Download spatialvid_eval/source/scene_016/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/spatialvid_eval/source/scene_016/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/spatialvid_eval/source/scene_016/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/spatialvid_eval/source/scene_016/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": [ | |
| [ | |
| 0.9999999412142586, | |
| 0.0002784246930885927, | |
| 0.00020012788322371216, | |
| -0.00047573178337659527 | |
| ], | |
| [ | |
| -0.0002783911097003431, | |
| 0.9999999471677675, | |
| -0.00016781791391694203, | |
| 0.00028331787989698345 | |
| ], | |
| [ | |
| -0.0002001745973016864, | |
| 0.0001677621902281489, | |
| 0.9999999658929885, | |
| 0.0007101376479347094 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.9997973701416312, | |
| 0.005394914813759279, | |
| 0.019393647208058792, | |
| -0.003294635534204038 | |
| ], | |
| [ | |
| -0.005024021157993976, | |
| 0.9998045234516353, | |
| -0.01912260696277746, | |
| 0.0023221855531998575 | |
| ], | |
| [ | |
| -0.01949302104042354, | |
| 0.019021298057732988, | |
| 0.9996290373688216, | |
| 0.008479929945236964 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.999231693123155, | |
| 0.01031577357622727, | |
| 0.03781016098560351, | |
| -0.006540368971047862 | |
| ], | |
| [ | |
| -0.008730776929920756, | |
| 0.9990858471859719, | |
| -0.04184786119849768, | |
| 0.0033890062590435747 | |
| ], | |
| [ | |
| -0.038207289781312756, | |
| 0.04148559711770791, | |
| 0.998408307376974, | |
| 0.016433438314303654 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9983088257239396, | |
| 0.01590827206018916, | |
| 0.05591435738473901, | |
| -0.010338495029519055 | |
| ], | |
| [ | |
| -0.01189339057279113, | |
| 0.9973756228315495, | |
| -0.07141718450108685, | |
| 0.003984491941606611 | |
| ], | |
| [ | |
| -0.056903741022645914, | |
| 0.07063139430478661, | |
| 0.9958780901275969, | |
| 0.0229972927358052 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9972569576830449, | |
| 0.021581316972687524, | |
| 0.07080118014893719, | |
| -0.014578243262328705 | |
| ], | |
| [ | |
| -0.01444532954877555, | |
| 0.994903140907562, | |
| -0.09979515352207954, | |
| 0.005594134140954923 | |
| ], | |
| [ | |
| -0.07259402735063775, | |
| 0.09849866481324782, | |
| 0.9924858287265479, | |
| 0.02983775501423583 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.996132954267553, | |
| 0.027076330169052996, | |
| 0.08358235320193981, | |
| -0.01918720829788416 | |
| ], | |
| [ | |
| -0.016233924589096713, | |
| 0.9916704453308934, | |
| -0.12777397054824305, | |
| 0.006858716000430902 | |
| ], | |
| [ | |
| -0.08634579963514676, | |
| 0.1259229931418571, | |
| 0.9882751654693965, | |
| 0.03741907947986524 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9951410833439668, | |
| 0.03183431165969635, | |
| 0.09317081539918934, | |
| -0.022365065533544646 | |
| ], | |
| [ | |
| -0.01727609283404095, | |
| 0.9880634709937317, | |
| -0.15307551699801306, | |
| 0.007219414075265262 | |
| ], | |
| [ | |
| -0.09693173297422314, | |
| 0.15072210816258078, | |
| 0.9838125254608427, | |
| 0.04444140471510403 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9941975819416266, | |
| 0.03639828852853541, | |
| 0.10122417030342336, | |
| -0.02454809488745379 | |
| ], | |
| [ | |
| -0.01783714248865233, | |
| 0.983768652265575, | |
| -0.17855272377483916, | |
| 0.007790850892164438 | |
| ], | |
| [ | |
| -0.1060801791536123, | |
| 0.1757111362770385, | |
| 0.978709656731234, | |
| 0.05125985338250698 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9933293152753749, | |
| 0.04068630130264038, | |
| 0.10789576590796092, | |
| -0.026222245494248127 | |
| ], | |
| [ | |
| -0.017917318426297298, | |
| 0.9787791453617933, | |
| -0.20413317786496138, | |
| 0.008549715553822355 | |
| ], | |
| [ | |
| -0.11391154952402942, | |
| 0.20083826699896623, | |
| 0.9729790076840745, | |
| 0.057353794513375994 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9925675512039054, | |
| 0.04487137034920773, | |
| 0.11312036253507683, | |
| -0.027582260024185144 | |
| ], | |
| [ | |
| -0.017563683020401233, | |
| 0.9726286167817934, | |
| -0.23170043343916005, | |
| 0.009164194499191425 | |
| ], | |
| [ | |
| -0.12042081770126727, | |
| 0.22799152164087158, | |
| 0.9661877109154506, | |
| 0.06224450072669017 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.9919763983007271, | |
| 0.04878144907493517, | |
| 0.11663273743021993, | |
| -0.028685098873231316 | |
| ], | |
| [ | |
| -0.01690951731361006, | |
| 0.9654642603133994, | |
| -0.2599862117146243, | |
| 0.009910006135053055 | |
| ], | |
| [ | |
| -0.12528724371833647, | |
| 0.2559279826116133, | |
| 0.9585426303914771, | |
| 0.06604035637475181 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.991598237051811, | |
| 0.05178325383080778, | |
| 0.11853873163837526, | |
| -0.029898818308999 | |
| ], | |
| [ | |
| -0.0164480025593172, | |
| 0.9594127031351316, | |
| -0.2815257151216364, | |
| 0.010696500438159083 | |
| ], | |
| [ | |
| -0.12830588251342692, | |
| 0.27721067743799876, | |
| 0.9522036761254479, | |
| 0.06971030336954293 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.991341982632352, | |
| 0.0544343732405564, | |
| 0.11949047024957839, | |
| -0.031842595339079266 | |
| ], | |
| [ | |
| -0.016215422653733245, | |
| 0.9538073372660489, | |
| -0.29998103847678487, | |
| 0.011198064312723374 | |
| ], | |
| [ | |
| -0.13030016707095343, | |
| 0.29544620895749757, | |
| 0.9464319331435961, | |
| 0.07314658137871774 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9911217822217504, | |
| 0.0573101274044779, | |
| 0.11997150537716793, | |
| -0.03451770927647569 | |
| ], | |
| [ | |
| -0.016465067283536357, | |
| 0.9482913928651531, | |
| -0.3169737146471558, | |
| 0.011972675589056701 | |
| ], | |
| [ | |
| -0.1319337499085429, | |
| 0.31218421407039537, | |
| 0.9408158704657993, | |
| 0.07689953648434464 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9908951405735544, | |
| 0.060232865992152176, | |
| 0.12041105531506374, | |
| -0.03708195837166592 | |
| ], | |
| [ | |
| -0.01690564843658011, | |
| 0.9429310982590451, | |
| -0.33255848055181214, | |
| 0.012008761831314907 | |
| ], | |
| [ | |
| -0.13357027902439472, | |
| 0.3274949553662815, | |
| 0.9353641188173635, | |
| 0.08064355584440999 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9906059752019992, | |
| 0.06339324561348846, | |
| 0.12116558217862045, | |
| -0.03887935154687594 | |
| ], | |
| [ | |
| -0.01757245102214686, | |
| 0.9377208418991007, | |
| -0.3469449979940858, | |
| 0.012241709049667548 | |
| ], | |
| [ | |
| -0.13561346120194095, | |
| 0.34155661182098335, | |
| 0.9300258437603763, | |
| 0.08446670881386162 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9901576859059584, | |
| 0.06717348259019758, | |
| 0.12278224740597457, | |
| -0.040862442344378025 | |
| ], | |
| [ | |
| -0.018591397561184834, | |
| 0.9326445279776223, | |
| -0.36031728291898535, | |
| 0.013466557083996215 | |
| ], | |
| [ | |
| -0.13871595790708255, | |
| 0.35448823347200475, | |
| 0.9247139965155811, | |
| 0.08900414863846336 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9896122074766703, | |
| 0.07078426088105272, | |
| 0.12512900233229277, | |
| -0.04233897170227491 | |
| ], | |
| [ | |
| -0.01974516812119682, | |
| 0.9290602725144295, | |
| -0.3694010535600567, | |
| 0.01450164628194344 | |
| ], | |
| [ | |
| -0.1424001655512294, | |
| 0.3630930988698866, | |
| 0.9208070342933123, | |
| 0.09338868689423575 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.9889205966255955, | |
| 0.07465816751819482, | |
| 0.12830515029608686, | |
| -0.04357965195700501 | |
| ], | |
| [ | |
| -0.021091821019948286, | |
| 0.9262235894191966, | |
| -0.3763841089757672, | |
| 0.015344544001036133 | |
| ], | |
| [ | |
| -0.14693940470731037, | |
| 0.3695078083427262, | |
| 0.9175362613641035, | |
| 0.09835977682928014 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9880558256732618, | |
| 0.0787280580490283, | |
| 0.13246727229379407, | |
| -0.04488049495670143 | |
| ], | |
| [ | |
| -0.022406010165693095, | |
| 0.923902617946836, | |
| -0.3819711026497133, | |
| 0.01613049030285237 | |
| ], | |
| [ | |
| -0.15245870280697066, | |
| 0.3744407101622523, | |
| 0.9146313456861208, | |
| 0.10337767206711372 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.9870056394760134, | |
| 0.083173394761931, | |
| 0.13748474113996167, | |
| -0.04603459343902405 | |
| ], | |
| [ | |
| -0.023869037642476113, | |
| 0.9220108398895102, | |
| -0.38642758722464743, | |
| 0.01716733149576333 | |
| ], | |
| [ | |
| -0.15890291590958405, | |
| 0.37812457937830013, | |
| 0.912015167519387, | |
| 0.10827080007232906 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.9857696940518409, | |
| 0.08794159002401745, | |
| 0.1432633485333483, | |
| -0.04744313302600478 | |
| ], | |
| [ | |
| -0.025520586953259677, | |
| 0.9206565625619985, | |
| -0.3895384364258372, | |
| 0.018384128259288188 | |
| ], | |
| [ | |
| -0.16615297147659172, | |
| 0.3803390205534696, | |
| 0.9097996589985766, | |
| 0.11317299845204169 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.9843597159216718, | |
| 0.09284164922643698, | |
| 0.14972099999506097, | |
| -0.04952242577837701 | |
| ], | |
| [ | |
| -0.027287240316957576, | |
| 0.9199599050860578, | |
| -0.3910616058243717, | |
| 0.019734224044707822 | |
| ], | |
| [ | |
| -0.1740441213787194, | |
| 0.3808598183097908, | |
| 0.9081048632237044, | |
| 0.11819731581676712 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.9827996433111731, | |
| 0.09769034350993921, | |
| 0.1567209554984319, | |
| -0.05196649381518689 | |
| ], | |
| [ | |
| -0.02908393595709414, | |
| 0.9199164547280007, | |
| -0.39103432201011495, | |
| 0.02114256213958034 | |
| ], | |
| [ | |
| -0.1823704630050465, | |
| 0.3797503299611163, | |
| 0.9069347832770274, | |
| 0.12333212304327534 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.9811167592511243, | |
| 0.101985427395647, | |
| 0.1643437778423606, | |
| -0.05453617036857916 | |
| ], | |
| [ | |
| -0.030478070230166493, | |
| 0.9205926144027322, | |
| -0.3893331806334879, | |
| 0.021921790360661265 | |
| ], | |
| [ | |
| -0.1909999789309334, | |
| 0.37697242724908975, | |
| 0.9063171614519463, | |
| 0.12837877235994694 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9791958522224468, | |
| 0.10575812966617507, | |
| 0.17317823477524238, | |
| -0.0566396231098391 | |
| ], | |
| [ | |
| -0.03155847457840755, | |
| 0.9224281226342309, | |
| -0.38487715086215823, | |
| 0.022919814125662834 | |
| ], | |
| [ | |
| -0.20044836161126503, | |
| 0.3714048688197302, | |
| 0.9065753569033072, | |
| 0.13382273791544388 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.9775069998486969, | |
| 0.1080131340241483, | |
| 0.1811442191323843, | |
| -0.0584463947350669 | |
| ], | |
| [ | |
| -0.032034758314252905, | |
| 0.9249742790539807, | |
| -0.3786771148991136, | |
| 0.024170439904409792 | |
| ], | |
| [ | |
| -0.20845584546024917, | |
| 0.3643566192164628, | |
| 0.9076290070984965, | |
| 0.13900663761022522 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9759879863927929, | |
| 0.10914340552520635, | |
| 0.18850773842816693, | |
| -0.05899759857403365 | |
| ], | |
| [ | |
| -0.0323561254368721, | |
| 0.9284524683159023, | |
| -0.3700393157825559, | |
| 0.02617552629491432 | |
| ], | |
| [ | |
| -0.2154078261430054, | |
| 0.3550545466663807, | |
| 0.9096899127328367, | |
| 0.144517676322093 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9747384480398136, | |
| 0.10913199808965178, | |
| 0.19487217581249547, | |
| -0.05984827213994728 | |
| ], | |
| [ | |
| -0.032589952311657885, | |
| 0.9326561042105154, | |
| -0.35929164516752715, | |
| 0.027256375275281 | |
| ], | |
| [ | |
| -0.22095893944635905, | |
| 0.3438645056876685, | |
| 0.912652370186434, | |
| 0.14989920801098341 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.9737599863200841, | |
| 0.10764853295173343, | |
| 0.20050756194031516, | |
| -0.06110808936290306 | |
| ], | |
| [ | |
| -0.03233525964109316, | |
| 0.937558558553833, | |
| -0.346321209668715, | |
| 0.02831201452086155 | |
| ], | |
| [ | |
| -0.22526855090281211, | |
| 0.33075027231402016, | |
| 0.9164378524146352, | |
| 0.15523469504789966 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9730620875287265, | |
| 0.1052316111718957, | |
| 0.20512552699360542, | |
| -0.06169295165568511 | |
| ], | |
| [ | |
| -0.03213101220586692, | |
| 0.9429672407575621, | |
| -0.3313312253813344, | |
| 0.029512857434185913 | |
| ], | |
| [ | |
| -0.22829317087653722, | |
| 0.31581496302144574, | |
| 0.9209468699457637, | |
| 0.16069784159118838 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9726080750031355, | |
| 0.10166984523218227, | |
| 0.20903773584967683, | |
| -0.0623818961874583 | |
| ], | |
| [ | |
| -0.03168232648402673, | |
| 0.9488647679931651, | |
| -0.31408897186917667, | |
| 0.030990260920721574 | |
| ], | |
| [ | |
| -0.2302819198878946, | |
| 0.2988626685147227, | |
| 0.9260946726663556, | |
| 0.16584483652134135 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9722715493754795, | |
| 0.09795075208669654, | |
| 0.21235273589161766, | |
| -0.06368361054714403 | |
| ], | |
| [ | |
| -0.03143987555978442, | |
| 0.9545602359867923, | |
| -0.2963550068711929, | |
| 0.032576653960541775 | |
| ], | |
| [ | |
| -0.231731673492835, | |
| 0.2814611981046234, | |
| 0.9311713190716949, | |
| 0.1715630506051623 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.9720474423111495, | |
| 0.09410526427177383, | |
| 0.2150999050039124, | |
| -0.06508317653495083 | |
| ], | |
| [ | |
| -0.031271978954557425, | |
| 0.9598898578249336, | |
| -0.27862793143741765, | |
| 0.03380371851166112 | |
| ], | |
| [ | |
| -0.2326925723537781, | |
| 0.2641129684077785, | |
| 0.9360013390429597, | |
| 0.17775550477241825 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9719219472247372, | |
| 0.09006959780324068, | |
| 0.2173826029249762, | |
| -0.06620670859438078 | |
| ], | |
| [ | |
| -0.03114520273840043, | |
| 0.9649538135325773, | |
| -0.26056499015662155, | |
| 0.03493530818892103 | |
| ], | |
| [ | |
| -0.23323315555310598, | |
| 0.2464784073717185, | |
| 0.9406650253146664, | |
| 0.18378433327569899 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.9718383721891589, | |
| 0.08583844055104373, | |
| 0.21945828866664185, | |
| -0.06707811789092874 | |
| ], | |
| [ | |
| -0.03111025399208773, | |
| 0.9698797112715589, | |
| -0.24158952328349362, | |
| 0.036632274249997446 | |
| ], | |
| [ | |
| -0.23358580958027814, | |
| 0.22795856594469718, | |
| 0.9452367755092708, | |
| 0.18963910370576942 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9717790553274052, | |
| 0.08078218144131537, | |
| 0.22162966134648743, | |
| -0.06744596822825062 | |
| ], | |
| [ | |
| -0.030964247201073006, | |
| 0.975088809644872, | |
| -0.21964295732077926, | |
| 0.03898121388095333 | |
| ], | |
| [ | |
| -0.2338518398949368, | |
| 0.20658182995348168, | |
| 0.9500722417326084, | |
| 0.1962377751378424 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.9717565882122501, | |
| 0.07603851437308608, | |
| 0.22339936794454376, | |
| -0.06730565821544238 | |
| ], | |
| [ | |
| -0.03088747909601285, | |
| 0.9795048754550116, | |
| -0.19903809332626696, | |
| 0.04083046553816939 | |
| ], | |
| [ | |
| -0.23395533099542962, | |
| 0.18651633518755498, | |
| 0.9541889539326175, | |
| 0.20248319000850376 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.971739498466527, | |
| 0.07095318195217261, | |
| 0.22513994112747923, | |
| -0.06768274397989263 | |
| ], | |
| [ | |
| -0.0309242158038967, | |
| 0.9838016860892262, | |
| -0.1765727479678272, | |
| 0.042429924730046045 | |
| ], | |
| [ | |
| -0.23402145200159954, | |
| 0.1646204374276101, | |
| 0.9581931285415303, | |
| 0.20922175098518742 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.9717336082026103, | |
| 0.06479617510753931, | |
| 0.2270137669414981, | |
| -0.06824018023694621 | |
| ], | |
| [ | |
| -0.03096506439318822, | |
| 0.9882715008757207, | |
| -0.14953462924679356, | |
| 0.04453609244609079 | |
| ], | |
| [ | |
| -0.2340405081960416, | |
| 0.1382783289177426, | |
| 0.9623430491644105, | |
| 0.21647802412088066 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.9717257080722095, | |
| 0.05737552889917269, | |
| 0.22903536180053805, | |
| -0.06917598179178391 | |
| ], | |
| [ | |
| -0.03171826336440298, | |
| 0.9929543316294791, | |
| -0.11417375822578833, | |
| 0.04741990000291689 | |
| ], | |
| [ | |
| -0.23397243436078005, | |
| 0.10368097212986864, | |
| 0.966699103122319, | |
| 0.2241052166318246 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.9717634414895113, | |
| 0.04989709360520425, | |
| 0.230621104485723, | |
| -0.07065958184690194 | |
| ], | |
| [ | |
| -0.0321245880105525, | |
| 0.9962619506465206, | |
| -0.08018813215895627, | |
| 0.04868903883539208 | |
| ], | |
| [ | |
| -0.23376018615156333, | |
| 0.07051528730526067, | |
| 0.9697338653603076, | |
| 0.23175999870239244 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.9717571924335159, | |
| 0.04336318854557643, | |
| 0.2319646370309311, | |
| -0.07275779977043835 | |
| ], | |
| [ | |
| -0.03304656849611594, | |
| 0.9982918840221268, | |
| -0.04817923418013269, | |
| 0.04980009156035268 | |
| ], | |
| [ | |
| -0.23365761974385155, | |
| 0.03915288207416329, | |
| 0.9715303230269883, | |
| 0.2393985476687291 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.9718490501462327, | |
| 0.03676421456360325, | |
| 0.2327183195568982, | |
| -0.0753956926816603 | |
| ], | |
| [ | |
| -0.034020665899904406, | |
| 0.9992963352210479, | |
| -0.015793312050046714, | |
| 0.05192439502551683 | |
| ], | |
| [ | |
| -0.23313519258488696, | |
| 0.007431483116068526, | |
| 0.9724159372599275, | |
| 0.24693078216981157 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.9720847738067411, | |
| 0.030094213339100378, | |
| 0.23269192262860766, | |
| -0.07900676680682676 | |
| ], | |
| [ | |
| -0.03472253116932833, | |
| 0.9992717879340093, | |
| 0.01581896546438675, | |
| 0.05452479664181281 | |
| ], | |
| [ | |
| -0.23204641424140182, | |
| -0.023457028001627807, | |
| 0.9724218372059724, | |
| 0.2549706585257717 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.9724996094864149, | |
| 0.02307135243546886, | |
| 0.2317589744660799, | |
| -0.08419775914533863 | |
| ], | |
| [ | |
| -0.03506061876875883, | |
| 0.9982439872012491, | |
| 0.04774615197169811, | |
| 0.05609110603168294 | |
| ], | |
| [ | |
| -0.23025043444111554, | |
| -0.05455872719694917, | |
| 0.971600783617596, | |
| 0.2641436447715541 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.9730589956840393, | |
| 0.017518424317620712, | |
| 0.22988974689576036, | |
| -0.08935031094312726 | |
| ], | |
| [ | |
| -0.03528026671267822, | |
| 0.9966797594150437, | |
| 0.07338092363177924, | |
| 0.057469797995951075 | |
| ], | |
| [ | |
| -0.22784093947105127, | |
| -0.07951453943649879, | |
| 0.9704462603973238, | |
| 0.2726852088901321 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.9737917444177366, | |
| 0.012585952581700269, | |
| 0.2270930036383176, | |
| -0.09448172337690484 | |
| ], | |
| [ | |
| -0.03513125473117824, | |
| 0.9948082292087013, | |
| 0.09551116185902714, | |
| 0.05811690850627006 | |
| ], | |
| [ | |
| -0.22471188986093907, | |
| -0.10098604307655293, | |
| 0.969178201188443, | |
| 0.28181355043818274 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.9746955703423063, | |
| 0.00828135350317106, | |
| 0.22338299921713425, | |
| -0.09909007193803335 | |
| ], | |
| [ | |
| -0.03460126093126261, | |
| 0.9928585605410141, | |
| 0.1141693106854573, | |
| 0.05839331197882029 | |
| ], | |
| [ | |
| -0.2208422466310587, | |
| -0.11900965483766984, | |
| 0.968021386209192, | |
| 0.2923513355783538 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 49, | |
| "c2w": [ | |
| [ | |
| 0.9756423638836627, | |
| 0.004985950050184398, | |
| 0.21931055172425235, | |
| -0.1033829458099827 | |
| ], | |
| [ | |
| -0.034058419926975225, | |
| 0.9910616873649236, | |
| 0.12898354883266394, | |
| 0.05957614701991163 | |
| ], | |
| [ | |
| -0.21670717991699473, | |
| -0.13331118535024528, | |
| 0.9670915809957896, | |
| 0.30255458083950326 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 50, | |
| "c2w": [ | |
| [ | |
| 0.9764633044430061, | |
| 0.0024593827091298377, | |
| 0.21566957716130392, | |
| -0.108313147329725 | |
| ], | |
| [ | |
| -0.033489488142728036, | |
| 0.9895364759505574, | |
| 0.14034249872113036, | |
| 0.06175125238060279 | |
| ], | |
| [ | |
| -0.21306775743923262, | |
| -0.14426196380211392, | |
| 0.966328420641644, | |
| 0.3101750362905567 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 51, | |
| "c2w": [ | |
| [ | |
| 0.9772248597883821, | |
| 0.00010648641608939843, | |
| 0.21220641383384367, | |
| -0.11366191289164324 | |
| ], | |
| [ | |
| -0.032707304187384836, | |
| 0.9881260892047676, | |
| 0.150123496114652, | |
| 0.06492135501576025 | |
| ], | |
| [ | |
| -0.20967070769273236, | |
| -0.15364511216936008, | |
| 0.965624861859974, | |
| 0.3179006983449235 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 52, | |
| "c2w": [ | |
| [ | |
| 0.9779204185012741, | |
| -0.0015832348255879463, | |
| 0.20897164507602417, | |
| -0.11960792574083146 | |
| ], | |
| [ | |
| -0.032325044962512824, | |
| 0.986789973125387, | |
| 0.15874709574467644, | |
| 0.06672470625906138 | |
| ], | |
| [ | |
| -0.20646245795898172, | |
| -0.16199704412946858, | |
| 0.9649508853547162, | |
| 0.32625506125310566 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 53, | |
| "c2w": [ | |
| [ | |
| 0.9784559086945473, | |
| -0.0032986125876793733, | |
| 0.20642953736256894, | |
| -0.12600964126202288 | |
| ], | |
| [ | |
| -0.03145260541389709, | |
| 0.9858195260764674, | |
| 0.16483505579532254, | |
| 0.06761440200981078 | |
| ], | |
| [ | |
| -0.2040459956808894, | |
| -0.16777658108736693, | |
| 0.9644771902358442, | |
| 0.33422020050019324 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 54, | |
| "c2w": [ | |
| [ | |
| 0.9788700277684281, | |
| -0.0045362066636332205, | |
| 0.20443309801923407, | |
| -0.13267596669884613 | |
| ], | |
| [ | |
| -0.03088721090906242, | |
| 0.9850028159614552, | |
| 0.16975109057164542, | |
| 0.07079407724834424 | |
| ], | |
| [ | |
| -0.20213720325287984, | |
| -0.1724786229569006, | |
| 0.9640496230402227, | |
| 0.34179734751075364 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 55, | |
| "c2w": [ | |
| [ | |
| 0.9792279430401479, | |
| -0.005608917688979422, | |
| 0.20268491707998168, | |
| -0.13926605348626253 | |
| ], | |
| [ | |
| -0.030338411044290012, | |
| 0.9843113575972083, | |
| 0.17381234743380108, | |
| 0.07243501286986467 | |
| ], | |
| [ | |
| -0.20047996504555884, | |
| -0.1763510457794309, | |
| 0.963695020360608, | |
| 0.34989966617894463 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 56, | |
| "c2w": [ | |
| [ | |
| 0.9795678450561836, | |
| -0.0063219989922562465, | |
| 0.20101459962083995, | |
| -0.14536418576911997 | |
| ], | |
| [ | |
| -0.02996617684740053, | |
| 0.9837602397584249, | |
| 0.17696841219719614, | |
| 0.0732936838751064 | |
| ], | |
| [ | |
| -0.19886896484151317, | |
| -0.17937620522016937, | |
| 0.9634704519722836, | |
| 0.35889381790113595 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 57, | |
| "c2w": [ | |
| [ | |
| 0.9799108204472157, | |
| -0.0070074469868291935, | |
| 0.1993130192867287, | |
| -0.15063740988295996 | |
| ], | |
| [ | |
| -0.029488743761660448, | |
| 0.9833066313209327, | |
| 0.17955078053753762, | |
| 0.07592791557611951 | |
| ], | |
| [ | |
| -0.19724400614929785, | |
| -0.18182124322258567, | |
| 0.9633461670402647, | |
| 0.36662831981275545 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 58, | |
| "c2w": [ | |
| [ | |
| 0.9802744638095379, | |
| -0.007778089445840958, | |
| 0.19748791590245576, | |
| -0.15599400320970128 | |
| ], | |
| [ | |
| -0.02876069971683498, | |
| 0.982974964285392, | |
| 0.18147463111942222, | |
| 0.0780088239448554 | |
| ], | |
| [ | |
| -0.1955372029940108, | |
| -0.1835748373625994, | |
| 0.9633615527581397, | |
| 0.3745202259455069 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 59, | |
| "c2w": [ | |
| [ | |
| 0.9806203039754166, | |
| -0.008348935026202473, | |
| 0.19573991599847596, | |
| -0.16155327442308673 | |
| ], | |
| [ | |
| -0.02800076212506116, | |
| 0.9828625649428601, | |
| 0.18220081161827578, | |
| 0.0790557590048387 | |
| ], | |
| [ | |
| -0.19390661863788433, | |
| -0.18415068209993396, | |
| 0.9635812106566585, | |
| 0.3824939569677355 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 60, | |
| "c2w": [ | |
| [ | |
| 0.9809904621495286, | |
| -0.0088624499825986, | |
| 0.19385347598627303, | |
| -0.16738377268708216 | |
| ], | |
| [ | |
| -0.027098485753882615, | |
| 0.9829126041816202, | |
| 0.18206725298842874, | |
| 0.08103152058046754 | |
| ], | |
| [ | |
| -0.19215458683440587, | |
| -0.18385937430876848, | |
| 0.9639877308541263, | |
| 0.3902763036114445 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 61, | |
| "c2w": [ | |
| [ | |
| 0.9814496021524362, | |
| -0.009316480782678414, | |
| 0.1914938161420648, | |
| -0.1732710773266651 | |
| ], | |
| [ | |
| -0.026062414449268757, | |
| 0.983063346058139, | |
| 0.18140344040301473, | |
| 0.08350598674940479 | |
| ], | |
| [ | |
| -0.18994059331248675, | |
| -0.18302912561338855, | |
| 0.9645843198960364, | |
| 0.3980226245002965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 62, | |
| "c2w": [ | |
| [ | |
| 0.9820302664755054, | |
| -0.009544332688005842, | |
| 0.1884819923483109, | |
| -0.17866502165748607 | |
| ], | |
| [ | |
| -0.02502240597239303, | |
| 0.9833180666506677, | |
| 0.18016508817677723, | |
| 0.08486087860010304 | |
| ], | |
| [ | |
| -0.18705730385473004, | |
| -0.18164384248284837, | |
| 0.9654092808558791, | |
| 0.40608958241386967 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 63, | |
| "c2w": [ | |
| [ | |
| 0.9826996983387029, | |
| -0.00968119084968821, | |
| 0.18495290597542594, | |
| -0.18315217614868456 | |
| ], | |
| [ | |
| -0.023927282093211988, | |
| 0.9836274208365499, | |
| 0.17861853809184847, | |
| 0.08603407225256843 | |
| ], | |
| [ | |
| -0.18365399003739255, | |
| -0.1799538038557929, | |
| 0.966378725149295, | |
| 0.41446984255106034 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 64, | |
| "c2w": [ | |
| [ | |
| 0.983353949560269, | |
| -0.009979694811291847, | |
| 0.18142606090552013, | |
| -0.187037639467874 | |
| ], | |
| [ | |
| -0.02275103043124198, | |
| 0.9838698046578292, | |
| 0.17743336241215105, | |
| 0.08852056332815311 | |
| ], | |
| [ | |
| -0.1802703539091681, | |
| -0.17860742754442913, | |
| 0.9672652099230206, | |
| 0.42284823779072417 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 65, | |
| "c2w": [ | |
| [ | |
| 0.9839867369561753, | |
| -0.010314471306459363, | |
| 0.17794300541467456, | |
| -0.19149916212402981 | |
| ], | |
| [ | |
| -0.02155181275018981, | |
| 0.9841146414264019, | |
| 0.17622114486452847, | |
| 0.09032255593143486 | |
| ], | |
| [ | |
| -0.17693394491029535, | |
| -0.17723426365083192, | |
| 0.9681334592537477, | |
| 0.43214434720342193 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 66, | |
| "c2w": [ | |
| [ | |
| 0.9844856199752008, | |
| -0.01050012792195046, | |
| 0.17515082465026355, | |
| -0.1959792264011342 | |
| ], | |
| [ | |
| -0.020669134063522533, | |
| 0.9843184078981391, | |
| 0.1751857835839908, | |
| 0.09082702477813755 | |
| ], | |
| [ | |
| -0.17424365399953257, | |
| -0.17608810063855937, | |
| 0.968830289500899, | |
| 0.4408015433478525 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 67, | |
| "c2w": [ | |
| [ | |
| 0.9849071570354598, | |
| -0.010900048015241992, | |
| 0.1727399229292231, | |
| -0.20108957064838884 | |
| ], | |
| [ | |
| -0.019668272571861017, | |
| 0.9845023228753664, | |
| 0.1742651293490669, | |
| 0.09397994066905235 | |
| ], | |
| [ | |
| -0.17196235365441906, | |
| -0.17503246900582037, | |
| 0.9694289988025732, | |
| 0.4490971456070256 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 68, | |
| "c2w": [ | |
| [ | |
| 0.9852603292670077, | |
| -0.011034783294331283, | |
| 0.17070535179166177, | |
| -0.206236287452419 | |
| ], | |
| [ | |
| -0.018987581887384454, | |
| 0.9846959483812265, | |
| 0.17324364627791408, | |
| 0.09637795197412719 | |
| ], | |
| [ | |
| -0.17000457437003783, | |
| -0.17393137382095356, | |
| 0.9699723304785649, | |
| 0.45837142108074425 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 69, | |
| "c2w": [ | |
| [ | |
| 0.9855479872432154, | |
| -0.011255223097777975, | |
| 0.16902214290993423, | |
| -0.21003724454995204 | |
| ], | |
| [ | |
| -0.018292656336366973, | |
| 0.9848841091800788, | |
| 0.1722459584684706, | |
| 0.09764250300592947 | |
| ], | |
| [ | |
| -0.16840588934181178, | |
| -0.17284852165286738, | |
| 0.9704446635421371, | |
| 0.46793608037157564 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 70, | |
| "c2w": [ | |
| [ | |
| 0.9857959052490594, | |
| -0.011460591736502245, | |
| 0.16755622349300217, | |
| -0.2126749434534943 | |
| ], | |
| [ | |
| -0.017669025871089445, | |
| 0.9850552848719711, | |
| 0.1713297734504036, | |
| 0.10055459400935154 | |
| ], | |
| [ | |
| -0.1670156840507934, | |
| -0.17185674436241674, | |
| 0.9708609687788445, | |
| 0.4770982366232319 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 71, | |
| "c2w": [ | |
| [ | |
| 0.9860083442395846, | |
| -0.011715872064473724, | |
| 0.16628374373847185, | |
| -0.21446980616564795 | |
| ], | |
| [ | |
| -0.017009088065270014, | |
| 0.9852495691349921, | |
| 0.1702761799034162, | |
| 0.1036025290250881 | |
| ], | |
| [ | |
| -0.16582592081185857, | |
| -0.1707220690510795, | |
| 0.9712650200258516, | |
| 0.48636820860717184 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 72, | |
| "c2w": [ | |
| [ | |
| 0.9861968734854573, | |
| -0.011810633174782467, | |
| 0.16515518663220846, | |
| -0.21638362436300462 | |
| ], | |
| [ | |
| -0.016530030240098064, | |
| 0.9854468932042639, | |
| 0.16917795002400737, | |
| 0.10528052566005835 | |
| ], | |
| [ | |
| -0.16474976427227545, | |
| -0.16957278560569444, | |
| 0.9716494149404685, | |
| 0.4959993192247745 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 73, | |
| "c2w": [ | |
| [ | |
| 0.9863567447756245, | |
| -0.01195111075915546, | |
| 0.1641875238477526, | |
| -0.21916812021550483 | |
| ], | |
| [ | |
| -0.016050665033065622, | |
| 0.9856277299653873, | |
| 0.16816763682490848, | |
| 0.10755506613380034 | |
| ], | |
| [ | |
| -0.16383756647249814, | |
| -0.1685086017831149, | |
| 0.9719887360136792, | |
| 0.5052146879114927 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 74, | |
| "c2w": [ | |
| [ | |
| 0.9864997858072995, | |
| -0.012220611367714365, | |
| 0.1633059376138908, | |
| -0.2226054877818268 | |
| ], | |
| [ | |
| -0.015477549578561671, | |
| 0.9857902783064074, | |
| 0.16726617307638586, | |
| 0.1105474345801801 | |
| ], | |
| [ | |
| -0.16302950058561758, | |
| -0.1675356196585538, | |
| 0.9722927532818647, | |
| 0.5140856970335396 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 75, | |
| "c2w": [ | |
| [ | |
| 0.9866348348438345, | |
| -0.012358171609777658, | |
| 0.16247762389677817, | |
| -0.22577182189385117 | |
| ], | |
| [ | |
| -0.015048173061451958, | |
| 0.9859483910201472, | |
| 0.16637103934367825, | |
| 0.11256490263693772 | |
| ], | |
| [ | |
| -0.16225059371291128, | |
| -0.16659245432865927, | |
| 0.9725850600336001, | |
| 0.5231090811212145 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 76, | |
| "c2w": [ | |
| [ | |
| 0.9867492303519313, | |
| -0.012279765956997226, | |
| 0.16178740293333385, | |
| -0.2281999760582465 | |
| ], | |
| [ | |
| -0.01484874320823177, | |
| 0.9861131313989433, | |
| 0.1654098150283312, | |
| 0.11451003986701104 | |
| ], | |
| [ | |
| -0.16157187634303052, | |
| -0.16562034727234487, | |
| 0.9728640343564874, | |
| 0.5328548743783531 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 77, | |
| "c2w": [ | |
| [ | |
| 0.9868142291603472, | |
| -0.012313656718075057, | |
| 0.1613878898334677, | |
| -0.22978786196028644 | |
| ], | |
| [ | |
| -0.0146411801730474, | |
| 0.9862230795951976, | |
| 0.16477157860779637, | |
| 0.1175946176875527 | |
| ], | |
| [ | |
| -0.16119340237680468, | |
| -0.16496184750418583, | |
| 0.9730386816042802, | |
| 0.5417518045938983 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 78, | |
| "c2w": [ | |
| [ | |
| 0.9868464342043924, | |
| -0.012414404274758553, | |
| 0.16118311904346155, | |
| -0.23122790774676213 | |
| ], | |
| [ | |
| -0.014423379222167035, | |
| 0.986309386720036, | |
| 0.16427342998720226, | |
| 0.12021976584709337 | |
| ], | |
| [ | |
| -0.16101578006484146, | |
| -0.164437453867571, | |
| 0.9731568436463165, | |
| 0.5509769591441278 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 79, | |
| "c2w": [ | |
| [ | |
| 0.9868485631472014, | |
| -0.012323662223736044, | |
| 0.16117704788120193, | |
| -0.23322098944634148 | |
| ], | |
| [ | |
| -0.014417411085760177, | |
| 0.9864055839083646, | |
| 0.16369533375140027, | |
| 0.12119181479662888 | |
| ], | |
| [ | |
| -0.16100326602863743, | |
| -0.16386626066336346, | |
| 0.9732552578559842, | |
| 0.5604612456621287 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 80, | |
| "c2w": [ | |
| [ | |
| 0.986830121588825, | |
| -0.012503800435389043, | |
| 0.1612760555682615, | |
| -0.2355451477397963 | |
| ], | |
| [ | |
| -0.014181131152325329, | |
| 0.9864819628314956, | |
| 0.16325511485818883, | |
| 0.12385199550044304 | |
| ], | |
| [ | |
| -0.16113722923094323, | |
| -0.16339214174124728, | |
| 0.9733127972923107, | |
| 0.5695028562795682 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 650.9965515136719, | |
| "fy": 650.9966468811035, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |