0.048638787926544635, | |
| 0.9978264947255662, | |
| 0.044458460755233686, | |
| -0.017384329810738564 | |
| ], | |
| [ | |
| -0.14076116459936416, | |
| -0.05091468652144616, | |
| 0.9887335279219842, | |
| 0.010129304602742195 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9861589829815952, | |
| 0.04511066566256667, | |
| 0.1595477612760095, | |
| -0.06434756517410278 | |
| ], | |
| [ | |
| -0.0535189136492726, | |
| 0.9973736831774933, | |
| 0.048800225273700176, | |
| -0.019052403047680855 | |
| ], | |
| [ | |
| -0.15692732765999742, | |
| -0.056663603383850875, | |
| 0.9859832908751803, | |
| 0.009740478359162807 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9849553840431734, | |
| 0.04657462817924173, | |
| 0.1664142285212708, | |
| -0.06703631579875946 | |
| ], | |
| [ | |
| -0.05590825493018203, | |
| 0.9970888352499122, | |
| 0.051847098767760606, | |
| -0.020420216023921967 | |
| ], | |
| [ | |
| -0.16351500993800552, | |
| -0.06037100819050074, | |
| 0.9846919228342617, | |
| 0.009301124140620232 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9822153607487429, | |
| 0.04958216704704556, | |
| 0.18109277683037406, | |
| -0.0720699355006218 | |
| ], | |
| [ | |
| -0.06103600809488573, | |
| 0.9964355718269409, | |
| 0.0582302061971074, | |
| -0.023481978103518486 | |
| ], | |
| [ | |
| -0.1775601048238536, | |
| -0.06824778317890944, | |
| 0.9817406221941242, | |
| 0.010969430208206177 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9808282670932224, | |
| 0.051489128285607755, | |
| 0.18794887639806496, | |
| -0.07561741769313812 | |
| ], | |
| [ | |
| -0.06412256865486131, | |
| 0.9960288352899728, | |
| 0.06176451618852837, | |
| -0.0246721338480711 | |
| ], | |
| [ | |
| -0.18402229935529396, | |
| -0.07263214811148477, | |
| 0.9802348516558175, | |
| 0.011570320464670658 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.977489484189542, | |
| 0.053541157103918484, | |
| 0.20407756563335724, | |
| -0.08257940411567688 | |
| ], | |
| [ | |
| -0.06865187176258637, | |
| 0.9953413946764205, | |
| 0.06769363741957252, | |
| -0.026851758360862732 | |
| ], | |
| [ | |
| -0.19950245312365725, | |
| -0.08018012558965379, | |
| 0.9766114471262719, | |
| 0.013337329030036926 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9757790832801916, | |
| 0.054403707162392796, | |
| 0.21188538713147992, | |
| -0.08523795008659363 | |
| ], | |
| [ | |
| -0.07092430712308341, | |
| 0.9949401096733969, | |
| 0.07116123117399412, | |
| -0.028055569157004356 | |
| ], | |
| [ | |
| -0.20694183552867945, | |
| -0.08446546519185565, | |
| 0.9747002933712208, | |
| 0.013566678389906883 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.9726470654816817, | |
| 0.05581923098094136, | |
| 0.22548148363572815, | |
| -0.08928467333316803 | |
| ], | |
| [ | |
| -0.0748172013011879, | |
| 0.9942507025236588, | |
| 0.07660239500608068, | |
| -0.030221039429306984 | |
| ], | |
| [ | |
| -0.21990923673036228, | |
| -0.09137698826239792, | |
| 0.971231266803516, | |
| 0.01731395721435547 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.9711904815193019, | |
| 0.05707555675383799, | |
| 0.23136860078140614, | |
| -0.09321360290050507 | |
| ], | |
| [ | |
| -0.0775752676340582, | |
| 0.9937321856800173, | |
| 0.08048863891954323, | |
| -0.03161514922976494 | |
| ], | |
| [ | |
| -0.22532449147354244, | |
| -0.09611828111683995, | |
| 0.9695308915023462, | |
| 0.016549674794077873 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.9674780007716562, | |
| 0.05937252359176157, | |
| 0.24588863630762953, | |
| -0.0983295887708664 | |
| ], | |
| [ | |
| -0.08282674188607667, | |
| 0.9928322899315493, | |
| 0.08616133064092571, | |
| -0.03424501046538353 | |
| ], | |
| [ | |
| -0.2390105622172734, | |
| -0.10372534652447948, | |
| 0.9654610316511798, | |
| 0.01840939372777939 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.9652054885759728, | |
| 0.06012618266968469, | |
| 0.2544861626501322, | |
| -0.10221526771783829 | |
| ], | |
| [ | |
| -0.08502120371497131, | |
| 0.9924876736964361, | |
| 0.08797506737418762, | |
| -0.03474373742938042 | |
| ], | |
| [ | |
| -0.24728477458524417, | |
| -0.1065507377647252, | |
| 0.9630665504211627, | |
| 0.0197587963193655 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.9619692964066822, | |
| 0.06117741181979187, | |
| 0.26621870154793004, | |
| -0.10647323727607727 | |
| ], | |
| [ | |
| -0.0894879820367786, | |
| 0.9913952861124532, | |
| 0.09553683972684028, | |
| -0.03822633996605873 | |
| ], | |
| [ | |
| -0.2580832692016654, | |
| -0.11572688087492188, | |
| 0.9591664689724837, | |
| 0.021305805072188377 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 641.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9598499644480828, | |
| 0.0606302537561184, | |
| 0.2738832197825985, | |
| -0.10908834636211395 | |
| ], | |
| [ | |
| -0.09082826389568774, | |
| 0.9909385408993927, | |
| 0.09894965708823182, | |
| -0.039244260638952255 | |
| ], | |
| [ | |
| -0.2654020953698552, | |
| -0.11985316220130322, | |
| 0.9566592639407401, | |
| 0.023689409717917442 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.955824523720441, | |
| 0.06196022156563067, | |
| 0.2873332747840565, | |
| -0.1147034615278244 | |
| ], | |
| [ | |
| -0.09573292613978712, | |
| 0.989852746950021, | |
| 0.10500831494796614, | |
| -0.04132246971130371 | |
| ], | |
| [ | |
| -0.2779112928747345, | |
| -0.12787677779423087, | |
| 0.9520571637216214, | |
| 0.02562396042048931 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9540335819383637, | |
| 0.06259713692028167, | |
| 0.293089615959419, | |
| -0.11631796509027481 | |
| ], | |
| [ | |
| -0.0980615587520222, | |
| 0.9893131097848021, | |
| 0.10790505781958781, | |
| -0.04200121387839317 | |
| ], | |
| [ | |
| -0.28320285173172244, | |
| -0.13168587341589996, | |
| 0.9499763026063928, | |
| 0.028110865503549576 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9491630907895805, | |
| 0.06219818257269776, | |
| 0.3085786984991407, | |
| -0.1212540939450264 | |
| ], | |
| [ | |
| -0.10192958058740884, | |
| 0.9881984424243826, | |
| 0.1143424636401521, | |
| -0.044849470257759094 | |
| ], | |
| [ | |
| -0.2978250957928918, | |
| -0.1399829435134081, | |
| 0.9443013225879104, | |
| 0.03051990643143654 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.9472027027463062, | |
| 0.06250870290446246, | |
| 0.3144832300318977, | |
| -0.12426218390464783 | |
| ], | |
| [ | |
| -0.10460944656992237, | |
| 0.9873902211034908, | |
| 0.11881672844147023, | |
| -0.04646226763725281 | |
| ], | |
| [ | |
| -0.303090586456307, | |
| -0.1454414429603921, | |
| 0.9417976869111392, | |
| 0.030644109472632408 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9434064032195679, | |
| 0.061858898872731195, | |
| 0.3258187149237609, | |
| -0.128945991396904 | |
| ], | |
| [ | |
| -0.10824637376683807, | |
| 0.9860796258191856, | |
| 0.1262128920143415, | |
| -0.04897056892514229 | |
| ], | |
| [ | |
| -0.31347580597336, | |
| -0.15433874489105734, | |
| 0.9369698345703584, | |
| 0.03395523130893707 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9408003332522745, | |
| 0.06167760689929887, | |
| 0.3333025738868287, | |
| -0.13290682435035706 | |
| ], | |
| [ | |
| -0.11043338433956268, | |
| 0.9854287352547119, | |
| 0.1293625732490252, | |
| -0.051770273596048355 | |
| ], | |
| [ | |
| -0.3204671599021026, | |
| -0.15851208326646443, | |
| 0.933902949391855, | |
| 0.032953400164842606 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 641.82861328125, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9352433429806571, | |
| 0.05995866951242005, | |
| 0.34889088173907074, | |
| -0.13698647916316986 | |
| ], | |
| [ | |
| -0.11417892745779726, | |
| 0.9839728412485063, | |
| 0.13696941341017668, | |
| -0.054079290479421616 | |
| ], | |
| [ | |
| -0.3350866483985195, | |
| -0.16793571876060567, | |
| 0.9271000660281531, | |
| 0.0382133349776268 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.9337186455513324, | |
| 0.060689122757435106, | |
| 0.3528261913870893, | |
| -0.13937291502952576 | |
| ], | |
| [ | |
| -0.11723406850078295, | |
| 0.9830208615227619, | |
| 0.1411600474419063, | |
| -0.0551237128674984 | |
| ], | |
| [ | |
| -0.33826862717748457, | |
| -0.17316701819336297, | |
| 0.9249797401443339, | |
| 0.03864896669983864 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9287327098077726, | |
| 0.060136494057936564, | |
| 0.36584034197383297, | |
| -0.1448386311531067 | |
| ], | |
| [ | |
| -0.12162025930019194, | |
| 0.98157123000585, | |
| 0.1473988906082973, | |
| -0.057771094143390656 | |
| ], | |
| [ | |
| -0.35023430194780353, | |
| -0.18138776835063178, | |
| 0.9189311243134128, | |
| 0.04038741812109947 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.9254434821961811, | |
| 0.05953153889638672, | |
| 0.3741795787282283, | |
| -0.1469525694847107 | |
| ], | |
| [ | |
| -0.12439951792028317, | |
| 0.9805726214778022, | |
| 0.15166441227048738, | |
| -0.05930083617568016 | |
| ], | |
| [ | |
| -0.3578814345587202, | |
| -0.18690460102624326, | |
| 0.914870236106418, | |
| 0.04160692170262337 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9210793324945598, | |
| 0.05717986678805039, | |
| 0.3851536395848781, | |
| -0.15153057873249054 | |
| ], | |
| [ | |
| -0.12699014453614316, | |
| 0.979187278145075, | |
| 0.15832175311538552, | |
| -0.06141049787402153 | |
| ], | |
| [ | |
| -0.3680847272599975, | |
| -0.19473761103839318, | |
| 0.9091704440890022, | |
| 0.04520421102643013 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.9180408642606416, | |
| 0.056459473632273174, | |
| 0.3924452820263505, | |
| -0.15431606769561768 | |
| ], | |
| [ | |
| -0.1295632010486181, | |
| 0.9781889109917732, | |
| 0.16235711055190755, | |
| -0.06369517743587494 | |
| ], | |
| [ | |
| -0.3747190260469973, | |
| -0.19989692906569506, | |
| 0.9053324633903806, | |
| 0.04532017558813095 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.912895790241824, | |
| 0.05409985361663425, | |
| 0.404591747317483, | |
| -0.15808498859405518 | |
| ], | |
| [ | |
| -0.13329513268030643, | |
| 0.9763514727289601, | |
| 0.1702063726883627, | |
| -0.06576589494943619 | |
| ], | |
| [ | |
| -0.38581560850034885, | |
| -0.20931079173957853, | |
| 0.8985183964164873, | |
| 0.05111537501215935 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.9104385165729821, | |
| 0.05367133497354388, | |
| 0.4101476506607657, | |
| -0.16137872636318207 | |
| ], | |
| [ | |
| -0.13560342541739953, | |
| 0.9754782845505431, | |
| 0.17336039739628264, | |
| -0.06729335337877274 | |
| ], | |
| [ | |
| -0.3907856427191965, | |
| -0.21345140939447277, | |
| 0.8953910192044914, | |
| 0.052371155470609665 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.9048783628473919, | |
| 0.051002210677053746, | |
| 0.422603742241686, | |
| -0.1654229611158371 | |
| ], | |
| [ | |
| -0.13916759811578516, | |
| 0.9736841915484139, | |
| 0.1804756902283373, | |
| -0.07051607966423035 | |
| ], | |
| [ | |
| -0.4022779239348182, | |
| -0.2221212948700882, | |
| 0.888163612337236, | |
| 0.052861809730529785 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.9017726626783495, | |
| 0.04915163015837665, | |
| 0.42940677928832716, | |
| -0.16717486083507538 | |
| ], | |
| [ | |
| -0.14120973324226613, | |
| 0.9724964905004957, | |
| 0.18523063246090657, | |
| -0.07200711220502853 | |
| ], | |
| [ | |
| -0.4084921983142988, | |
| -0.22767233739959225, | |
| 0.8839114382670685, | |
| 0.055004388093948364 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.8993142923418879, | |
| 0.048038828978252776, | |
| 0.43465627166763365, | |
| -0.16966287791728973 | |
| ], | |
| [ | |
| -0.14338474791890402, | |
| 0.9713926864075881, | |
| 0.18930679559403404, | |
| -0.07378336042165756 | |
| ], | |
| [ | |
| -0.41312784662116614, | |
| -0.23256938685959289, | |
| 0.8804753617460916, | |
| 0.05563313513994217 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.8934619430648151, | |
| 0.04494451839520153, | |
| 0.4468844890584908, | |
| -0.17394137382507324 | |
| ], | |
| [ | |
| -0.14702484616935155, | |
| 0.9694281545030243, | |
| 0.1964503699811705, | |
| -0.07657195627689362 | |
| ], | |
| [ | |
| -0.424393038236637, | |
| -0.24122405253847246, | |
| 0.8727551234872197, | |
| 0.06053067743778229 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.8901268061640888, | |
| 0.04269258129839628, | |
| 0.4537087308507509, | |
| -0.17609252035617828 | |
| ], | |
| [ | |
| -0.14861572756920918, | |
| 0.9683667580131822, | |
| 0.20044746816588538, | |
| -0.07835129648447037 | |
| ], | |
| [ | |
| -0.43079883294548743, | |
| -0.24585191778206428, | |
| 0.8683139985372154, | |
| 0.06209797412157059 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.8849503756323337, | |
| 0.039018444369549155, | |
| 0.4640478355376436, | |
| -0.18063923716545105 | |
| ], | |
| [ | |
| -0.1520247458097854, | |
| 0.9660952052717089, | |
| 0.20868284791157457, | |
| -0.08140726387500763 | |
| ], | |
| [ | |
| -0.44017190883751484, | |
| -0.25522071888856446, | |
| 0.8608780838889691, | |
| 0.06403114646673203 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.8830823184793157, | |
| 0.03762855125082846, | |
| 0.46770686430708003, | |
| -0.1832226663827896 | |
| ], | |
| [ | |
| -0.153435417671464, | |
| 0.96513751982504, | |
| 0.21205456946256643, | |
| -0.08277584612369537 | |
| ], | |
| [ | |
| -0.44342213678748715, | |
| -0.25902443891790367, | |
| 0.8580694311360154, | |
| 0.06473010778427124 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.8760584357804007, | |
| 0.031224149981592553, | |
| 0.4811929649900605, | |
| -0.18620911240577698 | |
| ], | |
| [ | |
| -0.15630744839944155, | |
| 0.9624080731535307, | |
| 0.22212312419864066, | |
| -0.08590549230575562 | |
| ], | |
| [ | |
| -0.4561683885067596, | |
| -0.2698068812814742, | |
| 0.8480062783613758, | |
| 0.06990236043930054 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.8732630683469842, | |
| 0.030209443162937225, | |
| 0.4863116315748535, | |
| -0.18989767134189606 | |
| ], | |
| [ | |
| -0.1583678862906084, | |
| 0.9614837697104925, | |
| 0.2246521158928753, | |
| -0.08760436624288559 | |
| ], | |
| [ | |
| -0.46079412545415127, | |
| -0.2731965412063016, | |
| 0.84441247256294, | |
| 0.07078704237937927 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 49, | |
| "c2w": [ | |
| [ | |
| 0.865723347971461, | |
| 0.026291489845804282, | |
| 0.4998318140522595, | |
| -0.19287535548210144 | |
| ], | |
| [ | |
| -0.16345813955925895, | |
| 0.958717413002268, | |
| 0.2326851061371673, | |
| -0.09034458547830582 | |
| ], | |
| [ | |
| -0.473079825599137, | |
| -0.283142507525675, | |
| 0.8342816065592976, | |
| 0.07440439611673355 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 50, | |
| "c2w": [ | |
| [ | |
| 0.863940406486738, | |
| 0.023384024224565345, | |
| 0.5030508537420397, | |
| -0.1956414431333542 | |
| ], | |
| [ | |
| -0.16451349560212736, | |
| 0.9572211430860743, | |
| 0.23803989790318478, | |
| -0.09145795553922653 | |
| ], | |
| [ | |
| -0.4759645825103994, | |
| -0.2884109405692765, | |
| 0.8308290110219108, | |
| 0.07626592367887497 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 51, | |
| "c2w": [ | |
| [ | |
| 0.8589128579404337, | |
| 0.019594161342426697, | |
| 0.5117467843630125, | |
| -0.1997743844985962 | |
| ], | |
| [ | |
| -0.16715593157987607, | |
| 0.9552663718637796, | |
| 0.24397756725542377, | |
| -0.0954837054014206 | |
| ], | |
| [ | |
| -0.48407395819467547, | |
| -0.2950969800379158, | |
| 0.8237658498446275, | |
| 0.08027500659227371 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 52, | |
| "c2w": [ | |
| [ | |
| 0.8539880103064414, | |
| 0.01568940671218458, | |
| 0.5200560746399029, | |
| -0.20142371952533722 | |
| ], | |
| [ | |
| -0.16773592021466113, | |
| 0.9544793800735171, | |
| 0.2466450366097293, | |
| -0.09694486856460571 | |
| ], | |
| [ | |
| -0.4925130854328501, | |
| -0.29786398830925115, | |
| 0.817745623739999, | |
| 0.08183935284614563 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 53, | |
| "c2w": [ | |
| [ | |
| 0.8480452538681457, | |
| 0.01116868116039539, | |
| 0.5298061041105976, | |
| -0.205485537648201 | |
| ], | |
| [ | |
| -0.17189298860304464, | |
| 0.9515167876825703, | |
| 0.255085482196372, | |
| -0.10018957406282425 | |
| ], | |
| [ | |
| -0.5012704338586363, | |
| -0.3073939871230073, | |
| 0.8088491137534828, | |
| 0.0845106914639473 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 54, | |
| "c2w": [ | |
| [ | |
| 0.8461950127649954, | |
| 0.008322213039348821, | |
| 0.5328083531081108, | |
| -0.20899580419063568 | |
| ], | |
| [ | |
| -0.17331752784976054, | |
| 0.9498107987045823, | |
| 0.26042365715159405, | |
| -0.1017504334449768 | |
| ], | |
| [ | |
| -0.5038998262667854, | |
| -0.3127142264660999, | |
| 0.8051675463243734, | |
| 0.08547469973564148 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 55, | |
| "c2w": [ | |
| [ | |
| 0.839635060850994, | |
| 0.0027144338019847586, | |
| 0.5431441764751623, | |
| -0.21204876899719238 | |
| ], | |
| [ | |
| -0.1770068101707042, | |
| 0.9467637769225, | |
| 0.2688994976950204, | |
| -0.1033855453133583 | |
| ], | |
| [ | |
| -0.5134993220472057, | |
| -0.32191766425062246, | |
| 0.7954165347165489, | |
| 0.0888698473572731 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 56, | |
| "c2w": [ | |
| [ | |
| 0.8359703242514928, | |
| -0.0013886978472091513, | |
| 0.5487728933622208, | |
| -0.2135009616613388 | |
| ], | |
| [ | |
| -0.1770824384979211, | |
| 0.9458200744802852, | |
| 0.2721510549046945, | |
| -0.10641413927078247 | |
| ], | |
| [ | |
| -0.5194183544566789, | |
| -0.3246882477522052, | |
| 0.7904316003457341, | |
| 0.09135060012340546 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 57, | |
| "c2w": [ | |
| [ | |
| 0.8298201492323644, | |
| -0.006770120158454687, | |
| 0.5579898613783374, | |
| -0.2175842821598053 | |
| ], | |
| [ | |
| -0.1816416965965211, | |
| 0.942193807468047, | |
| 0.2815619349741737, | |
| -0.1096859946846962 | |
| ], | |
| [ | |
| -0.5276408001524456, | |
| -0.3349999920028412, | |
| 0.780621669807201, | |
| 0.09509990364313126 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 58, | |
| "c2w": [ | |
| [ | |
| 0.827160612866149, | |
| -0.010227203078964889, | |
| 0.5618725165374078, | |
| -0.2183721363544464 | |
| ], | |
| [ | |
| -0.18255570868761553, | |
| 0.9407180360460163, | |
| 0.2858723314406067, | |
| -0.11167658865451813 | |
| ], | |
| [ | |
| -0.5314872846536033, | |
| -0.3390353683244672, | |
| 0.77625787292409, | |
| 0.0972730964422226 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 59, | |
| "c2w": [ | |
| [ | |
| 0.8202832050840068, | |
| -0.017220493465739395, | |
| 0.5716982753707641, | |
| -0.22235126793384552 | |
| ], | |
| [ | |
| -0.18569152551605744, | |
| 0.9373839871781199, | |
| 0.2946691669204129, | |
| -0.11509740352630615 | |
| ], | |
| [ | |
| -0.5409751572934093, | |
| -0.3478716935694065, | |
| 0.7657226416951011, | |
| 0.09983563423156738 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 60, | |
| "c2w": [ | |
| [ | |
| 0.818248112822612, | |
| -0.020019037554442974, | |
| 0.5745165480624802, | |
| -0.22339420020580292 | |
| ], | |
| [ | |
| -0.18748819621656865, | |
| 0.9354538159829155, | |
| 0.29962365467776086, | |
| -0.11625581979751587 | |
| ], | |
| [ | |
| -0.5434318744255732, | |
| -0.3528815612898953, | |
| 0.7616799863196573, | |
| 0.10312367230653763 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 61, | |
| "c2w": [ | |
| [ | |
| 0.8096172144265041, | |
| -0.029987728384112886, | |
| 0.5861916941160358, | |
| -0.22557809948921204 | |
| ], | |
| [ | |
| -0.19001180757917602, | |
| 0.9315260410482872, | |
| 0.310088290377755, | |
| -0.11982276290655136 | |
| ], | |
| [ | |
| -0.5553516715422414, | |
| -0.3624361612688023, | |
| 0.7484814960438052, | |
| 0.10920082777738571 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 62, | |
| "c2w": [ | |
| [ | |
| 0.8052972043905405, | |
| -0.03360987155423428, | |
| 0.5919178905345635, | |
| -0.2289126217365265 | |
| ], | |
| [ | |
| -0.19112611685556682, | |
| 0.9303730768820665, | |
| 0.31285259351443534, | |
| -0.12195732444524765 | |
| ], | |
| [ | |
| -0.5612194045616132, | |
| -0.3650702868587141, | |
| 0.7428031136151788, | |
| 0.11118905991315842 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 63, | |
| "c2w": [ | |
| [ | |
| 0.8002796744984513, | |
| -0.04149301270803629, | |
| 0.5981895790475326, | |
| -0.23096106946468353 | |
| ], | |
| [ | |
| -0.19321557120892743, | |
| 0.9265492792598218, | |
| 0.32276024560889394, | |
| -0.12456677109003067 | |
| ], | |
| [ | |
| -0.5676444182999261, | |
| -0.3738780055038224, | |
| 0.7334814594612622, | |
| 0.11367984861135483 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 64, | |
| "c2w": [ | |
| [ | |
| 0.7959126346796424, | |
| -0.044758668405555854, | |
| 0.6037547014805532, | |
| -0.23179775476455688 | |
| ], | |
| [ | |
| -0.19488192272914967, | |
| 0.9252412854172815, | |
| 0.32549900146201016, | |
| -0.12603266537189484 | |
| ], | |
| [ | |
| -0.5731876779473727, | |
| -0.3767296449205149, | |
| 0.7276885738331762, | |
| 0.11744148284196854 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 65, | |
| "c2w": [ | |
| [ | |
| 0.7879651130357531, | |
| -0.05231052158948916, | |
| 0.6134937570746655, | |
| -0.23474127054214478 | |
| ], | |
| [ | |
| -0.19770855568150478, | |
| 0.9221248896055524, | |
| 0.3325612950724748, | |
| -0.12905770540237427 | |
| ], | |
| [ | |
| -0.5831143178218885, | |
| -0.383339663093951, | |
| 0.7162600052007163, | |
| 0.12148646265268326 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 66, | |
| "c2w": [ | |
| [ | |
| 0.7861516129355284, | |
| -0.05599288016646693, | |
| 0.6154920298830279, | |
| -0.23734726011753082 | |
| ], | |
| [ | |
| -0.19879122260925156, | |
| 0.9200549997913242, | |
| 0.3376104962416079, | |
| -0.13055837154388428 | |
| ], | |
| [ | |
| -0.5851903034845889, | |
| -0.3877674492910008, | |
| 0.7121718289696416, | |
| 0.12199810892343521 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 67, | |
| "c2w": [ | |
| [ | |
| 0.7798641011821198, | |
| -0.06451124816659898, | |
| 0.6226156780449658, | |
| -0.23940546810626984 | |
| ], | |
| [ | |
| -0.20167976738873705, | |
| 0.9157347210640026, | |
| 0.34749847778639203, | |
| -0.13339611887931824 | |
| ], | |
| [ | |
| -0.5925683548025741, | |
| -0.39657057316172856, | |
| 0.7011380216396407, | |
| 0.12756028771400452 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 68, | |
| "c2w": [ | |
| [ | |
| 0.7774663235544989, | |
| -0.06737853142338714, | |
| 0.6253049250100938, | |
| -0.24137449264526367 | |
| ], | |
| [ | |
| -0.2028480176771957, | |
| 0.9142466130627228, | |
| 0.3507218445260756, | |
| -0.1359151005744934 | |
| ], | |
| [ | |
| -0.5953140326441866, | |
| -0.39951628753602525, | |
| 0.6971283515467925, | |
| 0.1280255913734436 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 69, | |
| "c2w": [ | |
| [ | |
| 0.7693231367854355, | |
| -0.07635357811131124, | |
| 0.6342807283184771, | |
| -0.2437228560447693 | |
| ], | |
| [ | |
| -0.20511511560025902, | |
| 0.9107486441011899, | |
| 0.35841972130469785, | |
| -0.138762429356575 | |
| ], | |
| [ | |
| -0.6050369414828405, | |
| -0.40584114919195297, | |
| 0.6849987307022146, | |
| 0.1346103996038437 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 70, | |
| "c2w": [ | |
| [ | |
| 0.763600807261062, | |
| -0.0812364232178018, | |
| 0.6405579214193138, | |
| -0.24555833637714386 | |
| ], | |
| [ | |
| -0.20849923403354068, | |
| 0.9078868931318977, | |
| 0.3636886837485273, | |
| -0.13996779918670654 | |
| ], | |
| [ | |
| -0.6110989089809281, | |
| -0.41126880847213265, | |
| 0.6763254324807184, | |
| 0.13869228959083557 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 71, | |
| "c2w": [ | |
| [ | |
| 0.7593553785709964, | |
| -0.09016203001721783, | |
| 0.6443991134215443, | |
| -0.24912399053573608 | |
| ], | |
| [ | |
| -0.20876547023626407, | |
| 0.9042355704365672, | |
| 0.3725251824968179, | |
| -0.1439814567565918 | |
| ], | |
| [ | |
| -0.6162762265999967, | |
| -0.4174072849153811, | |
| 0.66781342531222, | |
| 0.1396002620458603 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 72, | |
| "c2w": [ | |
| [ | |
| 0.7532885718126566, | |
| -0.09701362982365482, | |
| 0.6504957211272704, | |
| -0.24968068301677704 | |
| ], | |
| [ | |
| -0.20942793847443683, | |
| 0.9021947289170485, | |
| 0.3770737457058513, | |
| -0.14527243375778198 | |
| ], | |
| [ | |
| -0.6234551035662442, | |
| -0.42027732123293554, | |
| 0.6592956143449399, | |
| 0.14294174313545227 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 73, | |
| "c2w": [ | |
| [ | |
| 0.7446262305013236, | |
| -0.10640102457442688, | |
| 0.6589465826748798, | |
| -0.2515266537666321 | |
| ], | |
| [ | |
| -0.21364445406689567, | |
| 0.8972853471097526, | |
| 0.3863095301809021, | |
| -0.14991869032382965 | |
| ], | |
| [ | |
| -0.6323668429763281, | |
| -0.42843649218016355, | |
| 0.6454102168950454, | |
| 0.14764150977134705 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 74, | |
| "c2w": [ | |
| [ | |
| 0.7419598540225014, | |
| -0.10974863143952814, | |
| 0.6614006447804986, | |
| -0.25276458263397217 | |
| ], | |
| [ | |
| -0.21455750635202217, | |
| 0.8957616454794453, | |
| 0.389327819396404, | |
| -0.15012170374393463 | |
| ], | |
| [ | |
| -0.635185525249836, | |
| -0.43077408508997833, | |
| 0.6410717870316728, | |
| 0.14865757524967194 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 75, | |
| "c2w": [ | |
| [ | |
| 0.7360311377982238, | |
| -0.1193051906748468, | |
| 0.6663515856284061, | |
| -0.2560930848121643 | |
| ], | |
| [ | |
| -0.21679325768793095, | |
| 0.890961965749862, | |
| 0.3989830309777552, | |
| -0.15249265730381012 | |
| ], | |
| [ | |
| -0.6412946651988516, | |
| -0.43812446526664156, | |
| 0.6299111884403328, | |
| 0.1533721387386322 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 76, | |
| "c2w": [ | |
| [ | |
| 0.7309170939704935, | |
| -0.12332171973280504, | |
| 0.671231670277761, | |
| -0.25654974579811096 | |
| ], | |
| [ | |
| -0.21862520817542988, | |
| 0.8893961917420999, | |
| 0.4014690927890963, | |
| -0.1538694053888321 | |
| ], | |
| [ | |
| -0.64650075026405, | |
| -0.44018878626879354, | |
| 0.6231136432074228, | |
| 0.15747970342636108 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 632.914306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 77, | |
| "c2w": [ | |
| [ | |
| 0.7239926212334683, | |
| -0.13238485963146945, | |
| 0.6769851795570175, | |
| -0.25994905829429626 | |
| ], | |
| [ | |
| -0.21963728690113185, | |
| 0.8860933591011546, | |
| 0.4081642085724106, | |
| -0.15739713609218597 | |
| ], | |
| [ | |
| -0.6539068332738244, | |
| -0.4441990633682026, | |
| 0.612448402316971, | |
| 0.15952558815479279 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 78, | |
| "c2w": [ | |
| [ | |
| 0.7212091764737404, | |
| -0.1356467705830624, | |
| 0.6793064679512885, | |
| -0.2617686688899994 | |
| ], | |
| [ | |
| -0.22097991889944066, | |
| 0.8843531682574167, | |
| 0.4112023215355985, | |
| -0.15834853053092957 | |
| ], | |
| [ | |
| -0.6565250941230394, | |
| -0.4466759758745206, | |
| 0.6078284078284584, | |
| 0.16187654435634613 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 79, | |
| "c2w": [ | |
| [ | |
| 0.7133962860853157, | |
| -0.14701878243057448, | |
| 0.6851651017180533, | |
| -0.26079726219177246 | |
| ], | |
| [ | |
| -0.22520243092198627, | |
| 0.8777802465925585, | |
| 0.42283058522147593, | |
| -0.16287510097026825 | |
| ], | |
| [ | |
| -0.6635884297563569, | |
| -0.455946615630097, | |
| 0.5930961807236272, | |
| 0.1694592535495758 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 80, | |
| "c2w": [ | |
| [ | |
| 0.7116912096974377, | |
| -0.1513551338079679, | |
| 0.6859936191462497, | |
| -0.2627882957458496 | |
| ], | |
| [ | |
| -0.2261015794050843, | |
| 0.8751996783497654, | |
| 0.42767230306274584, | |
| -0.163582906126976 | |
| ], | |
| [ | |
| -0.665111793482813, | |
| -0.4594748594715918, | |
| 0.5886502830065031, | |
| 0.17051655054092407 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 638.857177734375, | |
| "fy": 638.857177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |