Download spatialvid_eval/source/scene_027/transforms.json from HugMinjun/geo4d_evals: direct link, hf CLI and curl.
- Browser
- Download file 58.3 kB
-
https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/spatialvid_eval/source/scene_027/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/spatialvid_eval/source/scene_027/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/spatialvid_eval/source/scene_027/transforms.json
58.3 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": [ | |
| [ | |
| 0.9999999841990428, | |
| -9.02506493745236e-05, | |
| -0.000153155916449376, | |
| 0.00016187409589687776 | |
| ], | |
| [ | |
| 9.025826836225516e-05, | |
| 0.9999999946896675, | |
| 4.974042793839132e-05, | |
| -0.00010552996158702512 | |
| ], | |
| [ | |
| 0.00015315142653014554, | |
| -4.9754250740253096e-05, | |
| 0.9999999870345776, | |
| 0.00021697575867706204 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.9999999101910569, | |
| -6.995095706172274e-05, | |
| 0.00041800088748117587, | |
| -0.0020898186623102537 | |
| ], | |
| [ | |
| 7.105635618568367e-05, | |
| 0.9999964992969496, | |
| -0.0026450604606509166, | |
| 0.00485677498283291 | |
| ], | |
| [ | |
| -0.00041781439967348525, | |
| 0.0026450899247207785, | |
| 0.9999964144587808, | |
| -0.0004917915193946358 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.9999995096823157, | |
| -4.8112163304799014e-05, | |
| 0.0009891007774665706, | |
| -0.004341511420517386 | |
| ], | |
| [ | |
| 5.339315590063457e-05, | |
| 0.9999857414596746, | |
| -0.005339852667971559, | |
| 0.009819079927252845 | |
| ], | |
| [ | |
| -0.0009888297624696641, | |
| 0.005339902860959377, | |
| 0.9999852537178417, | |
| -0.0012005587974663336 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9999987826758587, | |
| -2.473443382923853e-05, | |
| 0.0015601394196682334, | |
| -0.006593204178724517 | |
| ], | |
| [ | |
| 3.726880154575882e-05, | |
| 0.99996772125948, | |
| -0.008034615744370819, | |
| 0.01478138487167278 | |
| ], | |
| [ | |
| -0.0015598903286612581, | |
| 0.00803466410816552, | |
| 0.999966504896455, | |
| -0.0019093260755380314 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9999977291772025, | |
| 1.8205396113224862e-07, | |
| 0.002131112480712371, | |
| -0.008844896936931648 | |
| ], | |
| [ | |
| 2.2683415482048105e-05, | |
| 0.9999424388331128, | |
| -0.010729329240417028, | |
| 0.019743689816092716 | |
| ], | |
| [ | |
| -0.002130991764708102, | |
| 0.010729353216921424, | |
| 0.9999401681368969, | |
| -0.0026180933536097293 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9999963491943419, | |
| 2.663711098549254e-05, | |
| 0.002702015627722862, | |
| -0.01109658969513878 | |
| ], | |
| [ | |
| 9.637108391906427e-06, | |
| 0.9999098943724313, | |
| -0.013423972707054768, | |
| 0.02470599476051265 | |
| ], | |
| [ | |
| -0.0027021297367598894, | |
| 0.013423949738356734, | |
| 0.9999062436390264, | |
| -0.0033268606316814273 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9999937748423132, | |
| 0.00012673965756660198, | |
| 0.0035262180420519242, | |
| -0.01341006192580724 | |
| ], | |
| [ | |
| -6.380761313759839e-05, | |
| 0.999840829534157, | |
| -0.017841287090265237, | |
| 0.032334425962667966 | |
| ], | |
| [ | |
| -0.003527917970899874, | |
| 0.017840951025883102, | |
| 0.9998346134542866, | |
| -0.0042309314962774534 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9999918320119587, | |
| 0.00027226686664330867, | |
| 0.004032589753497718, | |
| -0.013533620870729901 | |
| ], | |
| [ | |
| -0.0001863661931894462, | |
| 0.9997733953165838, | |
| -0.021286692669177296, | |
| 0.03766667847813872 | |
| ], | |
| [ | |
| -0.004037471610887514, | |
| 0.02128576726132508, | |
| 0.9997652799207862, | |
| -0.004621538669326112 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9999896131489788, | |
| 0.0004195378893220274, | |
| 0.004538455917468214, | |
| -0.01365717981565256 | |
| ], | |
| [ | |
| -0.00030716806155888296, | |
| 0.9996940724140265, | |
| -0.02473190708459046, | |
| 0.04299893099360947 | |
| ], | |
| [ | |
| -0.004547443450702514, | |
| 0.024730256129249468, | |
| 0.9996838176092699, | |
| -0.00501214584237477 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9999871182803325, | |
| 0.0005685509363192726, | |
| 0.005043810387893696, | |
| -0.01378073876057522 | |
| ], | |
| [ | |
| -0.0004262117505519646, | |
| 0.999602861790227, | |
| -0.02817688847854013, | |
| 0.04833118350908022 | |
| ], | |
| [ | |
| -0.005057827294392851, | |
| 0.028174375780506772, | |
| 0.9995902275094724, | |
| -0.005402753015423427 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.9999843474363311, | |
| 0.0007193041971866663, | |
| 0.005548647024921309, | |
| -0.013904297705497878 | |
| ], | |
| [ | |
| -0.0005434958138359175, | |
| 0.9994997645533571, | |
| -0.03162159499589278, | |
| 0.053663436024550974 | |
| ], | |
| [ | |
| -0.0055686169410008165, | |
| 0.03161808437043329, | |
| 0.9994845107584753, | |
| -0.005793360188472085 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.9999813006506391, | |
| 0.0008717958403329342, | |
| 0.006052959694989675, | |
| -0.014027856650420539 | |
| ], | |
| [ | |
| -0.0006590188264567088, | |
| 0.9993847819560067, | |
| -0.03506598478485453, | |
| 0.058995688540021726 | |
| ], | |
| [ | |
| -0.006079806184638367, | |
| 0.03506134005935956, | |
| 0.9993666686406943, | |
| -0.006183967361520743 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.9999786954395697, | |
| 0.0010499435472601795, | |
| 0.006442537196143326, | |
| -0.013669679036753273 | |
| ], | |
| [ | |
| -0.0008023729083694547, | |
| 0.999265562420368, | |
| -0.0383104680005557, | |
| 0.063934102807482 | |
| ], | |
| [ | |
| -0.0064780293833880025, | |
| 0.03830448249556772, | |
| 0.9992451159530652, | |
| -0.006000239235037372 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9999766534889459, | |
| 0.0012530727682711772, | |
| 0.006717312385615029, | |
| -0.012829764864496083 | |
| ], | |
| [ | |
| -0.0009742279819043775, | |
| 0.9991440380453381, | |
| -0.04135507367053182, | |
| 0.06847867882693179 | |
| ], | |
| [ | |
| -0.006763383538421756, | |
| 0.04134756398015797, | |
| 0.9991219322965635, | |
| -0.005242175809021969 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9999744978909895, | |
| 0.0014570378392846587, | |
| 0.006991466827388295, | |
| -0.011989850692238891 | |
| ], | |
| [ | |
| -0.001145212718225692, | |
| 0.9990132065512329, | |
| -0.044399342608351246, | |
| 0.07302325484638159 | |
| ], | |
| [ | |
| -0.007049259215945488, | |
| 0.04439020361474628, | |
| 0.998989398225801, | |
| -0.004484112383006568 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9999710514498932, | |
| 0.0017645484711427395, | |
| 0.007401528956119794, | |
| -0.010729979433853103 | |
| ], | |
| [ | |
| -0.0014000544291094374, | |
| 0.998799511174166, | |
| -0.048965052086594886, | |
| 0.07984011887555627 | |
| ], | |
| [ | |
| -0.007479044711112709, | |
| 0.04895327207593387, | |
| 0.9987730678403723, | |
| -0.0033470172439834644 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9999686118245303, | |
| 0.001970594767482391, | |
| 0.007674120274273725, | |
| -0.009890065261595912 | |
| ], | |
| [ | |
| -0.0015688563131944005, | |
| 0.9986454174505025, | |
| -0.05200835408835774, | |
| 0.08438469489500605 | |
| ], | |
| [ | |
| -0.007766212435299338, | |
| 0.05199468204897322, | |
| 0.9986171633729494, | |
| -0.0025889538179680624 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9999660586273771, | |
| 0.0021774701735523027, | |
| 0.007946081856648515, | |
| -0.009050151089338722 | |
| ], | |
| [ | |
| -0.001736782274234479, | |
| 0.9984820212917158, | |
| -0.05505121928296943, | |
| 0.08892927091445585 | |
| ], | |
| [ | |
| -0.008053892261582192, | |
| 0.055035550154904155, | |
| 0.9984519132329739, | |
| -0.0018308903919526604 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.9999633401416679, | |
| 0.002509749572404891, | |
| 0.008186545657544436, | |
| -0.007882920452921313 | |
| ], | |
| [ | |
| -0.0020304926866867553, | |
| 0.9983125545205013, | |
| -0.05803378831508917, | |
| 0.09333569960358047 | |
| ], | |
| [ | |
| -0.008318381583490731, | |
| 0.05801503808354418, | |
| 0.9982810525518335, | |
| -0.0011236568426972607 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9999604597529103, | |
| 0.002842744862554639, | |
| 0.008426015214495606, | |
| -0.0067156898165039065 | |
| ], | |
| [ | |
| -0.0023234114344195724, | |
| 0.9981340894125617, | |
| -0.06101591031741622, | |
| 0.0977421282927051 | |
| ], | |
| [ | |
| -0.008583745689085891, | |
| 0.06099392063314991, | |
| 0.9981012278099562, | |
| -0.00041642329344186105 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.9999574174872516, | |
| 0.003176453021163716, | |
| 0.008664488353664575, | |
| -0.005548459180086498 | |
| ], | |
| [ | |
| -0.0026155358583987084, | |
| 0.997946627587953, | |
| -0.06399755821908366, | |
| 0.10214855698182973 | |
| ], | |
| [ | |
| -0.008849982169466766, | |
| 0.06397217076226124, | |
| 0.9979124406397408, | |
| 0.0002908102558135386 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.9999542133723088, | |
| 0.003510871018923072, | |
| 0.00890196291025908, | |
| -0.004381228543669091 | |
| ], | |
| [ | |
| -0.002906863306800592, | |
| 0.9977501707484012, | |
| -0.06697870495352819, | |
| 0.10655498567095435 | |
| ], | |
| [ | |
| -0.00911708860781327, | |
| 0.06694976143515892, | |
| 0.9977146927549442, | |
| 0.0009980438050689383 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.999950847437168, | |
| 0.0038459958200799385, | |
| 0.009138436728551717, | |
| -0.003213997907251683 | |
| ], | |
| [ | |
| -0.0031973911350363735, | |
| 0.9975447206772866, | |
| -0.06995932345873614, | |
| 0.11096141436007897 | |
| ], | |
| [ | |
| -0.0093850625794081, | |
| 0.06992666562211018, | |
| 0.9975079859506661, | |
| 0.001705277354324338 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.999947319712384, | |
| 0.004181824382465381, | |
| 0.009373907661899501, | |
| -0.002046767270834275 | |
| ], | |
| [ | |
| -0.003487116705775928, | |
| 0.997330279239627, | |
| -0.07293938667748881, | |
| 0.1153678430492036 | |
| ], | |
| [ | |
| -0.009653901651658702, | |
| 0.07290285629961388, | |
| 0.9972923221033331, | |
| 0.0024125109035797376 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.9999456710817737, | |
| 0.004422242414186156, | |
| 0.009439208486511376, | |
| -0.0009519723954053061 | |
| ], | |
| [ | |
| -0.0036995147177650432, | |
| 0.9971573770350414, | |
| -0.07525608955725603, | |
| 0.11839944070475808 | |
| ], | |
| [ | |
| -0.009745177046862475, | |
| 0.07521708048460053, | |
| 0.9971195627043422, | |
| 0.0022059533511292776 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9999439649881897, | |
| 0.004662811113329014, | |
| 0.009503950558549319, | |
| 0.00014282248002366266 | |
| ], | |
| [ | |
| -0.003911699915878669, | |
| 0.9969790475657548, | |
| -0.07757240049559196, | |
| 0.12143103836031258 | |
| ], | |
| [ | |
| -0.009836945027092977, | |
| 0.07753087712261365, | |
| 0.9969414213508897, | |
| 0.0019993957986788173 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.9999412981251609, | |
| 0.005023943795733627, | |
| 0.009600015234657944, | |
| 0.0017850147931671159 | |
| ], | |
| [ | |
| -0.0042295761581702665, | |
| 0.9967013793742279, | |
| -0.08104610440381402, | |
| 0.12597843484364432 | |
| ], | |
| [ | |
| -0.009975519499785096, | |
| 0.08100074284998252, | |
| 0.9966641202875022, | |
| 0.0016895594700031273 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9999394484155005, | |
| 0.00526488342664665, | |
| 0.009663358888515609, | |
| 0.0028798096685960844 | |
| ], | |
| [ | |
| -0.004441224265785469, | |
| 0.9965094860591304, | |
| -0.0833613802740146, | |
| 0.1290100324991988 | |
| ], | |
| [ | |
| -0.010068516749026667, | |
| 0.08331341546636828, | |
| 0.9964725283588117, | |
| 0.0014830019175526672 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9999375412767743, | |
| 0.005505969133431452, | |
| 0.009726142568403958, | |
| 0.003974604544025053 | |
| ], | |
| [ | |
| -0.004652655517950356, | |
| 0.9963121690096897, | |
| -0.08567622003706023, | |
| 0.1320416301547533 | |
| ], | |
| [ | |
| -0.010162004821417157, | |
| 0.08562561641885665, | |
| 0.9962755580013495, | |
| 0.0012764443651022072 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.9999345039652178, | |
| 0.005647453662381823, | |
| 0.009954599287015168, | |
| 0.0035958829474015265 | |
| ], | |
| [ | |
| -0.004754454002069513, | |
| 0.9961484750592174, | |
| -0.0875534739706991, | |
| 0.1342731330187974 | |
| ], | |
| [ | |
| -0.010410713086815808, | |
| 0.08750041088090346, | |
| 0.9961100818427133, | |
| -0.00019912462930023796 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9999302595180328, | |
| 0.005689655342777735, | |
| 0.010349102486694402, | |
| 0.0017436448787255037 | |
| ], | |
| [ | |
| -0.0047463455504963125, | |
| 0.9960209124925616, | |
| -0.08899333728656471, | |
| 0.13570454109133112 | |
| ], | |
| [ | |
| -0.010814263919240522, | |
| 0.08893801043179113, | |
| 0.995978454584395, | |
| -0.002943705065654668 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9999258550413297, | |
| 0.005732426364284666, | |
| 0.010743542611455473, | |
| -0.00010859318995051943 | |
| ], | |
| [ | |
| -0.004737653741732225, | |
| 0.995891271703605, | |
| -0.09043301156989185, | |
| 0.13713594916386482 | |
| ], | |
| [ | |
| -0.011217800893649167, | |
| 0.09037540723313393, | |
| 0.9958445896376381, | |
| -0.005688285502009098 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9999212905450048, | |
| 0.005775766630799382, | |
| 0.01113791877502146, | |
| -0.0019608312586265426 | |
| ], | |
| [ | |
| -0.004728378595307079, | |
| 0.9957595529836403, | |
| -0.09187249358584201, | |
| 0.13856735723639854 | |
| ], | |
| [ | |
| -0.0116213231033249, | |
| 0.09181259805521072, | |
| 0.9957084873032271, | |
| -0.008432865938363529 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.9999165660393143, | |
| 0.005819676044939619, | |
| 0.01153223009125921, | |
| -0.003813069327302566 | |
| ], | |
| [ | |
| -0.004718520132061426, | |
| 0.9956257566286296, | |
| -0.09331178010000889, | |
| 0.13999876530893224 | |
| ], | |
| [ | |
| -0.012024829641584096, | |
| 0.09324957966876334, | |
| 0.9955701478869734, | |
| -0.011177446374717957 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9999116815348739, | |
| 0.005864154508044261, | |
| 0.011926475674181225, | |
| -0.005665307395978588 | |
| ], | |
| [ | |
| -0.00470807837414648, | |
| 0.995489882939203, | |
| -0.09475086787842535, | |
| 0.14143017338146596 | |
| ], | |
| [ | |
| -0.012428319601778296, | |
| 0.09468634884500357, | |
| 0.9954295716997152, | |
| -0.013922026811072389 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.9999104788147425, | |
| 0.005985072733869567, | |
| 0.01196717430485681, | |
| -0.007568503766649331 | |
| ], | |
| [ | |
| -0.004798160283507684, | |
| 0.995286523565117, | |
| -0.09685924668072537, | |
| 0.14433209298313918 | |
| ], | |
| [ | |
| -0.012490476947110685, | |
| 0.09679315530570398, | |
| 0.9952261416741423, | |
| -0.01597651176074455 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9999117471345998, | |
| 0.006083320025751839, | |
| 0.011810637565197549, | |
| -0.008545581102982062 | |
| ], | |
| [ | |
| -0.004893876444113903, | |
| 0.9951499332163671, | |
| -0.0982479536316655, | |
| 0.14651830854854553 | |
| ], | |
| [ | |
| -0.012351028928065706, | |
| 0.09818148316726752, | |
| 0.995091879399834, | |
| -0.016658706492239495 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.9999129842436019, | |
| 0.00618134878311968, | |
| 0.011653963629423766, | |
| -0.009522658439314794 | |
| ], | |
| [ | |
| -0.004989787059488991, | |
| 0.9950113964131928, | |
| -0.09963645433760229, | |
| 0.14870452411395185 | |
| ], | |
| [ | |
| -0.012211714300435599, | |
| 0.09956963359925342, | |
| 0.9949556583580773, | |
| -0.01734090122373444 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.9999141901393019, | |
| 0.006279158812101141, | |
| 0.01149715280739028, | |
| -0.010499735775647525 | |
| ], | |
| [ | |
| -0.0050858919399500565, | |
| 0.994870913429579, | |
| -0.10102474605249107, | |
| 0.1508907396793582 | |
| ], | |
| [ | |
| -0.012072533339743594, | |
| 0.10095760385630975, | |
| 0.9948174788182772, | |
| -0.018023095955229385 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.9999153648193152, | |
| 0.006376749919256847, | |
| 0.011340205409222604, | |
| -0.011476813111980257 | |
| ], | |
| [ | |
| -0.005182190895430009, | |
| 0.9947284845433597, | |
| -0.10241282603070054, | |
| 0.15307695524476456 | |
| ], | |
| [ | |
| -0.011933486321248547, | |
| 0.102345391193441, | |
| 0.994677341053712, | |
| -0.018705290686724333 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.9999165082813183, | |
| 0.006474121911580394, | |
| 0.011183121745316384, | |
| -0.01245389044831299 | |
| ], | |
| [ | |
| -0.005278683735477935, | |
| 0.994584110036217, | |
| -0.1038006915270182, | |
| 0.1552631708101709 | |
| ], | |
| [ | |
| -0.011794573519944425, | |
| 0.10373299286601338, | |
| 0.9945352453415326, | |
| -0.019387485418219278 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.9999183336647726, | |
| 0.00635644767819932, | |
| 0.011087000224543312, | |
| -0.01532859467980472 | |
| ], | |
| [ | |
| -0.0051573619973494375, | |
| 0.9944575033746805, | |
| -0.10501274017482629, | |
| 0.15707588376667503 | |
| ], | |
| [ | |
| -0.011693058551679488, | |
| 0.10494698449556134, | |
| 0.9944090721765342, | |
| -0.021136661722059122 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.9999201351126016, | |
| 0.0062386561038309295, | |
| 0.010991022082365824, | |
| -0.01820329891129645 | |
| ], | |
| [ | |
| -0.005036164002176518, | |
| 0.9943294031674752, | |
| -0.10622464426278924, | |
| 0.15888859672317915 | |
| ], | |
| [ | |
| -0.011591395452666667, | |
| 0.1061608080537779, | |
| 0.9942814100569461, | |
| -0.022885838025898966 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.9999219126220821, | |
| 0.00612074736651134, | |
| 0.01089518746385011, | |
| -0.021078003142788182 | |
| ], | |
| [ | |
| -0.004915089933143926, | |
| 0.9941998096082174, | |
| -0.10743640195917416, | |
| 0.16070130967968327 | |
| ], | |
| [ | |
| -0.011489584376564685, | |
| 0.10737446170602895, | |
| 0.9941522591757231, | |
| -0.02463501432973881 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.9999236661905282, | |
| 0.006002721644453749, | |
| 0.010799496513845439, | |
| -0.023952707374279916 | |
| ], | |
| [ | |
| -0.004794139973249105, | |
| 0.9940687228927823, | |
| -0.10864801143246958, | |
| 0.16251402263618742 | |
| ], | |
| [ | |
| -0.011387625477255933, | |
| 0.10858794361793739, | |
| 0.9940216197280709, | |
| -0.026384190633578653 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.9999253958152889, | |
| 0.005884579116048175, | |
| 0.010703949376983928, | |
| -0.026827411605771644 | |
| ], | |
| [ | |
| -0.004673314305301911, | |
| 0.9939361432193001, | |
| -0.10985947085138782, | |
| 0.16432673559269154 | |
| ], | |
| [ | |
| -0.011285518908846215, | |
| 0.10980125195538547, | |
| 0.9938894919114439, | |
| -0.028133366937418497 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.9999260051759876, | |
| 0.005722415537351693, | |
| 0.010734902570989266, | |
| -0.031715778114305815 | |
| ], | |
| [ | |
| -0.004488224556378233, | |
| 0.9937361302963017, | |
| -0.11166180718608842, | |
| 0.16689728017395666 | |
| ], | |
| [ | |
| -0.011306635800373133, | |
| 0.11160536413698735, | |
| 0.9936882824521622, | |
| -0.03131939441443123 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.9999237567279121, | |
| 0.005634832120140131, | |
| 0.01098769302979756, | |
| -0.03574310266839069 | |
| ], | |
| [ | |
| -0.004359227336357207, | |
| 0.9936031861988885, | |
| -0.1128437216350417, | |
| 0.16841294342347865 | |
| ], | |
| [ | |
| -0.011553262230607458, | |
| 0.11278722020865067, | |
| 0.9935519941550297, | |
| -0.03419309676077702 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.9999214338659047, | |
| 0.0055475493820046655, | |
| 0.011240586791067743, | |
| -0.039770427222475556 | |
| ], | |
| [ | |
| -0.004229936797927662, | |
| 0.9934688247817802, | |
| -0.11402544374565818, | |
| 0.16992860667300067 | |
| ], | |
| [ | |
| -0.011799734329163706, | |
| 0.11396893823565674, | |
| 0.993414237560142, | |
| -0.037066799107122794 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 49, | |
| "c2w": [ | |
| [ | |
| 0.9999190365934252, | |
| 0.005460567452952844, | |
| 0.011493583478114815, | |
| -0.04379775177656043 | |
| ], | |
| [ | |
| -0.004100353133667723, | |
| 0.9933330462451077, | |
| -0.11520697175776398, | |
| 0.17144426992252265 | |
| ], | |
| [ | |
| -0.01204605172892193, | |
| 0.11515051645783772, | |
| 0.9932750128726875, | |
| -0.03994050145346858 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 50, | |
| "c2w": [ | |
| [ | |
| 0.9999165649140443, | |
| 0.005373886462544165, | |
| 0.011746682714100466, | |
| -0.0478250763306453 | |
| ], | |
| [ | |
| -0.003970476536592125, | |
| 0.9931958507911132, | |
| -0.11638830391147434, | |
| 0.17295993317204467 | |
| ], | |
| [ | |
| -0.012292214062992619, | |
| 0.11633195311523412, | |
| 0.9931343203000412, | |
| -0.04281420379981436 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 51, | |
| "c2w": [ | |
| [ | |
| 0.9999140188314435, | |
| 0.005287506539889872, | |
| 0.011999884122033636, | |
| -0.05185240088473017 | |
| ], | |
| [ | |
| -0.0038403072001519287, | |
| 0.9930572386241487, | |
| -0.11756943844719615, | |
| 0.17447559642156665 | |
| ], | |
| [ | |
| -0.012538220964717219, | |
| 0.11751324644809709, | |
| 0.9929921600517644, | |
| -0.04568790614616014 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 52, | |
| "c2w": [ | |
| [ | |
| 0.9999080827256803, | |
| 0.005164263338019888, | |
| 0.012536206923538951, | |
| -0.055671949459553324 | |
| ], | |
| [ | |
| -0.0036388602078241813, | |
| 0.99291308669955, | |
| -0.1187870403586175, | |
| 0.1759207766075894 | |
| ], | |
| [ | |
| -0.013060811469511227, | |
| 0.11873050427311209, | |
| 0.9928406128673477, | |
| -0.04801364191361704 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 53, | |
| "c2w": [ | |
| [ | |
| 0.9998982836554297, | |
| 0.005004706640494831, | |
| 0.013355719912035257, | |
| -0.05928372205511476 | |
| ], | |
| [ | |
| -0.003365597807606297, | |
| 0.9927632363092032, | |
| -0.12004094878113392, | |
| 0.17729547373011287 | |
| ], | |
| [ | |
| -0.013859837456607628, | |
| 0.11998378867297019, | |
| 0.9926790998914788, | |
| -0.04979141110218504 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 54, | |
| "c2w": [ | |
| [ | |
| 0.999887779615633, | |
| 0.0048461844684275284, | |
| 0.014175424911366136, | |
| -0.06289549465067619 | |
| ], | |
| [ | |
| -0.0030913263510830473, | |
| 0.9926117580546181, | |
| -0.12129444122923325, | |
| 0.17867017085263634 | |
| ], | |
| [ | |
| -0.01465850867963407, | |
| 0.12123700865585058, | |
| 0.9925153479193513, | |
| -0.05156918029075304 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 55, | |
| "c2w": [ | |
| [ | |
| 0.9998707017913516, | |
| 0.004610341742789106, | |
| 0.01540533830478463, | |
| -0.06831315354401833 | |
| ], | |
| [ | |
| -0.0026780285668344906, | |
| 0.9923814891907438, | |
| -0.12317389364048376, | |
| 0.18073221653642155 | |
| ], | |
| [ | |
| -0.015855846311861963, | |
| 0.12311671154062181, | |
| 0.9922655226687855, | |
| -0.05423583407360504 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 56, | |
| "c2w": [ | |
| [ | |
| 0.9998584354369764, | |
| 0.0044544074749177515, | |
| 0.016225515078700337, | |
| -0.07192492613957976 | |
| ], | |
| [ | |
| -0.0024012372355718364, | |
| 0.9922259428086071, | |
| -0.1244263335363908, | |
| 0.18210691365894502 | |
| ], | |
| [ | |
| -0.016653622586699824, | |
| 0.1243697578658818, | |
| 0.9920961748656839, | |
| -0.05601360326217305 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 57, | |
| "c2w": [ | |
| [ | |
| 0.9998454642047425, | |
| 0.004299508998693138, | |
| 0.01704587726030957, | |
| -0.0755366987351412 | |
| ], | |
| [ | |
| -0.0021234390669109277, | |
| 0.9920687697984967, | |
| -0.12567834736750413, | |
| 0.1834816107814685 | |
| ], | |
| [ | |
| -0.017451037669218943, | |
| 0.12562272968244273, | |
| 0.9919245894075819, | |
| -0.05779137245074105 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 58, | |
| "c2w": [ | |
| [ | |
| 0.9998262848460099, | |
| 0.0038200021717652946, | |
| 0.018243018238040747, | |
| -0.07779434108965656 | |
| ], | |
| [ | |
| -0.0014787276487955906, | |
| 0.9919444000256995, | |
| -0.1266653884144992, | |
| 0.18526743299429843 | |
| ], | |
| [ | |
| -0.0185799218396221, | |
| 0.1266164082615795, | |
| 0.9917777329943291, | |
| -0.05992644100610118 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 59, | |
| "c2w": [ | |
| [ | |
| 0.9998054289405753, | |
| 0.0033416940572350675, | |
| 0.019440610632897194, | |
| -0.08005198344417191 | |
| ], | |
| [ | |
| -0.00083289311879724, | |
| 0.9918187299828035, | |
| -0.12765153012929858, | |
| 0.18705325520712837 | |
| ], | |
| [ | |
| -0.01970813410764032, | |
| 0.1276105008850228, | |
| 0.991628534035739, | |
| -0.0620615095614613 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 60, | |
| "c2w": [ | |
| [ | |
| 0.9997828965442512, | |
| 0.002864585935092095, | |
| 0.02063865124002871, | |
| -0.08230962579868728 | |
| ], | |
| [ | |
| -0.00018593720521920833, | |
| 0.9916917600061118, | |
| -0.12863676987291042, | |
| 0.1888390774199583 | |
| ], | |
| [ | |
| -0.020835671454090012, | |
| 0.12860500489250357, | |
| 0.9914769929310797, | |
| -0.06419657811682143 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 61, | |
| "c2w": [ | |
| [ | |
| 0.9997586877173358, | |
| 0.002388679082114748, | |
| 0.021837136853385643, | |
| -0.08456726815320265 | |
| ], | |
| [ | |
| 0.0004621383606342634, | |
| 0.9915634904354056, | |
| -0.12962110500875673, | |
| 0.19062489963278823 | |
| ], | |
| [ | |
| -0.02196253086159371, | |
| 0.129599917622652, | |
| 0.9913231100858869, | |
| -0.06633164667218155 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 62, | |
| "c2w": [ | |
| [ | |
| 0.9997328025246136, | |
| 0.001913974771866703, | |
| 0.023036064265727452, | |
| -0.086824910507718 | |
| ], | |
| [ | |
| 0.0011113318444626557, | |
| 0.9914339216139442, | |
| -0.13060453290268026, | |
| 0.19241072184561817 | |
| ], | |
| [ | |
| -0.02308870931458817, | |
| 0.13059523641300425, | |
| 0.991166885911963, | |
| -0.06846671522754169 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 63, | |
| "c2w": [ | |
| [ | |
| 0.9997052410353555, | |
| 0.0014404742746935428, | |
| 0.024235430268631328, | |
| -0.08908255286223336 | |
| ], | |
| [ | |
| 0.001761641508973814, | |
| 0.9913030538884637, | |
| -0.13158705092295164, | |
| 0.1941965440584481 | |
| ], | |
| [ | |
| -0.024214203799332444, | |
| 0.13159095860001002, | |
| 0.9910083208273758, | |
| -0.07060178378290181 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 64, | |
| "c2w": [ | |
| [ | |
| 0.9996673203592756, | |
| 0.0008337373097243565, | |
| 0.025778934962567477, | |
| -0.08985316662669486 | |
| ], | |
| [ | |
| 0.0025864955305983785, | |
| 0.9911986746477841, | |
| -0.13235746075437907, | |
| 0.19574822940487902 | |
| ], | |
| [ | |
| -0.025662397521979605, | |
| 0.13238010522195234, | |
| 0.9908667665709903, | |
| -0.07403944650483217 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 65, | |
| "c2w": [ | |
| [ | |
| 0.9996266351320903, | |
| 0.0002282299839823879, | |
| 0.027322852076048326, | |
| -0.09062378039115637 | |
| ], | |
| [ | |
| 0.003412472953405018, | |
| 0.9910931774713274, | |
| -0.1331265135055012, | |
| 0.1972999147513099 | |
| ], | |
| [ | |
| -0.027109875743674777, | |
| 0.13317004723609033, | |
| 0.990722359269387, | |
| -0.07747710922676253 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 66, | |
| "c2w": [ | |
| [ | |
| 0.9995604240621172, | |
| -0.000677720944098046, | |
| 0.029639489588763945, | |
| -0.09177970103784862 | |
| ], | |
| [ | |
| 0.004653539341508795, | |
| 0.9909328363600598, | |
| -0.13427754240752285, | |
| 0.19962744277095623 | |
| ], | |
| [ | |
| -0.029279740783646722, | |
| 0.13435644576174602, | |
| 0.9905003999302138, | |
| -0.08263360330965805 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 67, | |
| "c2w": [ | |
| [ | |
| 0.9995128280807908, | |
| -0.0012801452046584, | |
| 0.03118441486054482, | |
| -0.09255031480231013 | |
| ], | |
| [ | |
| 0.005482313014399019, | |
| 0.9908245459163708, | |
| -0.13504319106726498, | |
| 0.20117912811738714 | |
| ], | |
| [ | |
| -0.030725408800400516, | |
| 0.13514836454013296, | |
| 0.9903488621774529, | |
| -0.0860712660315884 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 68, | |
| "c2w": [ | |
| [ | |
| 0.9994624680718441, | |
| -0.0018813326632697385, | |
| 0.032729734235834175, | |
| -0.09332092856677163 | |
| ], | |
| [ | |
| 0.006312200276225428, | |
| 0.9907151388046106, | |
| -0.1358074735463195, | |
| 0.20273081346381802 | |
| ], | |
| [ | |
| -0.03217034416059363, | |
| 0.1359410693306904, | |
| 0.9901944731343524, | |
| -0.08950892875351876 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 69, | |
| "c2w": [ | |
| [ | |
| 0.9993999646340918, | |
| -0.0024716459602115953, | |
| 0.0345485405715484, | |
| -0.09365355720037255 | |
| ], | |
| [ | |
| 0.007171952695575121, | |
| 0.990600706191496, | |
| -0.13659723272249016, | |
| 0.20390077518510738 | |
| ], | |
| [ | |
| -0.03388618868962676, | |
| 0.13676305005065173, | |
| 0.9900240372621941, | |
| -0.09309342857909221 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 70, | |
| "c2w": [ | |
| [ | |
| 0.9993238444142135, | |
| -0.0030506639728042823, | |
| 0.03664078921805085, | |
| -0.09354820070311289 | |
| ], | |
| [ | |
| 0.008061961387166382, | |
| 0.9904811660040951, | |
| -0.13741202483683895, | |
| 0.2046890132812552 | |
| ], | |
| [ | |
| -0.035872813714405455, | |
| 0.13761450955656251, | |
| 0.9898360409662391, | |
| -0.09682476550830874 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 71, | |
| "c2w": [ | |
| [ | |
| 0.9992429961851118, | |
| -0.003627879360856102, | |
| 0.03873335857298743, | |
| -0.09344284420585322 | |
| ], | |
| [ | |
| 0.008953598769525777, | |
| 0.9903604005699851, | |
| -0.1382248532353465, | |
| 0.205477251377403 | |
| ], | |
| [ | |
| -0.037858521419554814, | |
| 0.1384670194457937, | |
| 0.9896431765448207, | |
| -0.10055610243752526 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 72, | |
| "c2w": [ | |
| [ | |
| 0.9991574203872418, | |
| -0.004203288979738904, | |
| 0.04082623723618996, | |
| -0.09333748770859356 | |
| ], | |
| [ | |
| 0.009846859985076619, | |
| 0.9902384105470873, | |
| -0.13903571348978178, | |
| 0.20626548947355083 | |
| ], | |
| [ | |
| -0.03984330098708132, | |
| 0.13932057507393225, | |
| 0.9894454450486504, | |
| -0.10428743936674179 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 73, | |
| "c2w": [ | |
| [ | |
| 0.9990671174868139, | |
| -0.004776889694662242, | |
| 0.042919413805805176, | |
| -0.09323213121133389 | |
| ], | |
| [ | |
| 0.010741740167395694, | |
| 0.9901151965999945, | |
| -0.13984460118263606, | |
| 0.20705372756969864 | |
| ], | |
| [ | |
| -0.041827141604047824, | |
| 0.14017517179086816, | |
| 0.9892428475549548, | |
| -0.10801877629595831 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 74, | |
| "c2w": [ | |
| [ | |
| 0.9989720879757923, | |
| -0.005348678380690449, | |
| 0.045012876878356846, | |
| -0.09312677471407423 | |
| ], | |
| [ | |
| 0.011638234441239783, | |
| 0.9899907593999677, | |
| -0.14065151190714717, | |
| 0.20784196566584645 | |
| ], | |
| [ | |
| -0.04381003246263255, | |
| 0.1410308049408198, | |
| 0.989035385167471, | |
| -0.11175011322517484 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 75, | |
| "c2w": [ | |
| [ | |
| 0.998781845551394, | |
| -0.006472243731688972, | |
| 0.048917635450099715, | |
| -0.0940777067879339 | |
| ], | |
| [ | |
| 0.013371848566264093, | |
| 0.9897668210210175, | |
| -0.14206630026811418, | |
| 0.20843569792386468 | |
| ], | |
| [ | |
| -0.047497564809915675, | |
| 0.14254736078590402, | |
| 0.9886476780279723, | |
| -0.11626009622330617 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 76, | |
| "c2w": [ | |
| [ | |
| 0.9986319863096139, | |
| -0.0073074385867331355, | |
| 0.051776029788080345, | |
| -0.0950813171104234 | |
| ], | |
| [ | |
| 0.01465935111717183, | |
| 0.9896033455914479, | |
| -0.143074532391466, | |
| 0.208635311133809 | |
| ], | |
| [ | |
| -0.05019222394095058, | |
| 0.14363780747252552, | |
| 0.9883566769746371, | |
| -0.11890441075682924 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 77, | |
| "c2w": [ | |
| [ | |
| 0.9984732246848034, | |
| -0.008139468399471363, | |
| 0.05463486653872585, | |
| -0.0960849274329129 | |
| ], | |
| [ | |
| 0.01594958003296409, | |
| 0.9894376576480635, | |
| -0.14407891075617532, | |
| 0.20883492434375334 | |
| ], | |
| [ | |
| -0.05288506863286132, | |
| 0.1447303378082421, | |
| 0.9880568297591035, | |
| -0.12154872529035232 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 78, | |
| "c2w": [ | |
| [ | |
| 0.9983055622746032, | |
| -0.008968324797067457, | |
| 0.05749411693314897, | |
| -0.0970885377554024 | |
| ], | |
| [ | |
| 0.017242522329880893, | |
| 0.9892697588582052, | |
| -0.14507942525503734, | |
| 0.20903453755369764 | |
| ], | |
| [ | |
| -0.0555760717871627, | |
| 0.14582494079876293, | |
| 0.9877481393987768, | |
| -0.12419303982387539 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 79, | |
| "c2w": [ | |
| [ | |
| 0.9981290007662248, | |
| -0.009793999438619763, | |
| 0.06035375219830003, | |
| -0.0980921480778919 | |
| ], | |
| [ | |
| 0.018538164996857162, | |
| 0.9890996509114636, | |
| -0.1460760658197303, | |
| 0.20923415076364196 | |
| ], | |
| [ | |
| -0.058265206323901315, | |
| 0.1469216054289402, | |
| 0.9874306090000532, | |
| -0.12683735435739846 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 80, | |
| "c2w": [ | |
| [ | |
| 0.9979435419364323, | |
| -0.010616484015245092, | |
| 0.06321374355725629, | |
| -0.0990957584003814 | |
| ], | |
| [ | |
| 0.019836494995653577, | |
| 0.9889273355196593, | |
| -0.14706882242091623, | |
| 0.2094337639735863 | |
| ], | |
| [ | |
| -0.0609524451819279, | |
| 0.14802032066287935, | |
| 0.987104241758287, | |
| -0.12948166889092153 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 683.6089579264323, | |
| "fy": 683.6089324951172, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |