Download spatialvid_eval/source/scene_041/transforms.json from HugMinjun/geo4d_evals: direct link, hf CLI and curl.
- Browser
- Download file 58.9 kB
-
https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/spatialvid_eval/source/scene_041/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/spatialvid_eval/source/scene_041/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/spatialvid_eval/source/scene_041/transforms.json
58.9 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": [ | |
| [ | |
| 0.9999999479431424, | |
| -1.3880008523175361e-05, | |
| -0.00032236789238103295, | |
| 0.0002630776283687568 | |
| ], | |
| [ | |
| 1.3499776618824458e-05, | |
| 0.999999304335018, | |
| -0.0011794690484297906, | |
| 0.0006218300822507682 | |
| ], | |
| [ | |
| 0.0003223840391614239, | |
| 0.001179464635135802, | |
| 0.9999992524655735, | |
| -3.1107620759470084e-07 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.9997512498567137, | |
| -0.022302332693640615, | |
| -0.00021063323823497735, | |
| 0.0002893342780398207 | |
| ], | |
| [ | |
| 0.02230209279895935, | |
| 0.9997506942570894, | |
| -0.0010798098233244717, | |
| 0.0003405243620228693 | |
| ], | |
| [ | |
| 0.00023466300408468116, | |
| 0.001074843658450536, | |
| 0.9999993948220092, | |
| -4.70239832803648e-05 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.998888612893576, | |
| -0.04713320486300142, | |
| -5.557940483860208e-06, | |
| 0.00025367048545760576 | |
| ], | |
| [ | |
| 0.04713317368166102, | |
| 0.9988880745316148, | |
| -0.0010385072066187082, | |
| -1.14567664351286e-05 | |
| ], | |
| [ | |
| 5.449993338954734e-05, | |
| 0.0010370910597252054, | |
| 0.9999994607358005, | |
| -0.00012388168288419174 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9973031547608298, | |
| -0.07339207006657124, | |
| 0.00014681771034020608, | |
| 0.0002575928422889438 | |
| ], | |
| [ | |
| 0.07339218963170953, | |
| 0.997302513465153, | |
| -0.0011327564397357682, | |
| -0.00033597476588751856 | |
| ], | |
| [ | |
| -6.328633155003899e-05, | |
| 0.001140476844162709, | |
| 0.9999993476534914, | |
| -0.00019263539684434048 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9949910441512956, | |
| -0.09996404867809375, | |
| 0.00010502665460626213, | |
| 0.0004026079402006663 | |
| ], | |
| [ | |
| 0.09996409576168547, | |
| 0.994989991803495, | |
| -0.0014476772532361947, | |
| -0.0005348910990985936 | |
| ], | |
| [ | |
| 4.021520920683874e-05, | |
| 0.0014509247963501509, | |
| 0.9999989465994313, | |
| -0.00021503634698607607 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9920478248486645, | |
| -0.125860681545711, | |
| 0.00044950404071851226, | |
| 0.0001866806704839123 | |
| ], | |
| [ | |
| 0.12586117085573761, | |
| 0.99204699769489, | |
| -0.001311501192406667, | |
| -0.0009389699988353818 | |
| ], | |
| [ | |
| -0.0002808627001222059, | |
| 0.0013576470100826808, | |
| 0.999999038954908, | |
| -0.0002247193163930373 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9884714824856577, | |
| -0.15140589167149304, | |
| 0.0006199030298157705, | |
| 0.00017329099856250383 | |
| ], | |
| [ | |
| 0.15140649542199824, | |
| 0.9884709915069222, | |
| -0.0010826326020059013, | |
| -0.001388355496938416 | |
| ], | |
| [ | |
| -0.00044883920806080765, | |
| 0.0011640087983379624, | |
| 0.9999992218131387, | |
| -0.00022012133621064986 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9843081109019991, | |
| -0.17645713956705186, | |
| 0.0006486203448945452, | |
| 0.00025675578067313595 | |
| ], | |
| [ | |
| 0.17645767855262803, | |
| 0.9843078189376281, | |
| -0.0008973617257242502, | |
| -0.0017802871069391988 | |
| ], | |
| [ | |
| -0.00048009619372346745, | |
| 0.0009977344653654908, | |
| 0.9999993870166027, | |
| -0.00022373387206006397 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9796166243329872, | |
| -0.20087543123973237, | |
| 0.0005748518897089637, | |
| 0.00033139187305250366 | |
| ], | |
| [ | |
| 0.2008758860805667, | |
| 0.9796162953981803, | |
| -0.0008900458937494, | |
| -0.0020120043423692328 | |
| ], | |
| [ | |
| -0.0003843459258692744, | |
| 0.0009873776366465998, | |
| 0.9999994386816486, | |
| -0.0002580483895624299 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9745048728238923, | |
| -0.22436494195071807, | |
| 0.0007909904808488585, | |
| 0.0002975850281502629 | |
| ], | |
| [ | |
| 0.22436552932970596, | |
| 0.9745047672118908, | |
| -0.0007536112392422323, | |
| -0.002275626298542427 | |
| ], | |
| [ | |
| -0.0006017400524604462, | |
| 0.0009118688227868202, | |
| 0.9999994032019018, | |
| -0.00027339972446175005 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.9688653347123306, | |
| -0.2475868731785544, | |
| 0.0008387028259393093, | |
| 0.0003125469445131952 | |
| ], | |
| [ | |
| 0.24758755694179316, | |
| 0.9688651567644213, | |
| -0.0008424104983916468, | |
| -0.0024384549767367822 | |
| ], | |
| [ | |
| -0.0006040201637028766, | |
| 0.0010238347131638955, | |
| 0.9999992934608115, | |
| -0.00025478710136970904 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.9626713878109596, | |
| -0.2706716047364905, | |
| 0.0008255177129003872, | |
| 0.00029363973738655795 | |
| ], | |
| [ | |
| 0.27067232778833633, | |
| 0.962671073384516, | |
| -0.0009462760419435789, | |
| -0.0025954699028277986 | |
| ], | |
| [ | |
| -0.0005385719679791832, | |
| 0.001134397671531338, | |
| 0.9999992115407683, | |
| -0.00022634630199683676 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.9558831009986081, | |
| -0.29374610949530533, | |
| 0.0008487530013633121, | |
| 0.0001582255220156085 | |
| ], | |
| [ | |
| 0.2937467988727275, | |
| 0.9558828879222757, | |
| -0.0008501349280025492, | |
| -0.002841650602690978 | |
| ], | |
| [ | |
| -0.0005615846424290416, | |
| 0.0010619480884303976, | |
| 0.9999992784442132, | |
| -0.0002122131080536633 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9483801223248369, | |
| -0.31713382410061525, | |
| 0.001131896836031543, | |
| 0.00020412756286742467 | |
| ], | |
| [ | |
| 0.3171347930513721, | |
| 0.9483801275322832, | |
| -0.000810393801616306, | |
| -0.0028559236919362225 | |
| ], | |
| [ | |
| -0.0008164651803749682, | |
| 0.001127525241558528, | |
| 0.99999903103525, | |
| -0.0002247493451080455 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9404145091074204, | |
| -0.34002763056047647, | |
| 0.0013272210356821419, | |
| 0.00018068823415513035 | |
| ], | |
| [ | |
| 0.3400289794537623, | |
| 0.9404144591691451, | |
| -0.0009685645240128594, | |
| -0.002674268041547305 | |
| ], | |
| [ | |
| -0.0009187991523239059, | |
| 0.0013621457456609797, | |
| 0.9999986501826317, | |
| -0.00022026457598434953 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9318903631677177, | |
| -0.36273683778630134, | |
| 0.0015289041611993381, | |
| 7.237268000997508e-05 | |
| ], | |
| [ | |
| 0.362738668203274, | |
| 0.9318901856625349, | |
| -0.0011577806189882961, | |
| -0.002423039349406583 | |
| ], | |
| [ | |
| -0.001004801102058192, | |
| 0.0016335172607414394, | |
| 0.9999981609963613, | |
| -0.0001985671291404303 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9226811118081556, | |
| -0.38555964860277075, | |
| 0.0018229870471090795, | |
| -0.00013635395543679156 | |
| ], | |
| [ | |
| 0.3855620382273965, | |
| 0.9226811251142387, | |
| -0.0012066631089055703, | |
| -0.002228593313396416 | |
| ], | |
| [ | |
| -0.0012167951354437306, | |
| 0.0018162398604483967, | |
| 0.9999976103383287, | |
| -0.00015946533303414265 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9129123694845549, | |
| -0.40815158912701927, | |
| 0.0018127148657206137, | |
| -0.0002086262834313657 | |
| ], | |
| [ | |
| 0.4081539038445247, | |
| 0.9129123982748449, | |
| -0.001159246542143607, | |
| -0.002250140261458468 | |
| ], | |
| [ | |
| -0.0011817015570875535, | |
| 0.001798157156605969, | |
| 0.9999976851034558, | |
| -0.0001698686448382416 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.9025087360873635, | |
| -0.4306670905745932, | |
| 0.001959178910796751, | |
| -0.00037662852414518423 | |
| ], | |
| [ | |
| 0.4306700181827776, | |
| 0.9025083148108048, | |
| -0.0014412271878666684, | |
| -0.0021315195755017037 | |
| ], | |
| [ | |
| -0.0011474861373405034, | |
| 0.0021444797448724436, | |
| 0.9999970422367199, | |
| -0.00019734020041441546 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.891406972213143, | |
| -0.4531983147342286, | |
| 0.00221300968186917, | |
| -0.0005841248836679257 | |
| ], | |
| [ | |
| 0.4532022999898239, | |
| 0.8914057705327915, | |
| -0.0018513629503932871, | |
| -0.0019391840952098104 | |
| ], | |
| [ | |
| -0.0011336550315834881, | |
| 0.0026532589198005278, | |
| 0.9999958375130238, | |
| -0.00023511406789313683 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.879533100414645, | |
| -0.4758310618622193, | |
| 0.0025151226759118606, | |
| -0.0007748795680892684 | |
| ], | |
| [ | |
| 0.4758362716719235, | |
| 0.8795311488144659, | |
| -0.002191078836848805, | |
| -0.001739586660266477 | |
| ], | |
| [ | |
| -0.001169545366992469, | |
| 0.0031239129595299546, | |
| 0.9999944366502526, | |
| -0.0002764243154048783 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.8669229058377728, | |
| -0.49843575675937773, | |
| 0.0025439570551465786, | |
| -0.0009270989105744229 | |
| ], | |
| [ | |
| 0.49844005957476517, | |
| 0.8669229336776234, | |
| -0.0014608473183071041, | |
| -0.0020566573945341245 | |
| ], | |
| [ | |
| -0.0014772761747872505, | |
| 0.0025344521082950175, | |
| 0.9999956970945496, | |
| -0.00032434127264636676 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.8536393415448669, | |
| -0.5208585749621523, | |
| 0.002493883566295703, | |
| -0.0010360531931329362 | |
| ], | |
| [ | |
| 0.5208621581813918, | |
| 0.8536401403827057, | |
| -0.0010596707118166056, | |
| -0.0022299965409117188 | |
| ], | |
| [ | |
| -0.00157694054074486, | |
| 0.002203546185283393, | |
| 0.9999963288146314, | |
| -0.00036201988185442037 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.8396978921898259, | |
| -0.5430485002319064, | |
| 0.002403382583168645, | |
| -0.0011236090021285957 | |
| ], | |
| [ | |
| 0.5430514650163617, | |
| 0.8396990592761249, | |
| -0.0007721362410707803, | |
| -0.002382101045657379 | |
| ], | |
| [ | |
| -0.0015988106664791446, | |
| 0.0019535216068950496, | |
| 0.9999968137738162, | |
| -0.0003934362483127213 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.8251177578004126, | |
| -0.5649561020527457, | |
| 0.0022996773224232873, | |
| -0.0012116329239251903 | |
| ], | |
| [ | |
| 0.5649582782650214, | |
| 0.8251193843873331, | |
| -0.0003812192165615349, | |
| -0.0026354678550292257 | |
| ], | |
| [ | |
| -0.0016821362139512069, | |
| 0.0016137724858410584, | |
| 0.9999972830743701, | |
| -0.0004225664773049516 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.8098367181290159, | |
| -0.5866504076056872, | |
| 0.0024060810680145077, | |
| -0.0014265866002454095 | |
| ], | |
| [ | |
| 0.5866534670707176, | |
| 0.8098376874956665, | |
| -0.000793401271513084, | |
| -0.0025891095237230567 | |
| ], | |
| [ | |
| -0.001483085948719951, | |
| 0.00205406128248547, | |
| 0.9999967906390084, | |
| -0.0004694832890654465 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.7937922159316886, | |
| -0.6081836925299239, | |
| 0.0025522670171896017, | |
| -0.0016042307603487114 | |
| ], | |
| [ | |
| 0.6081866821982961, | |
| 0.7937938433946534, | |
| -0.0005420197171111797, | |
| -0.002850142312206398 | |
| ], | |
| [ | |
| -0.0016963262919676393, | |
| 0.001982505841593035, | |
| 0.9999965960680565, | |
| -0.0005400965801589672 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.7770831874098721, | |
| -0.6293924242286043, | |
| 0.0026260557027943136, | |
| -0.0017313643693786 | |
| ], | |
| [ | |
| 0.6293948599686362, | |
| 0.7770856404531896, | |
| -0.0001328401933710033, | |
| -0.0031856392746618385 | |
| ], | |
| [ | |
| -0.0019570615663308975, | |
| 0.0017560538422109486, | |
| 0.9999965430864894, | |
| -0.0005989143744577813 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.7598239657777286, | |
| -0.6501238931762994, | |
| 0.0025425481503816697, | |
| -0.0017947863924785798 | |
| ], | |
| [ | |
| 0.6501261411086121, | |
| 0.7598262924785183, | |
| -7.684773599069754e-05, | |
| -0.00336267346527197 | |
| ], | |
| [ | |
| -0.0018819343852485612, | |
| 0.0017113677691119654, | |
| 0.999996764766431, | |
| -0.0006104446958341563 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.7418403079201079, | |
| -0.6705706678408198, | |
| 0.0028172640125654616, | |
| -0.002093477315048745 | |
| ], | |
| [ | |
| 0.6705736445949789, | |
| 0.7418429504936468, | |
| -0.00015484665878309138, | |
| -0.0035234279069653283 | |
| ], | |
| [ | |
| -0.001986131820008035, | |
| 0.0020040544897243443, | |
| 0.9999960195150759, | |
| -0.0007031864202146083 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.7233294524880158, | |
| -0.6904976151503203, | |
| 0.002747113959667002, | |
| -0.0022494277170936987 | |
| ], | |
| [ | |
| 0.6905000532828095, | |
| 0.7233323368438418, | |
| 8.302086625838203e-05, | |
| -0.003825142809681108 | |
| ], | |
| [ | |
| -0.0020444020701813987, | |
| 0.0018368308977882585, | |
| 0.9999962232290821, | |
| -0.0007469357554723193 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.7043613700071223, | |
| -0.709837095337998, | |
| 0.0025216113507359164, | |
| -0.0023198636546608704 | |
| ], | |
| [ | |
| 0.7098385712539446, | |
| 0.70436427893324, | |
| 0.0004065993308141105, | |
| -0.004150370580507438 | |
| ], | |
| [ | |
| -0.0020647522487624386, | |
| 0.0015035441367679063, | |
| 0.9999967380712701, | |
| -0.0007625866097506774 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.6850120523497264, | |
| -0.7285279688072471, | |
| 0.0023423921965422213, | |
| -0.002362011183797692 | |
| ], | |
| [ | |
| 0.728528880744458, | |
| 0.6850148276669593, | |
| 0.0005964877479449368, | |
| -0.004381663626532447 | |
| ], | |
| [ | |
| -0.0020391313942715343, | |
| 0.0012978990687902293, | |
| 0.999997078696315, | |
| -0.0007710328911930705 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.6653584008407044, | |
| -0.7465207444416466, | |
| 0.0022308180092601116, | |
| -0.00251904760864781 | |
| ], | |
| [ | |
| 0.7465212117229858, | |
| 0.6653611560248527, | |
| 0.0007826243779957475, | |
| -0.0046377844833928135 | |
| ], | |
| [ | |
| -0.002068544982801934, | |
| 0.0011446272588041156, | |
| 0.9999972054711417, | |
| -0.0007641139934744291 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.6452340315084806, | |
| -0.7639814304006421, | |
| 0.002327785707943172, | |
| -0.0026975314654306103 | |
| ], | |
| [ | |
| 0.7639820938584291, | |
| 0.6452369720011398, | |
| 0.0007811699500825781, | |
| -0.004827256584560416 | |
| ], | |
| [ | |
| -0.0020987727375108684, | |
| 0.00127434916302309, | |
| 0.9999969855890602, | |
| -0.0007819404400078154 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.6247944278552081, | |
| -0.7807853793727175, | |
| 0.0024727067931763725, | |
| -0.002792682038108248 | |
| ], | |
| [ | |
| 0.7807865172458701, | |
| 0.6247975193778765, | |
| 0.0006886699623656961, | |
| -0.004982929417081913 | |
| ], | |
| [ | |
| -0.0020826445083537166, | |
| 0.001500378970097041, | |
| 0.999996705721973, | |
| -0.0008217231230762768 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.6042070903185115, | |
| -0.7968234067681785, | |
| 0.0025000870369476205, | |
| -0.0026997186106428772 | |
| ], | |
| [ | |
| 0.7968248613661069, | |
| 0.6042100535318888, | |
| 0.0005928911172344374, | |
| -0.005137652468003963 | |
| ], | |
| [ | |
| -0.001983007242305839, | |
| 0.0016339024897990776, | |
| 0.9999966990170173, | |
| -0.0008806729349628605 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.5829980629796291, | |
| -0.8124697734252996, | |
| 0.00247504186690044, | |
| -0.0026402730272250072 | |
| ], | |
| [ | |
| 0.8124710852638358, | |
| 0.5830010874673024, | |
| 0.0006838290340183511, | |
| -0.005350858159007348 | |
| ], | |
| [ | |
| -0.0019985425202605897, | |
| 0.0016122289494321014, | |
| 0.9999967032673706, | |
| -0.0009037203968301733 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.5613811737335761, | |
| -0.8275540301512678, | |
| 0.002346264671114582, | |
| -0.0025309954560061897 | |
| ], | |
| [ | |
| 0.8275549949028647, | |
| 0.5613840885003446, | |
| 0.0007972389583581295, | |
| -0.005494002417644243 | |
| ], | |
| [ | |
| -0.0019769139667570896, | |
| 0.0014941081057557792, | |
| 0.9999969297213549, | |
| -0.0009273081788563526 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.5393492806781733, | |
| -0.8420793221303217, | |
| 0.0021837290298041315, | |
| -0.002454157246199218 | |
| ], | |
| [ | |
| 0.8420797339007021, | |
| 0.539352134072934, | |
| 0.0009986113833757053, | |
| -0.0056636124501556265 | |
| ], | |
| [ | |
| -0.002018708909246512, | |
| 0.0013002736290279788, | |
| 0.9999971170472592, | |
| -0.0009528469826868783 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.5168941075441449, | |
| -0.8560468815718707, | |
| 0.0020538104141849564, | |
| -0.002492029747016884 | |
| ], | |
| [ | |
| 0.8560464580258893, | |
| 0.5168971077293372, | |
| 0.0013571007239866321, | |
| -0.005956215462782475 | |
| ], | |
| [ | |
| -0.0022233505056642807, | |
| 0.0010566797629471337, | |
| 0.9999969700656135, | |
| -0.0009817475099672297 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.4940477157094662, | |
| -0.8694323087546268, | |
| 0.0020772808807964786, | |
| -0.0026553251217249873 | |
| ], | |
| [ | |
| 0.8694320430867569, | |
| 0.49405075073354127, | |
| 0.0013334742636934736, | |
| -0.006272123041597759 | |
| ], | |
| [ | |
| -0.002185647786389825, | |
| 0.0011472546463208175, | |
| 0.9999969533706243, | |
| -0.0009430077011870097 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.4708913206875322, | |
| -0.8821889550507042, | |
| 0.002002919793405239, | |
| -0.002593732155416013 | |
| ], | |
| [ | |
| 0.8821883497850339, | |
| 0.4708943706537591, | |
| 0.001485661522401382, | |
| -0.006639874343117445 | |
| ], | |
| [ | |
| -0.00225379784159183, | |
| 0.001067367390917712, | |
| 0.9999968905562369, | |
| -0.0009023340882994544 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.44744499266609244, | |
| -0.8943093941084715, | |
| 0.001919934212186835, | |
| -0.00250776810054337 | |
| ], | |
| [ | |
| 0.8943083937299369, | |
| 0.4474480471157742, | |
| 0.001655909556756542, | |
| -0.006988290226606405 | |
| ], | |
| [ | |
| -0.0023399662862351326, | |
| 0.0009760848418893168, | |
| 0.9999967859029153, | |
| -0.000881996860764882 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.4237289749261323, | |
| -0.9057869768103392, | |
| 0.00192573332412293, | |
| -0.002597950209560469 | |
| ], | |
| [ | |
| 0.905785980486593, | |
| 0.42373210484440965, | |
| 0.001691413038848454, | |
| -0.007246191551329516 | |
| ], | |
| [ | |
| -0.0023480549377957603, | |
| 0.0010276015340184444, | |
| 0.9999967153311538, | |
| -0.0009042662080436109 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.39950333370198277, | |
| -0.9167302827567395, | |
| 0.0016355542642156459, | |
| -0.0025714968526398966 | |
| ], | |
| [ | |
| 0.9167281579769279, | |
| 0.3995061247985089, | |
| 0.0020834156348455398, | |
| -0.0076763134841727945 | |
| ], | |
| [ | |
| -0.0025633441500262323, | |
| 0.000667027156298092, | |
| 0.9999964921646185, | |
| -0.0008644882307971629 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.37498304255488046, | |
| -0.9270303368933787, | |
| 0.001572347173410721, | |
| -0.0026783034399109036 | |
| ], | |
| [ | |
| 0.9270278437726914, | |
| 0.3749858286700576, | |
| 0.002237223007436353, | |
| -0.007978002843510974 | |
| ], | |
| [ | |
| -0.002663581506067782, | |
| 0.0006186889196267628, | |
| 0.9999962612718016, | |
| -0.0008589808198500486 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.3501603153472145, | |
| -0.9366883275260994, | |
| 0.001652462495248403, | |
| -0.002868625751109451 | |
| ], | |
| [ | |
| 0.9366860010773871, | |
| 0.3501633704147802, | |
| 0.0022247259190256267, | |
| -0.008170851185500174 | |
| ], | |
| [ | |
| -0.002662506637116277, | |
| 0.0007688277572374527, | |
| 0.9999961599737706, | |
| -0.0008650069266748837 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.32502670538336353, | |
| -0.9457031465474759, | |
| 0.00178868606517045, | |
| -0.003092719565971502 | |
| ], | |
| [ | |
| 0.9457013194116708, | |
| 0.32503007416892704, | |
| 0.0021131371860260693, | |
| -0.008274450066296514 | |
| ], | |
| [ | |
| -0.00257977725033861, | |
| 0.001004736754247839, | |
| 0.9999961676193532, | |
| -0.0008598295027442846 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 49, | |
| "c2w": [ | |
| [ | |
| 0.29982305675667464, | |
| -0.9539935986937846, | |
| 0.001532412596621536, | |
| -0.003009952524361858 | |
| ], | |
| [ | |
| 0.9539908905803982, | |
| 0.2998260479461857, | |
| 0.002391999705351235, | |
| -0.008636215887418983 | |
| ], | |
| [ | |
| -0.0027414096196504843, | |
| 0.0007447309943681272, | |
| 0.9999959650163812, | |
| -0.0008504365072943539 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 50, | |
| "c2w": [ | |
| [ | |
| 0.2743665475724663, | |
| -0.961623975684762, | |
| 0.0015254381004043442, | |
| -0.0030743254831230356 | |
| ], | |
| [ | |
| 0.9616208004991664, | |
| 0.27436974183199586, | |
| 0.0025847271396362355, | |
| -0.008928064997832406 | |
| ], | |
| [ | |
| -0.0029040696458659298, | |
| 0.0007577303455039035, | |
| 0.9999954961019653, | |
| -0.0008329813943828374 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 51, | |
| "c2w": [ | |
| [ | |
| 0.24870619334325605, | |
| -0.9685774948153618, | |
| 0.0016929057578652582, | |
| -0.003183575176520676 | |
| ], | |
| [ | |
| 0.9685743334483745, | |
| 0.24871003237426226, | |
| 0.0026608986133583776, | |
| -0.009163889248603813 | |
| ], | |
| [ | |
| -0.0029983291587295704, | |
| 0.0009779231010145469, | |
| 0.9999950268319662, | |
| -0.0008096135248011368 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 52, | |
| "c2w": [ | |
| [ | |
| 0.22289220861164438, | |
| -0.9748411226968712, | |
| 0.001961845897961581, | |
| -0.0032354383388204172 | |
| ], | |
| [ | |
| 0.9748386081054301, | |
| 0.2228968380605958, | |
| 0.0025860645112578406, | |
| -0.00935758049080023 | |
| ], | |
| [ | |
| -0.0029582912789389145, | |
| 0.0013360694939597627, | |
| 0.9999947317016309, | |
| -0.0007824822593406541 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 53, | |
| "c2w": [ | |
| [ | |
| 0.1971952811381244, | |
| -0.9803615048669511, | |
| 0.002311032640046006, | |
| -0.0032823537170586434 | |
| ], | |
| [ | |
| 0.9803599406500237, | |
| 0.1972008429660556, | |
| 0.0024928502079024847, | |
| -0.009503070533671575 | |
| ], | |
| [ | |
| -0.0028996319659663128, | |
| 0.0017740655242532077, | |
| 0.9999942223962985, | |
| -0.0007421866139035312 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 54, | |
| "c2w": [ | |
| [ | |
| 0.1715283770724022, | |
| -0.9851766515287155, | |
| 0.002231847121922549, | |
| -0.0031309932746765978 | |
| ], | |
| [ | |
| 0.9851751353426532, | |
| 0.17153372396875377, | |
| 0.0024767405993323505, | |
| -0.0097728195993588 | |
| ], | |
| [ | |
| -0.0028228640585077893, | |
| 0.0017739289949713515, | |
| 0.9999944422917699, | |
| -0.0006815199558485123 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 55, | |
| "c2w": [ | |
| [ | |
| 0.14566964740358151, | |
| -0.9893309195052354, | |
| 0.0021646099513771546, | |
| -0.0029663877125208427 | |
| ], | |
| [ | |
| 0.9893292438135913, | |
| 0.14567495896507882, | |
| 0.0025404066111974107, | |
| -0.01011008043484542 | |
| ], | |
| [ | |
| -0.002828632274415382, | |
| 0.001771451791032481, | |
| 0.9999944303834938, | |
| -0.0006498081166798328 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 56, | |
| "c2w": [ | |
| [ | |
| 0.11939325202418843, | |
| -0.9928437715070859, | |
| 0.0025488724318683213, | |
| -0.0029735677314379396 | |
| ], | |
| [ | |
| 0.9928425270947554, | |
| 0.11940005878386756, | |
| 0.0027096779345166526, | |
| -0.010458105787114954 | |
| ], | |
| [ | |
| -0.002994622378272701, | |
| 0.0022071116859581695, | |
| 0.9999930804234682, | |
| -0.0006963769279017277 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 57, | |
| "c2w": [ | |
| [ | |
| 0.09321315116306877, | |
| -0.995643990815864, | |
| 0.0020861453713572784, | |
| -0.0026269378976437755 | |
| ], | |
| [ | |
| 0.9956413500065605, | |
| 0.0932190186490986, | |
| 0.0029183418601392225, | |
| -0.010911117662401871 | |
| ], | |
| [ | |
| -0.0031000979604712924, | |
| 0.0018050247528934298, | |
| 0.9999935656184378, | |
| -0.0006911737928457596 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 58, | |
| "c2w": [ | |
| [ | |
| 0.06677662529862233, | |
| -0.9977658304665993, | |
| 0.0020566640525783828, | |
| -0.002499143152530548 | |
| ], | |
| [ | |
| 0.99776348783437, | |
| 0.06678234950790046, | |
| 0.0028530928477862433, | |
| -0.011190244386313358 | |
| ], | |
| [ | |
| -0.00298406741224938, | |
| 0.0018615443863653756, | |
| 0.9999938149779614, | |
| -0.0006653065007414584 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 59, | |
| "c2w": [ | |
| [ | |
| 0.04014149983533749, | |
| -0.9991915635388684, | |
| 0.0022089236567411743, | |
| -0.002435042078249472 | |
| ], | |
| [ | |
| 0.9991899151234969, | |
| 0.040147562792323954, | |
| 0.0027724929821039434, | |
| -0.011442564683786304 | |
| ], | |
| [ | |
| -0.002858934498901445, | |
| 0.0020958422145088977, | |
| 0.999993716949733, | |
| -0.000639246535922153 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 60, | |
| "c2w": [ | |
| [ | |
| 0.01336652552749712, | |
| -0.9999080686895341, | |
| 0.0022781933387534654, | |
| -0.0022794932569517616 | |
| ], | |
| [ | |
| 0.9999063075131218, | |
| 0.01337315821066093, | |
| 0.0029214439831643808, | |
| -0.011815157279757595 | |
| ], | |
| [ | |
| -0.00295164205094418, | |
| 0.0022389303335758485, | |
| 0.9999931374765352, | |
| -0.0006334653827211723 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 61, | |
| "c2w": [ | |
| [ | |
| -0.013155581752305134, | |
| -0.9999103324818185, | |
| 0.0025015325017894653, | |
| -0.002257888625961205 | |
| ], | |
| [ | |
| 0.9999095472917764, | |
| -0.01314848898744636, | |
| 0.0028309842991168363, | |
| -0.012090215342165506 | |
| ], | |
| [ | |
| -0.002797839079229206, | |
| 0.0025385494767864924, | |
| 0.9999928639060585, | |
| -0.0006321004819909061 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 62, | |
| "c2w": [ | |
| [ | |
| -0.03980683981318145, | |
| -0.9992034442675795, | |
| 0.002809353643518692, | |
| -0.002228062300768679 | |
| ], | |
| [ | |
| 0.9992036908589907, | |
| -0.039798880733547426, | |
| 0.0028343017001861127, | |
| -0.012353096051703087 | |
| ], | |
| [ | |
| -0.002720234890322662, | |
| 0.0029199411232935664, | |
| 0.9999920371012853, | |
| -0.0006395859373651044 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 63, | |
| "c2w": [ | |
| [ | |
| -0.06639013951558442, | |
| -0.997789292414896, | |
| 0.0029794827205707054, | |
| -0.002073606854148503 | |
| ], | |
| [ | |
| 0.9977898936320585, | |
| -0.06638129533117337, | |
| 0.002975196780163391, | |
| -0.01264292513677614 | |
| ], | |
| [ | |
| -0.0027708375676659754, | |
| 0.003170421476158166, | |
| 0.999991135404128, | |
| -0.0006423773130897902 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 64, | |
| "c2w": [ | |
| [ | |
| -0.09270927801274842, | |
| -0.9956893183827329, | |
| 0.002787656521834855, | |
| -0.0016781148588749988 | |
| ], | |
| [ | |
| 0.9956886617320946, | |
| -0.09270001792032889, | |
| 0.0032856621434925654, | |
| -0.012998828325790471 | |
| ], | |
| [ | |
| -0.003013082890560249, | |
| 0.003080249356711508, | |
| 0.9999907166546074, | |
| -0.0006269301734109865 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 65, | |
| "c2w": [ | |
| [ | |
| -0.11910447903812799, | |
| -0.9928790914696678, | |
| 0.002287530420175459, | |
| -0.0010539339207386693 | |
| ], | |
| [ | |
| 0.9928770035236306, | |
| -0.11909648996677308, | |
| 0.0033588616421073828, | |
| -0.013181094410469125 | |
| ], | |
| [ | |
| -0.0030625066518527796, | |
| 0.0026712918150973122, | |
| 0.9999917425924307, | |
| -0.0006509650060405591 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 66, | |
| "c2w": [ | |
| [ | |
| -0.14542584649437607, | |
| -0.9893662115856633, | |
| 0.0024129948253215406, | |
| -0.000769258079600493 | |
| ], | |
| [ | |
| 0.989364309482858, | |
| -0.1454170693969068, | |
| 0.003484113879180728, | |
| -0.013316231222695693 | |
| ], | |
| [ | |
| -0.003096173913409906, | |
| 0.0028940111693026164, | |
| 0.9999910191628973, | |
| -0.0006363223314981953 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 67, | |
| "c2w": [ | |
| [ | |
| -0.171942913582962, | |
| -0.9851032205150251, | |
| 0.002698036235543856, | |
| -0.0005681039443966987 | |
| ], | |
| [ | |
| 0.9851021669230299, | |
| -0.17193293622513028, | |
| 0.0035757746792516166, | |
| -0.013388491885332554 | |
| ], | |
| [ | |
| -0.0030586258603479957, | |
| 0.0032726704587378104, | |
| 0.9999899671676289, | |
| -0.0006093938057474808 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 68, | |
| "c2w": [ | |
| [ | |
| -0.19891935490677642, | |
| -0.9800121922861937, | |
| 0.0026820167561799092, | |
| -0.00019448812406351536 | |
| ], | |
| [ | |
| 0.9800115131685194, | |
| -0.1989095741075146, | |
| 0.0035235472915923966, | |
| -0.013382129521242087 | |
| ], | |
| [ | |
| -0.0029196404951365813, | |
| 0.003329309053794276, | |
| 0.9999901956522392, | |
| -0.000596571084752002 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 69, | |
| "c2w": [ | |
| [ | |
| -0.22608488047368075, | |
| -0.9741035841504108, | |
| 0.0027989581142774914, | |
| 8.642402820565476e-05 | |
| ], | |
| [ | |
| 0.9741033809726863, | |
| -0.22607450453788663, | |
| 0.0035946593066827222, | |
| -0.013511113296310608 | |
| ], | |
| [ | |
| -0.0028687974455316886, | |
| 0.003539172682013606, | |
| 0.9999896220751212, | |
| -0.000593350575868532 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 70, | |
| "c2w": [ | |
| [ | |
| -0.2532364825085678, | |
| -0.9673997010773627, | |
| 0.003016998859267445, | |
| 0.0002928263166166138 | |
| ], | |
| [ | |
| 0.9674000950245933, | |
| -0.2532248127765435, | |
| 0.00377496234312994, | |
| -0.013636127860038656 | |
| ], | |
| [ | |
| -0.002887918471037161, | |
| 0.0038746031685209436, | |
| 0.9999883236204266, | |
| -0.0005839076345995726 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 71, | |
| "c2w": [ | |
| [ | |
| -0.2802517227610966, | |
| -0.9599216942879444, | |
| 0.0030516757363788856, | |
| 0.0005790843603111565 | |
| ], | |
| [ | |
| 0.959922056818369, | |
| -0.2802392747340557, | |
| 0.003948889732949329, | |
| -0.013745918262857083 | |
| ], | |
| [ | |
| -0.002935425527922654, | |
| 0.004036054000260186, | |
| 0.9999875466949963, | |
| -0.0005657165000156932 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 72, | |
| "c2w": [ | |
| [ | |
| -0.3070108613428588, | |
| -0.9517023898562279, | |
| 0.002625292261932734, | |
| 0.0010995637784310776 | |
| ], | |
| [ | |
| 0.9517013244135292, | |
| -0.3069995246750292, | |
| 0.0039850920743331325, | |
| -0.013829229555196743 | |
| ], | |
| [ | |
| -0.0029866581743935726, | |
| 0.0037219606729255875, | |
| 0.9999886133760217, | |
| -0.0005362514111874632 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 73, | |
| "c2w": [ | |
| [ | |
| -0.3335397686314661, | |
| -0.9427321290698183, | |
| 0.0027121137062092607, | |
| 0.0013628821680833794 | |
| ], | |
| [ | |
| 0.942731438046736, | |
| -0.3335277842635332, | |
| 0.004080789456846829, | |
| -0.013961350886132026 | |
| ], | |
| [ | |
| -0.0029425260578361447, | |
| 0.003917900425671337, | |
| 0.9999879957262754, | |
| -0.0005093442596978301 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 74, | |
| "c2w": [ | |
| [ | |
| -0.35990908087451234, | |
| -0.9329838914329539, | |
| 0.0025518288904412805, | |
| 0.0017546231421363958 | |
| ], | |
| [ | |
| 0.9329829181963455, | |
| -0.3598975530827223, | |
| 0.00407745495386772, | |
| -0.013981654985493495 | |
| ], | |
| [ | |
| -0.002885802816446466, | |
| 0.0038483258296954062, | |
| 0.9999884311982883, | |
| -0.00047477704012994593 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 75, | |
| "c2w": [ | |
| [ | |
| -0.3859748201365373, | |
| -0.9225063221819478, | |
| 0.0023502669857618057, | |
| 0.002143204692110563 | |
| ], | |
| [ | |
| 0.9225049731534782, | |
| -0.38596393299120735, | |
| 0.004051781960993945, | |
| -0.013953871092676186 | |
| ], | |
| [ | |
| -0.0028306761857156675, | |
| 0.0037320187962308045, | |
| 0.9999890295938434, | |
| -0.00041278350272907783 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 76, | |
| "c2w": [ | |
| [ | |
| -0.41159856486245816, | |
| -0.9113623274070962, | |
| 0.0023085896745721735, | |
| 0.002397044809526316 | |
| ], | |
| [ | |
| 0.9113610143237375, | |
| -0.4115876065426477, | |
| 0.004091908027176198, | |
| -0.013941728447075126 | |
| ], | |
| [ | |
| -0.002779023924536849, | |
| 0.0037881820990102984, | |
| 0.9999889632903014, | |
| -0.000303597397740493 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 77, | |
| "c2w": [ | |
| [ | |
| -0.4366918589983073, | |
| -0.8996082766152587, | |
| 0.0022735280792109277, | |
| 0.0026648567761136895 | |
| ], | |
| [ | |
| 0.8996068951611127, | |
| -0.4366806270253878, | |
| 0.004179014153727597, | |
| -0.014058728695043949 | |
| ], | |
| [ | |
| -0.0027666700535960037, | |
| 0.0038702229959720925, | |
| 0.9999886833913553, | |
| -0.00026222673821387713 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 78, | |
| "c2w": [ | |
| [ | |
| -0.46098862189802686, | |
| -0.8874029829351798, | |
| 0.002331599944886465, | |
| 0.00279968060402277 | |
| ], | |
| [ | |
| 0.8874020797515804, | |
| -0.4609771148024722, | |
| 0.004201009516551071, | |
| -0.01410911316319714 | |
| ], | |
| [ | |
| -0.0026531741608591315, | |
| 0.0040056842278562935, | |
| 0.999988457513755, | |
| -0.00019434040900527153 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 79, | |
| "c2w": [ | |
| [ | |
| -0.48465987730231824, | |
| -0.8746995508636175, | |
| 0.0023450058183716377, | |
| 0.0029423408548731626 | |
| ], | |
| [ | |
| 0.8746987944002302, | |
| -0.4846479691911389, | |
| 0.004285444398075354, | |
| -0.014163013294449068 | |
| ], | |
| [ | |
| -0.0026119739826322994, | |
| 0.0041281567183483045, | |
| 0.999988067885824, | |
| -0.00011948132417996573 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 80, | |
| "c2w": [ | |
| [ | |
| -0.5078683300912337, | |
| -0.8614319785886702, | |
| 0.0021692291605792165, | |
| 0.0032336620902844748 | |
| ], | |
| [ | |
| 0.8614300944809545, | |
| -0.5078557557858334, | |
| 0.00455232223531319, | |
| -0.014290560531714113 | |
| ], | |
| [ | |
| -0.002819860435520412, | |
| 0.004180619572434298, | |
| 0.9999872853227261, | |
| -5.7192397803249153e-05 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 430.83857218424475, | |
| "fy": 430.83855628967285, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |