Download camxtime_eval/source/eval_scene_022/transforms.json from HugMinjun/geo4d_evals: direct link, hf CLI and curl.
- Browser
- Download file 57.8 kB
-
https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/camxtime_eval/source/eval_scene_022/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/camxtime_eval/source/eval_scene_022/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/camxtime_eval/source/eval_scene_022/transforms.json
57.8 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": [ | |
| [ | |
| 0.9999998733692619, | |
| 0.0004883479850377804, | |
| -0.00012156358483774801, | |
| -0.0004575560160446912 | |
| ], | |
| [ | |
| -0.00048821413661903466, | |
| 0.9999992772939589, | |
| 0.0010986621482292791, | |
| 0.0003661742666736245 | |
| ], | |
| [ | |
| 0.0001221000264295798, | |
| -0.0010986026600439053, | |
| 0.9999993890817026, | |
| -0.00023696929565630853 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.9999954333839892, | |
| -0.0022198585082272627, | |
| -0.002050716794471358, | |
| 0.002865177346393466 | |
| ], | |
| [ | |
| 0.0021742684495474137, | |
| 0.9997562170847405, | |
| -0.021972231500657708, | |
| 0.013887055218219757 | |
| ], | |
| [ | |
| 0.002098992109794246, | |
| 0.0219676723530887, | |
| 0.9997564781503095, | |
| 0.0017609687056392431 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.9999939702352373, | |
| -0.003261774345681159, | |
| 0.0011917723294267068, | |
| -0.0006924495100975037 | |
| ], | |
| [ | |
| 0.0033244851437758544, | |
| 0.9983640490364191, | |
| -0.057080411614983, | |
| 0.032943423837423325 | |
| ], | |
| [ | |
| -0.0010036392260896977, | |
| 0.057084029462932374, | |
| 0.9983688728564103, | |
| -0.0030981150921434164 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1491.6572265625, | |
| "fy": 1479.771484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9999941025970012, | |
| -0.0032539890424278144, | |
| 0.0010983289725145448, | |
| -0.0003583822981454432 | |
| ], | |
| [ | |
| 0.003328102979062193, | |
| 0.9970977333948876, | |
| -0.07605940960419659, | |
| 0.04358170926570892 | |
| ], | |
| [ | |
| -0.0008476448435908204, | |
| 0.07606261640313168, | |
| 0.9971026827183502, | |
| 4.133481979806675e-06 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1491.6572265625, | |
| "fy": 1479.771484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9999838008169537, | |
| -0.004307956600442906, | |
| 0.003720163115811641, | |
| -0.0027281215880066156 | |
| ], | |
| [ | |
| 0.004697352862081113, | |
| 0.9937035659965473, | |
| -0.11194265407714449, | |
| 0.06348901242017746 | |
| ], | |
| [ | |
| -0.0032144952587677563, | |
| 0.11195831561645968, | |
| 0.9937077048028539, | |
| 0.0033547182101756334 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9999843831851442, | |
| -0.005246020579360176, | |
| 0.0019268248254042542, | |
| -0.0010321850422769785 | |
| ], | |
| [ | |
| 0.0054511656427984195, | |
| 0.9915865819901235, | |
| -0.12933033368192723, | |
| 0.07315336167812347 | |
| ], | |
| [ | |
| -0.001232144050685466, | |
| 0.12933881739533876, | |
| 0.9915996934932026, | |
| 0.005388760939240456 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9999668770711401, | |
| -0.007296970104682394, | |
| 0.0036054109173265475, | |
| -0.0022774282842874527 | |
| ], | |
| [ | |
| 0.007792321203536841, | |
| 0.9862318713577993, | |
| -0.16518467134801998, | |
| 0.09244272112846375 | |
| ], | |
| [ | |
| -0.0023504235474305097, | |
| 0.1652072944678405, | |
| 0.9862560648045535, | |
| 0.012583678588271141 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1473.82861328125, | |
| "fy": 1461.94287109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9999677859856759, | |
| -0.0069911494098985495, | |
| 0.003943452907646605, | |
| -0.002445367630571127 | |
| ], | |
| [ | |
| 0.007588351313586786, | |
| 0.9835320083314893, | |
| -0.18057465356956653, | |
| 0.10165639966726303 | |
| ], | |
| [ | |
| -0.002616087775272798, | |
| 0.1805987608411418, | |
| 0.9835533761150927, | |
| 0.019473744556307793 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1461.94287109375, | |
| "fy": 1456.0, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9999506171418088, | |
| -0.008332477897995351, | |
| 0.005416003119923832, | |
| -0.004282646346837282 | |
| ], | |
| [ | |
| 0.009298566874762621, | |
| 0.9767889807220752, | |
| -0.21400192474369242, | |
| 0.12041022628545761 | |
| ], | |
| [ | |
| -0.003507125859042612, | |
| 0.21404171778419442, | |
| 0.9768182241933248, | |
| 0.020657368004322052 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1461.94287109375, | |
| "fy": 1456.0, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9999478999578919, | |
| -0.008645368702700421, | |
| 0.005427243296252773, | |
| -0.003268440719693899 | |
| ], | |
| [ | |
| 0.009675028043703368, | |
| 0.9722156767913797, | |
| -0.23388687785643966, | |
| 0.1326925903558731 | |
| ], | |
| [ | |
| -0.003254412720585276, | |
| 0.233927201071346, | |
| 0.9722486684983275, | |
| 0.024503089487552643 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1461.94287109375, | |
| "fy": 1456.0, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.999924014396364, | |
| -0.009246242583126788, | |
| 0.008153062710052686, | |
| -0.005554024130105972 | |
| ], | |
| [ | |
| 0.011086806308168287, | |
| 0.9636766428691506, | |
| -0.2668415460799331, | |
| 0.14863933622837067 | |
| ], | |
| [ | |
| -0.005389634435213577, | |
| 0.26691166139106376, | |
| 0.9637059286183296, | |
| 0.03389498218894005 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1450.05712890625, | |
| "fy": 1444.1142578125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.9999288742049685, | |
| -0.009883279058451322, | |
| 0.00667587643959223, | |
| -0.004059026949107647 | |
| ], | |
| [ | |
| 0.011371207132871625, | |
| 0.9588525287432388, | |
| -0.2836767945585922, | |
| 0.157464861869812 | |
| ], | |
| [ | |
| -0.0035975240826509216, | |
| 0.28373253059483516, | |
| 0.9588967144081396, | |
| 0.039011865854263306 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1438.1715087890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.999914811218155, | |
| -0.010813829031227698, | |
| 0.007309679079458275, | |
| -0.004601301159709692 | |
| ], | |
| [ | |
| 0.012568477604623754, | |
| 0.9487899946148511, | |
| -0.31565737673853544, | |
| 0.17210906744003296 | |
| ], | |
| [ | |
| -0.0035218854699389252, | |
| 0.315722357808938, | |
| 0.948845081718982, | |
| 0.0517352856695652 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1420.3428955078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9999024366521312, | |
| -0.010146498111329363, | |
| 0.00960029964152483, | |
| -0.0068772886879742146 | |
| ], | |
| [ | |
| 0.012753008017880778, | |
| 0.9435218402812492, | |
| -0.33106479380746723, | |
| 0.17958012223243713 | |
| ], | |
| [ | |
| -0.005698944079927856, | |
| 0.3311549267161243, | |
| 0.9435591855034916, | |
| 0.05144377797842026 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.999917955393082, | |
| -0.00973604987216665, | |
| 0.008324170553577278, | |
| -0.005551450420171022 | |
| ], | |
| [ | |
| 0.012073818538116338, | |
| 0.9334113383308194, | |
| -0.3586049307822993, | |
| 0.191442608833313 | |
| ], | |
| [ | |
| -0.004278479686407269, | |
| 0.35867601370645896, | |
| 0.9334523082639079, | |
| 0.06261789053678513 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1420.3428955078125, | |
| "fy": 1420.3428955078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9999142535054555, | |
| -0.009242208734417877, | |
| 0.009277241741874625, | |
| -0.007777949329465628 | |
| ], | |
| [ | |
| 0.012026106911017437, | |
| 0.9284604967329014, | |
| -0.37123641895570947, | |
| 0.19419170916080475 | |
| ], | |
| [ | |
| -0.005182508002165716, | |
| 0.37131615583516425, | |
| 0.9284920322903175, | |
| 0.06911984086036682 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1420.3428955078125, | |
| "fy": 1414.4000244140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9999428604375931, | |
| -0.007809694966162876, | |
| 0.007299624950610233, | |
| -0.0056650592014193535 | |
| ], | |
| [ | |
| 0.010081687152516911, | |
| 0.9160107778336265, | |
| -0.40102694981359194, | |
| 0.2054484337568283 | |
| ], | |
| [ | |
| -0.0035546369776473983, | |
| 0.4010776278442484, | |
| 0.9160371722800263, | |
| 0.08080165088176727 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1408.4571533203125, | |
| "fy": 1402.5142822265625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9999285699788412, | |
| -0.008224780156572522, | |
| 0.008672250656377344, | |
| -0.008757947012782097 | |
| ], | |
| [ | |
| 0.011090043191279646, | |
| 0.909033163176752, | |
| -0.4165761865336093, | |
| 0.2139500081539154 | |
| ], | |
| [ | |
| -0.004457115893326216, | |
| 0.4166426061221352, | |
| 0.9090594440858468, | |
| 0.08618416637182236 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1408.4571533203125, | |
| "fy": 1402.5142822265625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.9999391020339322, | |
| -0.007037170223177261, | |
| 0.008501203375051886, | |
| -0.008817917667329311 | |
| ], | |
| [ | |
| 0.010091147514296416, | |
| 0.8948864982018645, | |
| -0.446179699311666, | |
| 0.22730806469917297 | |
| ], | |
| [ | |
| -0.004467769624619817, | |
| 0.4462383147727839, | |
| 0.8949030145570674, | |
| 0.0974699929356575 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1408.4571533203125, | |
| "fy": 1414.4000244140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9999684078633841, | |
| -0.003982880858584993, | |
| 0.006878948701245672, | |
| -0.006597941275686026 | |
| ], | |
| [ | |
| 0.0066939811075702816, | |
| 0.8886362382250006, | |
| -0.4585638742097457, | |
| 0.2315809428691864 | |
| ], | |
| [ | |
| -0.004286477819789142, | |
| 0.4585954347498306, | |
| 0.8886348256367821, | |
| 0.10506082326173782 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1396.5714111328125, | |
| "fy": 1396.5714111328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.9999458607054346, | |
| -0.004933574524485717, | |
| 0.009161631976829399, | |
| -0.008352547883987427 | |
| ], | |
| [ | |
| 0.008775197348165594, | |
| 0.8729893641113341, | |
| -0.48766029780984815, | |
| 0.24401722848415375 | |
| ], | |
| [ | |
| -0.005592098851796591, | |
| 0.48771429135396455, | |
| 0.8729853941730821, | |
| 0.11166103184223175 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1396.5714111328125, | |
| "fy": 1396.5714111328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.9999278034725797, | |
| -0.0029441778895302594, | |
| 0.011649878070480946, | |
| -0.010587355121970177 | |
| ], | |
| [ | |
| 0.008352748480271087, | |
| 0.8672808440028917, | |
| -0.4977491026797104, | |
| 0.2498168647289276 | |
| ], | |
| [ | |
| -0.008638254182854358, | |
| 0.49781047542431905, | |
| 0.8672428213150487, | |
| 0.11764378100633621 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1396.5714111328125, | |
| "fy": 1396.5714111328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.9999556305345366, | |
| -0.0009017977568025123, | |
| 0.009376765064897822, | |
| -0.009474871680140495 | |
| ], | |
| [ | |
| 0.005661173005367205, | |
| 0.8531288947682898, | |
| -0.5216694739311852, | |
| 0.26518768072128296 | |
| ], | |
| [ | |
| -0.007529148854934699, | |
| 0.5216994112247415, | |
| 0.8530961471283749, | |
| 0.12420376390218735 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1396.5714111328125, | |
| "fy": 1396.5714111328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.9998966468326834, | |
| -0.001574931948589349, | |
| 0.014290389851698823, | |
| -0.01402646116912365 | |
| ], | |
| [ | |
| 0.008983741750060033, | |
| 0.8444731676024614, | |
| -0.535522512676762, | |
| 0.2711586654186249 | |
| ], | |
| [ | |
| -0.011224439269934706, | |
| 0.5355955459008429, | |
| 0.8444000374077759, | |
| 0.1308349221944809 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1396.5714111328125, | |
| "fy": 1396.5714111328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.9999082989170863, | |
| -0.0019395898217567356, | |
| 0.01340267689912766, | |
| -0.01338683720678091 | |
| ], | |
| [ | |
| 0.009056239863192416, | |
| 0.8316041962682736, | |
| -0.5552949173804307, | |
| 0.27800604701042175 | |
| ], | |
| [ | |
| -0.010068677980718085, | |
| 0.5553653740919778, | |
| 0.8315455026535823, | |
| 0.1386602818965912 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1396.5714111328125, | |
| "fy": 1402.5142822265625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9998929363190355, | |
| -0.0011783096045879298, | |
| 0.014585180347634449, | |
| -0.01383207831531763 | |
| ], | |
| [ | |
| 0.009264552820290992, | |
| 0.822502000070841, | |
| -0.5686867573106538, | |
| 0.28942930698394775 | |
| ], | |
| [ | |
| -0.011326250939182143, | |
| 0.5687609967868246, | |
| 0.8224248564906828, | |
| 0.14156842231750488 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1408.4571533203125, | |
| "fy": 1414.4000244140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.9998600530247009, | |
| -0.0021383838095484784, | |
| 0.016592217456562176, | |
| -0.015942435711622238 | |
| ], | |
| [ | |
| 0.011508750842851951, | |
| 0.8077405420703264, | |
| -0.5894257929120271, | |
| 0.2987478971481323 | |
| ], | |
| [ | |
| -0.012141788150018953, | |
| 0.5895342602517837, | |
| 0.8076521113511076, | |
| 0.147051140666008 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1420.3428955078125, | |
| "fy": 1420.3428955078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9998803430977176, | |
| 0.0005011544933663522, | |
| 0.01546118788982776, | |
| -0.01706462725996971 | |
| ], | |
| [ | |
| 0.008874103069138505, | |
| 0.8000820606908227, | |
| -0.599824929838236, | |
| 0.3134520649909973 | |
| ], | |
| [ | |
| -0.012670824026442963, | |
| 0.5998903608201254, | |
| 0.7999818780532412, | |
| 0.1450558751821518 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1444.1142578125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9998642720056473, | |
| 0.0031452568328870028, | |
| 0.01617235066624701, | |
| -0.016886549070477486 | |
| ], | |
| [ | |
| 0.0075482977768965755, | |
| 0.7850701755696471, | |
| -0.6193608339503829, | |
| 0.3176743984222412 | |
| ], | |
| [ | |
| -0.014644479071929499, | |
| 0.6193988430651912, | |
| 0.7849398782341319, | |
| 0.1614948809146881 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1420.3428955078125, | |
| "fy": 1420.3428955078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.9998590051563554, | |
| 0.004364510185133617, | |
| 0.01621483452235098, | |
| -0.017450032755732536 | |
| ], | |
| [ | |
| 0.006855279792808598, | |
| 0.7754012313710368, | |
| -0.6314316554681448, | |
| 0.32609468698501587 | |
| ], | |
| [ | |
| -0.015328892546615049, | |
| 0.6314537840880547, | |
| 0.7752619838571801, | |
| 0.16212867200374603 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9997344930205214, | |
| 0.00569510395282548, | |
| 0.022327320841700513, | |
| -0.024745851755142212 | |
| ], | |
| [ | |
| 0.010248337774338891, | |
| 0.7579618678892458, | |
| -0.6522183517800687, | |
| 0.3418879508972168 | |
| ], | |
| [ | |
| -0.020637709123465728, | |
| 0.6522740011811089, | |
| 0.7577022583741734, | |
| 0.171921506524086 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9997632584740492, | |
| 0.0027810653019743974, | |
| 0.021579913835288417, | |
| -0.024173475801944733 | |
| ], | |
| [ | |
| 0.012175519298615706, | |
| 0.7504736332071658, | |
| -0.660788228247633, | |
| 0.3413735628128052 | |
| ], | |
| [ | |
| -0.018032851553799138, | |
| 0.6608945388915111, | |
| 0.7502621040197989, | |
| 0.1765076220035553 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1438.1715087890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9997014250158782, | |
| 0.0037725243307442716, | |
| 0.024141849171016454, | |
| -0.028190257027745247 | |
| ], | |
| [ | |
| 0.013560614516480848, | |
| 0.7362385124020194, | |
| -0.6765862565778262, | |
| 0.3494099974632263 | |
| ], | |
| [ | |
| -0.020326597235090116, | |
| 0.6767116231573349, | |
| 0.7359675322516667, | |
| 0.18499791622161865 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1420.3428955078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.9996953182718182, | |
| 0.005728559585026911, | |
| 0.024009461270275763, | |
| -0.027210891246795654 | |
| ], | |
| [ | |
| 0.012338727419238674, | |
| 0.7264701156254979, | |
| -0.6870872775046479, | |
| 0.35608527064323425 | |
| ], | |
| [ | |
| -0.02137817651442247, | |
| 0.6871741807636226, | |
| 0.7261780903199724, | |
| 0.18925787508487701 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9996396488622356, | |
| 0.00674047173907303, | |
| 0.02598342670474072, | |
| -0.02849430777132511 | |
| ], | |
| [ | |
| 0.01304196057402809, | |
| 0.724082325645136, | |
| -0.6895902355404374, | |
| 0.3571222722530365 | |
| ], | |
| [ | |
| -0.023462303530799648, | |
| 0.6896806157411306, | |
| 0.7237334927885838, | |
| 0.191032275557518 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.9996523479981271, | |
| 0.006199926901016365, | |
| 0.025627017935268708, | |
| -0.02876145951449871 | |
| ], | |
| [ | |
| 0.013282468548610982, | |
| 0.7212006971305321, | |
| -0.6925988236256903, | |
| 0.35902905464172363 | |
| ], | |
| [ | |
| -0.022776285278501663, | |
| 0.6926984303178817, | |
| 0.7208676199303558, | |
| 0.1956920474767685 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9995991703331041, | |
| 0.006933081256377216, | |
| 0.027448698578661043, | |
| -0.030727732926607132 | |
| ], | |
| [ | |
| 0.014015296990575106, | |
| 0.7212209032932075, | |
| -0.6925633401380668, | |
| 0.3569026291370392 | |
| ], | |
| [ | |
| -0.024598173095490134, | |
| 0.6926704418677199, | |
| 0.7208346473659141, | |
| 0.19513928890228271 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.9996440616584382, | |
| 0.005884078589032955, | |
| 0.026021675775750593, | |
| -0.029260843992233276 | |
| ], | |
| [ | |
| 0.013783579975818566, | |
| 0.7212022673614435, | |
| -0.6925873969946056, | |
| 0.35528939962387085 | |
| ], | |
| [ | |
| -0.02284213024370571, | |
| 0.6926995504342927, | |
| 0.7208644601546526, | |
| 0.19957424700260162 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.9996224214001569, | |
| 0.00619572248014674, | |
| 0.026769902073704947, | |
| -0.030226891860365868 | |
| ], | |
| [ | |
| 0.014092925027951569, | |
| 0.7207429064275506, | |
| -0.6930591982641339, | |
| 0.35607126355171204 | |
| ], | |
| [ | |
| -0.02358821948014057, | |
| 0.6931747801653753, | |
| 0.7203834534776886, | |
| 0.19983923435211182 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.9995929329916085, | |
| 0.00509198596479445, | |
| 0.028072050017207383, | |
| -0.03059045970439911 | |
| ], | |
| [ | |
| 0.015790876919043486, | |
| 0.7207459130395372, | |
| -0.6930194636826094, | |
| 0.3536455035209656 | |
| ], | |
| [ | |
| -0.023761660702944897, | |
| 0.6931806406094577, | |
| 0.720372114233262, | |
| 0.20231811702251434 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.9996711389705014, | |
| 0.0065240387344696225, | |
| 0.024800218305713974, | |
| -0.028234871104359627 | |
| ], | |
| [ | |
| 0.012584073803470382, | |
| 0.7178443939865782, | |
| -0.6960898412622847, | |
| 0.3548957407474518 | |
| ], | |
| [ | |
| -0.022344014767466024, | |
| 0.696173012217965, | |
| 0.7175262239552209, | |
| 0.20483732223510742 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.9996188983889427, | |
| 0.006730742236693435, | |
| 0.026772282170553333, | |
| -0.030244095250964165 | |
| ], | |
| [ | |
| 0.01393830081339126, | |
| 0.7140600638247847, | |
| -0.6999456757641845, | |
| 0.3536454439163208 | |
| ], | |
| [ | |
| -0.023828171438697365, | |
| 0.7000520854618523, | |
| 0.7136941192740768, | |
| 0.20846177637577057 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.9996002484196469, | |
| 0.007623750351843868, | |
| 0.027225388701577972, | |
| -0.03096006251871586 | |
| ], | |
| [ | |
| 0.013703637946510102, | |
| 0.7116365168083034, | |
| -0.7024141785670163, | |
| 0.3498218357563019 | |
| ], | |
| [ | |
| -0.024729611125333485, | |
| 0.7025064742587916, | |
| 0.7112475658714564, | |
| 0.2150413990020752 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.9995756577582461, | |
| 0.006509762223803084, | |
| 0.028392383009529003, | |
| -0.03197576850652695 | |
| ], | |
| [ | |
| 0.015316064664039748, | |
| 0.7116398262656609, | |
| -0.7023775166075484, | |
| 0.34907329082489014 | |
| ], | |
| [ | |
| -0.02477746113662976, | |
| 0.7025143277317334, | |
| 0.7112381434872943, | |
| 0.21576125919818878 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.999623977490548, | |
| 0.007937586197755076, | |
| 0.026246873172429557, | |
| -0.030452070757746696 | |
| ], | |
| [ | |
| 0.012893400784145997, | |
| 0.7087121867802043, | |
| -0.7053798951809163, | |
| 0.3491741120815277 | |
| ], | |
| [ | |
| -0.024200492602337167, | |
| 0.7054530679177559, | |
| 0.7083433525651457, | |
| 0.21935147047042847 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1420.3428955078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.9995932645313274, | |
| 0.007779932296712117, | |
| 0.02743680296722458, | |
| -0.03283876180648804 | |
| ], | |
| [ | |
| 0.013844414058241073, | |
| 0.7087223371438058, | |
| -0.7053516718863051, | |
| 0.3418806493282318 | |
| ], | |
| [ | |
| -0.024932663375333657, | |
| 0.7054446268041737, | |
| 0.7083263660277881, | |
| 0.22393092513084412 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1420.3428955078125, | |
| "fy": 1420.3428955078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.9995859636293515, | |
| 0.009243521466705358, | |
| 0.027248093989771086, | |
| -0.032053329050540924 | |
| ], | |
| [ | |
| 0.012673996205492593, | |
| 0.7087291445100776, | |
| -0.7053668333159675, | |
| 0.34364941716194153 | |
| ], | |
| [ | |
| -0.025831591808558766, | |
| 0.7054201280321587, | |
| 0.7083185525113183, | |
| 0.22221241891384125 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.9996127050246217, | |
| 0.010630123679915853, | |
| 0.025718484090404715, | |
| -0.031098537147045135 | |
| ], | |
| [ | |
| 0.01063012195213283, | |
| 0.708233986321725, | |
| -0.7058977412671912, | |
| 0.34449437260627747 | |
| ], | |
| [ | |
| -0.025718484804542648, | |
| 0.7058977412411723, | |
| 0.7078466913463465, | |
| 0.22521187365055084 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.9996270039254775, | |
| 0.010180509680026532, | |
| 0.025341867445541465, | |
| -0.030144229531288147 | |
| ], | |
| [ | |
| 0.01068274644734367, | |
| 0.7082284276782403, | |
| -0.7059025238350894, | |
| 0.340706467628479 | |
| ], | |
| [ | |
| -0.025134278412444463, | |
| 0.7059099457091264, | |
| 0.7078555054512348, | |
| 0.22897805273532867 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 49, | |
| "c2w": [ | |
| [ | |
| 0.999630771679599, | |
| 0.009357390910690008, | |
| 0.025509989153150066, | |
| -0.03001784160733223 | |
| ], | |
| [ | |
| 0.011384380241839296, | |
| 0.708226679610664, | |
| -0.7058933107589018, | |
| 0.34206509590148926 | |
| ], | |
| [ | |
| -0.02467217456485169, | |
| 0.7059230903738729, | |
| 0.7078586541670888, | |
| 0.22757433354854584 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1438.1715087890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 50, | |
| "c2w": [ | |
| [ | |
| 0.9995917159267695, | |
| 0.010864969061377851, | |
| 0.026426386394508377, | |
| -0.031176650896668434 | |
| ], | |
| [ | |
| 0.01107237208081705, | |
| 0.7053189107529588, | |
| -0.7088036658417922, | |
| 0.3409726917743683 | |
| ], | |
| [ | |
| -0.026340159966873784, | |
| 0.7088068753768931, | |
| 0.7049106392950562, | |
| 0.22953957319259644 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 51, | |
| "c2w": [ | |
| [ | |
| 0.9996530566652139, | |
| 0.01105143212593776, | |
| 0.023908829914112143, | |
| -0.028256580233573914 | |
| ], | |
| [ | |
| 0.009241249963874265, | |
| 0.7028581691572883, | |
| -0.7112699862555504, | |
| 0.34471598267555237 | |
| ], | |
| [ | |
| -0.024665068396445916, | |
| 0.711244163348165, | |
| 0.7025121881534636, | |
| 0.2310573309659958 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1432.2286376953125, | |
| "fy": 1432.2286376953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 52, | |
| "c2w": [ | |
| [ | |
| 0.9996606556585345, | |
| 0.009823688698342261, | |
| 0.024126099326388806, | |
| -0.028452381491661072 | |
| ], | |
| [ | |
| 0.010325101188512108, | |
| 0.7008805235431623, | |
| -0.7132039568057019, | |
| 0.3443397581577301 | |
| ], | |
| [ | |
| -0.023915806777018864, | |
| 0.7132110394954783, | |
| 0.7005412531235997, | |
| 0.23104485869407654 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1438.1715087890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 53, | |
| "c2w": [ | |
| [ | |
| 0.9996218177698732, | |
| 0.010184323480603807, | |
| 0.02554409899948479, | |
| -0.029697703197598457 | |
| ], | |
| [ | |
| 0.011083496026125577, | |
| 0.700896486531573, | |
| -0.7131768863918229, | |
| 0.3405057191848755 | |
| ], | |
| [ | |
| -0.0251669933502577, | |
| 0.713190293486204, | |
| 0.700518542026383, | |
| 0.23211054503917694 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1438.1715087890625, | |
| "fy": 1438.1715087890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 54, | |
| "c2w": [ | |
| [ | |
| 0.999629192173845, | |
| 0.011082079991456667, | |
| 0.02487299051037633, | |
| -0.02928241714835167 | |
| ], | |
| [ | |
| 0.009975660146526776, | |
| 0.7008935797554632, | |
| -0.7131960993038403, | |
| 0.34295347332954407 | |
| ], | |
| [ | |
| -0.025337015580121372, | |
| 0.7131797651087943, | |
| 0.7005231318670769, | |
| 0.2324698567390442 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1450.05712890625, | |
| "fy": 1444.1142578125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 55, | |
| "c2w": [ | |
| [ | |
| 0.9996289092457905, | |
| 0.01030184256335965, | |
| 0.025217371787529294, | |
| -0.029426895081996918 | |
| ], | |
| [ | |
| 0.010802971874003614, | |
| 0.6998998314679858, | |
| -0.7141593111552729, | |
| 0.34651196002960205 | |
| ], | |
| [ | |
| -0.025006791052836305, | |
| 0.7141667157960275, | |
| 0.699528814596193, | |
| 0.23374316096305847 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1450.05712890625, | |
| "fy": 1456.0, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 56, | |
| "c2w": [ | |
| [ | |
| 0.9996575803759626, | |
| 0.01067102356936829, | |
| 0.023892493650858757, | |
| -0.02784915640950203 | |
| ], | |
| [ | |
| 0.009564577289998938, | |
| 0.7008822688421648, | |
| -0.7132128462695562, | |
| 0.3395196795463562 | |
| ], | |
| [ | |
| -0.024356536250829605, | |
| 0.7131971497970531, | |
| 0.7005402091694816, | |
| 0.2330678552389145 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1450.05712890625, | |
| "fy": 1444.1142578125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 57, | |
| "c2w": [ | |
| [ | |
| 0.9996337295550026, | |
| 0.010776364583936566, | |
| 0.02482492099302614, | |
| -0.028636593371629715 | |
| ], | |
| [ | |
| 0.010276307900831188, | |
| 0.697450573834037, | |
| -0.7165592051983555, | |
| 0.33837223052978516 | |
| ], | |
| [ | |
| -0.025036058633164007, | |
| 0.7165518592711387, | |
| 0.6970843770614801, | |
| 0.23869574069976807 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1450.05712890625, | |
| "fy": 1444.1142578125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 58, | |
| "c2w": [ | |
| [ | |
| 0.9996069016705603, | |
| 0.011998741899742173, | |
| 0.025339146106495222, | |
| -0.029546383768320084 | |
| ], | |
| [ | |
| 0.009792128106516544, | |
| 0.6974604459947834, | |
| -0.716556376358416, | |
| 0.34044715762138367 | |
| ], | |
| [ | |
| -0.02627082716110229, | |
| 0.7165228234087044, | |
| 0.6970687822408128, | |
| 0.23947282135486603 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1450.05712890625, | |
| "fy": 1456.0, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 59, | |
| "c2w": [ | |
| [ | |
| 0.9996536878286183, | |
| 0.011619946527695636, | |
| 0.023611040920224858, | |
| -0.028834808617830276 | |
| ], | |
| [ | |
| 0.008919959228227218, | |
| 0.6944925341729087, | |
| -0.7194446151758012, | |
| 0.34172317385673523 | |
| ], | |
| [ | |
| -0.024757599601128607, | |
| 0.7194060722712753, | |
| 0.6941483735061302, | |
| 0.24166055023670197 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1450.05712890625, | |
| "fy": 1456.0, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 60, | |
| "c2w": [ | |
| [ | |
| 0.9996558227546434, | |
| 0.010397614746366548, | |
| 0.024085797481560596, | |
| -0.028360875323414803 | |
| ], | |
| [ | |
| 0.010192489745206217, | |
| 0.6920481549334768, | |
| -0.7217793737742614, | |
| 0.3379479646682739 | |
| ], | |
| [ | |
| -0.024173315567593945, | |
| 0.7217764479814767, | |
| 0.6917039901241804, | |
| 0.24764235317707062 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1450.05712890625, | |
| "fy": 1444.1142578125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 61, | |
| "c2w": [ | |
| [ | |
| 0.9996412388889213, | |
| 0.011158837598009919, | |
| 0.024349001131126504, | |
| -0.02912275865674019 | |
| ], | |
| [ | |
| 0.009855623852352982, | |
| 0.6920533627015645, | |
| -0.7217790588898642, | |
| 0.3435957729816437 | |
| ], | |
| [ | |
| -0.024905023411016882, | |
| 0.7217600872290721, | |
| 0.6916951035622411, | |
| 0.24227195978164673 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1473.82861328125, | |
| "fy": 1461.94287109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 62, | |
| "c2w": [ | |
| [ | |
| 0.999626784942372, | |
| 0.011070833649908695, | |
| 0.024974536393525194, | |
| -0.029383808374404907 | |
| ], | |
| [ | |
| 0.010367953889466191, | |
| 0.6920598180951203, | |
| -0.7217656916966169, | |
| 0.3431704342365265 | |
| ], | |
| [ | |
| -0.025274421020497567, | |
| 0.7217552527141354, | |
| 0.6916867490574278, | |
| 0.2453891783952713 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1461.94287109375, | |
| "fy": 1461.94287109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 63, | |
| "c2w": [ | |
| [ | |
| 0.9996599823850866, | |
| 0.011556294222895572, | |
| 0.023374594791844623, | |
| -0.02771042473614216 | |
| ], | |
| [ | |
| 0.009150129790125541, | |
| 0.683954623490529, | |
| -0.7294671672739985, | |
| 0.3450213372707367 | |
| ], | |
| [ | |
| -0.0244170993910603, | |
| 0.7294330161637613, | |
| 0.6836163252787085, | |
| 0.2509860098361969 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1473.82861328125, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 64, | |
| "c2w": [ | |
| [ | |
| 0.9996733331803972, | |
| 0.011736768315945846, | |
| 0.022704078873467124, | |
| -0.02623077481985092 | |
| ], | |
| [ | |
| 0.008537633964437326, | |
| 0.683948165686244, | |
| -0.7294806477629907, | |
| 0.33942773938179016 | |
| ], | |
| [ | |
| -0.024090158452863955, | |
| 0.7294361897547451, | |
| 0.6836245382823785, | |
| 0.25352731347084045 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1461.94287109375, | |
| "fy": 1456.0, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 65, | |
| "c2w": [ | |
| [ | |
| 0.9996579258072015, | |
| 0.010397603255057833, | |
| 0.023998358639588564, | |
| -0.028145097196102142 | |
| ], | |
| [ | |
| 0.010397603186334758, | |
| 0.6839570040331221, | |
| -0.7294482205626485, | |
| 0.33873629570007324 | |
| ], | |
| [ | |
| -0.023998358669363735, | |
| 0.7294482205616688, | |
| 0.683614929840324, | |
| 0.2514735460281372 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1461.94287109375, | |
| "fy": 1461.94287109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 66, | |
| "c2w": [ | |
| [ | |
| 0.9996547764040067, | |
| 0.010734369478864384, | |
| 0.023981270286345488, | |
| -0.02898642234504223 | |
| ], | |
| [ | |
| 0.010236474676008451, | |
| 0.68149387315382, | |
| -0.731752222709308, | |
| 0.3376372456550598 | |
| ], | |
| [ | |
| -0.02419798749613216, | |
| 0.7317450882415928, | |
| 0.6811487232869495, | |
| 0.25752753019332886 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1461.94287109375, | |
| "fy": 1456.0, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 67, | |
| "c2w": [ | |
| [ | |
| 0.9996228044936087, | |
| 0.010107033846820252, | |
| 0.02553618223523911, | |
| -0.029912207275629044 | |
| ], | |
| [ | |
| 0.011902515153869682, | |
| 0.6785231224628566, | |
| -0.7344826086547372, | |
| 0.33846989274024963 | |
| ], | |
| [ | |
| -0.02475033069160922, | |
| 0.7345095099112571, | |
| 0.6781468874665587, | |
| 0.2573856711387634 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1473.82861328125, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 68, | |
| "c2w": [ | |
| [ | |
| 0.9996284850163281, | |
| 0.008664722362162019, | |
| 0.02584210769940122, | |
| -0.029776545241475105 | |
| ], | |
| [ | |
| 0.013179902902897757, | |
| 0.6762373579812553, | |
| -0.7365659005343661, | |
| 0.3370361924171448 | |
| ], | |
| [ | |
| -0.023857537664876263, | |
| 0.7366328517361402, | |
| 0.6758719254708329, | |
| 0.259160578250885 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1479.771484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 69, | |
| "c2w": [ | |
| [ | |
| 0.9996166820873963, | |
| 0.012516929187767404, | |
| 0.024694440189900798, | |
| -0.02927030622959137 | |
| ], | |
| [ | |
| 0.009816613385011705, | |
| 0.6737627292558113, | |
| -0.7388825473425451, | |
| 0.33716705441474915 | |
| ], | |
| [ | |
| -0.025886733942955827, | |
| 0.7388417361989427, | |
| 0.6733815900782395, | |
| 0.2614592909812927 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1473.82861328125, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 70, | |
| "c2w": [ | |
| [ | |
| 0.999583834165958, | |
| 0.01279288419989934, | |
| 0.02585537831730465, | |
| -0.03017880953848362 | |
| ], | |
| [ | |
| 0.010597657598493442, | |
| 0.6707631544874691, | |
| -0.7415959009025361, | |
| 0.3391842842102051 | |
| ], | |
| [ | |
| -0.026829985603948364, | |
| 0.7415612804724011, | |
| 0.6703484311733897, | |
| 0.2655504643917084 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1473.82861328125, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 71, | |
| "c2w": [ | |
| [ | |
| 0.9996156855735928, | |
| 0.013352796448111093, | |
| 0.024293702522492338, | |
| -0.0281866155564785 | |
| ], | |
| [ | |
| 0.009064094515821958, | |
| 0.6707469948403022, | |
| -0.7416308455716439, | |
| 0.3414182662963867 | |
| ], | |
| [ | |
| -0.02619777368106469, | |
| 0.7415660265544255, | |
| 0.6703681860846593, | |
| 0.2635151147842407 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1479.771484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 72, | |
| "c2w": [ | |
| [ | |
| 0.9995620813164763, | |
| 0.01682621302832835, | |
| 0.024341818941873396, | |
| -0.02831273339688778 | |
| ], | |
| [ | |
| 0.0067696345024397505, | |
| 0.6707582763989589, | |
| -0.7416451352843897, | |
| 0.33822721242904663 | |
| ], | |
| [ | |
| -0.02880655555558511, | |
| 0.7414851402404656, | |
| 0.6703506315053344, | |
| 0.26653847098350525 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1479.771484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 73, | |
| "c2w": [ | |
| [ | |
| 0.9995773832747689, | |
| 0.011897509671213528, | |
| 0.026523651882580702, | |
| -0.030385486781597137 | |
| ], | |
| [ | |
| 0.011693793712754126, | |
| 0.670766824570629, | |
| -0.7415761068454396, | |
| 0.33131420612335205 | |
| ], | |
| [ | |
| -0.026614094652429997, | |
| 0.7415728664932792, | |
| 0.670344220268045, | |
| 0.26999855041503906 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1473.82861328125, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 74, | |
| "c2w": [ | |
| [ | |
| 0.9995650295788001, | |
| 0.011117698075722141, | |
| 0.027315717684674858, | |
| -0.0305539071559906 | |
| ], | |
| [ | |
| 0.012911928915649675, | |
| 0.6677559663490645, | |
| -0.7442682658134129, | |
| 0.33066627383232117 | |
| ], | |
| [ | |
| -0.026514783325703093, | |
| 0.7442972297373709, | |
| 0.6673219613278636, | |
| 0.2711114287376404 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 75, | |
| "c2w": [ | |
| [ | |
| 0.9996196778756764, | |
| 0.013710717010034705, | |
| 0.02392730329142201, | |
| -0.028266163542866707 | |
| ], | |
| [ | |
| 0.008745541675393731, | |
| 0.6652535329097519, | |
| -0.746566308141412, | |
| 0.3339014947414398 | |
| ], | |
| [ | |
| -0.026153682427774883, | |
| 0.7464916296852663, | |
| 0.6648806146258911, | |
| 0.27308812737464905 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1479.771484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 76, | |
| "c2w": [ | |
| [ | |
| 0.9996180534865099, | |
| 0.014206164796584196, | |
| 0.023705105475671402, | |
| -0.02711217664182186 | |
| ], | |
| [ | |
| 0.008250049353626155, | |
| 0.6652526038766831, | |
| -0.7465727759039671, | |
| 0.33335575461387634 | |
| ], | |
| [ | |
| -0.026375819029996906, | |
| 0.7464831933252516, | |
| 0.6648813114033449, | |
| 0.2709560692310333 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1479.771484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 77, | |
| "c2w": [ | |
| [ | |
| 0.9996688404829516, | |
| 0.01698330736048918, | |
| 0.019333303871020526, | |
| -0.023824332281947136 | |
| ], | |
| [ | |
| 0.003241845171204297, | |
| 0.6621916622696529, | |
| -0.7493274937305048, | |
| 0.331606388092041 | |
| ], | |
| [ | |
| -0.0255284117672054, | |
| 0.7491420223773679, | |
| 0.661917313945625, | |
| 0.27568918466567993 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1479.771484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 78, | |
| "c2w": [ | |
| [ | |
| 0.9996678754096153, | |
| 0.015380855399026769, | |
| 0.020677721373973203, | |
| -0.025042658671736717 | |
| ], | |
| [ | |
| 0.005310400537974849, | |
| 0.6622044395496924, | |
| -0.7493043973491692, | |
| 0.32935842871665955 | |
| ], | |
| [ | |
| -0.025217821479099282, | |
| 0.7491653419158353, | |
| 0.6619028266686715, | |
| 0.2776506543159485 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1473.82861328125, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 79, | |
| "c2w": [ | |
| [ | |
| 0.9996465781674369, | |
| 0.015384243224078976, | |
| 0.021680493964757425, | |
| -0.02557164616882801 | |
| ], | |
| [ | |
| 0.00633380794843457, | |
| 0.654226640870529, | |
| -0.7562720312507503, | |
| 0.329033225774765 | |
| ], | |
| [ | |
| -0.02581862961130684, | |
| 0.7561420682885497, | |
| 0.6538979820501883, | |
| 0.28617486357688904 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1473.82861328125, | |
| "fy": 1473.82861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 80, | |
| "c2w": [ | |
| [ | |
| 0.9996571701062194, | |
| 0.016601587721603566, | |
| 0.020246716779441523, | |
| -0.02525133267045021 | |
| ], | |
| [ | |
| 0.004453119924864053, | |
| 0.6542120713159504, | |
| -0.7562980467166551, | |
| 0.32835862040519714 | |
| ], | |
| [ | |
| -0.02580139488786986, | |
| 0.7561289261955361, | |
| 0.6539138589999639, | |
| 0.2842116057872772 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1485.71435546875, | |
| "fy": 1479.771484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |