Download spatialvid_eval/source/scene_048/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_048/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/spatialvid_eval/source/scene_048/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/spatialvid_eval/source/scene_048/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": [ | |
| [ | |
| 0.9999999982151657, | |
| 2.7186357431856174e-06, | |
| 5.968481975468725e-05, | |
| -0.0001096762495052533 | |
| ], | |
| [ | |
| -2.713419573360956e-06, | |
| 0.9999999961773618, | |
| -8.739515837937331e-05, | |
| 0.00010793123300873929 | |
| ], | |
| [ | |
| -5.968505712213513e-05, | |
| 8.739499627342927e-05, | |
| 0.9999999943999043, | |
| 0.0001736943102585283 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.9999952629991712, | |
| 0.0002995106337714307, | |
| 0.0030633760133106365, | |
| 0.0025791775980793436 | |
| ], | |
| [ | |
| -0.0002987261997064795, | |
| 0.9999999224793423, | |
| -0.0002565228393546674, | |
| -0.000307393472052179 | |
| ], | |
| [ | |
| -0.003063452607153905, | |
| 0.0002556065135310365, | |
| 0.9999952749505541, | |
| 0.012165175186152963 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.9999813535137944, | |
| 0.00047963596807450734, | |
| 0.0060879039133337415, | |
| 0.0049565239041744445 | |
| ], | |
| [ | |
| -0.00047691113329507496, | |
| 0.9999997854658758, | |
| -0.00044902558202850577, | |
| -0.0002779932482420756 | |
| ], | |
| [ | |
| -0.006088117976090333, | |
| 0.000446113820124485, | |
| 0.9999813677274035, | |
| 0.024201251166977245 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9999668353804232, | |
| 0.0004438456308375882, | |
| 0.008132105527950942, | |
| 0.006126078052918516 | |
| ], | |
| [ | |
| -0.0004389199538421629, | |
| 0.9999997191573159, | |
| -0.0006074821509560032, | |
| 0.000334573472792689 | |
| ], | |
| [ | |
| -0.008132372872407112, | |
| 0.0006038926606585992, | |
| 0.9999667493597568, | |
| 0.03228476196076655 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9999308918822908, | |
| 0.000461320937076142, | |
| 0.011747282344420627, | |
| 0.007947865626860479 | |
| ], | |
| [ | |
| -0.0004503882466899603, | |
| 0.9999994630641657, | |
| -0.0009332854909726138, | |
| 0.000773838714069728 | |
| ], | |
| [ | |
| -0.011747706581021035, | |
| 0.0009279301554705717, | |
| 0.999930562757091, | |
| 0.04454505178299153 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9998643309096055, | |
| 0.0006217156533636038, | |
| 0.01646004994929896, | |
| 0.009904565902454154 | |
| ], | |
| [ | |
| -0.000598158992284125, | |
| 0.9999987900167708, | |
| -0.0014360260493235081, | |
| 0.0002539342747965511 | |
| ], | |
| [ | |
| -0.016460922832788074, | |
| 0.0014259854980849943, | |
| 0.9998634929753423, | |
| 0.05707538886829855 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9997895677600541, | |
| 0.0006578818342334585, | |
| 0.02050335069339095, | |
| 0.011677486899250663 | |
| ], | |
| [ | |
| -0.0006215641282036814, | |
| 0.9999982268462415, | |
| -0.0017776283096814253, | |
| 8.918911841959874e-05 | |
| ], | |
| [ | |
| -0.020504483807170567, | |
| 0.0017645100920754362, | |
| 0.9997882038951732, | |
| 0.06539767229636773 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9996099772844859, | |
| 0.0006069842001675286, | |
| 0.027919972841873746, | |
| 0.015039549614046513 | |
| ], | |
| [ | |
| -0.0005430104926823677, | |
| 0.9999972102126388, | |
| -0.002298848960875711, | |
| 0.00011485808856191829 | |
| ], | |
| [ | |
| -0.027921290316084202, | |
| 0.0022827915193528885, | |
| 0.9996075181839943, | |
| 0.07783418549526824 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9993422594052929, | |
| 0.0005275966348753062, | |
| 0.036259760182815105, | |
| 0.01872721531276332 | |
| ], | |
| [ | |
| -0.0004272725257145732, | |
| 0.999996059758648, | |
| -0.0027745099327904634, | |
| 0.0011651632243258126 | |
| ], | |
| [ | |
| -0.036261081132712585, | |
| 0.0027571922256621325, | |
| 0.9993385471831443, | |
| 0.09021581446009233 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9989842218598646, | |
| 0.00043600455379498153, | |
| 0.045059231851755116, | |
| 0.02257768250344061 | |
| ], | |
| [ | |
| -0.0002909097245778895, | |
| 0.9999947522037016, | |
| -0.0032265983000179478, | |
| 0.0027277864429004943 | |
| ], | |
| [ | |
| -0.04506040220163707, | |
| 0.0032102126232701053, | |
| 0.9989791062321275, | |
| 0.1025700013078782 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.9984772794708451, | |
| 0.0007522624345133957, | |
| 0.055159373471150776, | |
| 0.026753051995488584 | |
| ], | |
| [ | |
| -0.0005815048987357394, | |
| 0.999994989585542, | |
| -0.0031116966215716238, | |
| 0.002375095482194066 | |
| ], | |
| [ | |
| -0.05516143791230444, | |
| 0.0030748829313607855, | |
| 0.9984727141301387, | |
| 0.11618291768965532 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.9980825279888126, | |
| 0.0009623336798572347, | |
| 0.06188975066479291, | |
| 0.0295366316568539 | |
| ], | |
| [ | |
| -0.0007758741675685962, | |
| 0.999995088131071, | |
| -0.0030367306446294636, | |
| 0.0021399681750564475 | |
| ], | |
| [ | |
| -0.06189236901862556, | |
| 0.002982889139834797, | |
| 0.9980783721880974, | |
| 0.12525819527750673 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.997508791206341, | |
| 0.0009477443329276268, | |
| 0.07053590041067136, | |
| 0.03315064592880108 | |
| ], | |
| [ | |
| -0.0007174107291115343, | |
| 0.9999943281534629, | |
| -0.0032907419756647936, | |
| 0.0014233998725750076 | |
| ], | |
| [ | |
| -0.07053861912392743, | |
| 0.0032319408385751954, | |
| 0.9975038134115105, | |
| 0.13848675256860601 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9969265206848993, | |
| 0.0008927299470640779, | |
| 0.07833719032708954, | |
| 0.036610740064200245 | |
| ], | |
| [ | |
| -0.0006193532669760329, | |
| 0.999993634186582, | |
| -0.003513970381643475, | |
| 0.0012634914138266564 | |
| ], | |
| [ | |
| -0.07833982867374502, | |
| 0.003454651871606811, | |
| 0.9969207273518864, | |
| 0.1514722182540791 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9965976615948053, | |
| 0.0008001032954488991, | |
| 0.0824163863469055, | |
| 0.038712242639069 | |
| ], | |
| [ | |
| -0.0005033014112417184, | |
| 0.9999933140207796, | |
| -0.003621960992047764, | |
| 0.0018990988996385413 | |
| ], | |
| [ | |
| -0.0824187332555847, | |
| 0.003568157571504563, | |
| 0.9965914010566667, | |
| 0.15980507323689291 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9961133420280845, | |
| 0.0007232818881667615, | |
| 0.08807773099342771, | |
| 0.0419410291691109 | |
| ], | |
| [ | |
| -0.0004091145073511557, | |
| 0.9999934904193155, | |
| -0.0035849329581251472, | |
| 0.0024839774469139235 | |
| ], | |
| [ | |
| -0.0880797505614102, | |
| 0.0035349656723406837, | |
| 0.996107153653027, | |
| 0.17220630058418102 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9956819611605904, | |
| 0.0007678987509498972, | |
| 0.09282694948617548, | |
| 0.04532288103463033 | |
| ], | |
| [ | |
| -0.000477410382300677, | |
| 0.9999949199890839, | |
| -0.0031515195307787506, | |
| 0.0023317906313044165 | |
| ], | |
| [ | |
| -0.09282889797217006, | |
| 0.0030935945975996888, | |
| 0.9956772696881948, | |
| 0.18441141767760397 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9951611108188589, | |
| 0.0008368469003564671, | |
| 0.0982530569551903, | |
| 0.04893949717455102 | |
| ], | |
| [ | |
| -0.0005401711793829225, | |
| 0.9999952148293477, | |
| -0.0030460685323072468, | |
| 0.0013623587761467906 | |
| ], | |
| [ | |
| -0.0982551358905552, | |
| 0.002978255474587789, | |
| 0.9951568008436944, | |
| 0.196298779710089 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.9945752486971748, | |
| 0.0009188918371652373, | |
| 0.10401552920955835, | |
| 0.05267349545167234 | |
| ], | |
| [ | |
| -0.0005991929013317396, | |
| 0.999995000657544, | |
| -0.003104774997587477, | |
| -1.5695598784894963e-05 | |
| ], | |
| [ | |
| -0.1040178621527086, | |
| 0.003025606998643704, | |
| 0.9945708270683743, | |
| 0.20802726421210507 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9941169496925613, | |
| 0.000822367432090171, | |
| 0.10830888258016523, | |
| 0.05548980537200609 | |
| ], | |
| [ | |
| -0.0004898538354645599, | |
| 0.9999950854835978, | |
| -0.0030966194263565227, | |
| 0.0003219497938609978 | |
| ], | |
| [ | |
| -0.10831089685335112, | |
| 0.003025346336941501, | |
| 0.9941124669283472, | |
| 0.21553362759271608 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.9933947366609964, | |
| 0.0006775809474464158, | |
| 0.114745100367246, | |
| 0.05971427025250671 | |
| ], | |
| [ | |
| -0.00032591379600418514, | |
| 0.9999951928890956, | |
| -0.003083501078054645, | |
| 0.0008284178828298369 | |
| ], | |
| [ | |
| -0.1147466380964047, | |
| 0.0030257367301944216, | |
| 0.993390182135304, | |
| 0.22679317266363258 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.9927295577250461, | |
| 0.0007521081973310725, | |
| 0.12036386314959413, | |
| 0.0645048726828378 | |
| ], | |
| [ | |
| -0.0003911027927298841, | |
| 0.9999953546096187, | |
| -0.0030228790562406077, | |
| 0.002172777873007836 | |
| ], | |
| [ | |
| -0.12036557754457972, | |
| 0.0029538267455364786, | |
| 0.9927252402603237, | |
| 0.23879401213877113 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.992268444830854, | |
| 0.0008015664755861359, | |
| 0.12410757786752484, | |
| 0.06769860763639188 | |
| ], | |
| [ | |
| -0.0004347522334849456, | |
| 0.9999954573256679, | |
| -0.0029826696974052957, | |
| 0.0030690178664598356 | |
| ], | |
| [ | |
| -0.12410940489525361, | |
| 0.0029056529754181537, | |
| 0.9922642857612746, | |
| 0.24679457178886352 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.9919738187897535, | |
| 0.000860602354669618, | |
| 0.1264405085376546, | |
| 0.0724709182635743 | |
| ], | |
| [ | |
| -0.0004890189375524042, | |
| 0.9999954705298714, | |
| -0.002969811478896151, | |
| 0.0016670250209419191 | |
| ], | |
| [ | |
| -0.12644249165589977, | |
| 0.002884143430657591, | |
| 0.9919697465248218, | |
| 0.25892478912650463 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.9917669518722134, | |
| 0.0009164525770610154, | |
| 0.12805261921871525, | |
| 0.07718471257790115 | |
| ], | |
| [ | |
| -0.0005233555890306349, | |
| 0.9999950474244697, | |
| -0.003103421573153786, | |
| 0.0004078460056882683 | |
| ], | |
| [ | |
| -0.1280548291671451, | |
| 0.0030108539000230725, | |
| 0.9917625197020538, | |
| 0.2712974692875319 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9917447314197283, | |
| 0.0009660648441128792, | |
| 0.12822423491652424, | |
| 0.08178147426651686 | |
| ], | |
| [ | |
| -0.0005177326434398705, | |
| 0.9999936363726595, | |
| -0.003529754537551915, | |
| -0.0005657053490368505 | |
| ], | |
| [ | |
| -0.1282268289170443, | |
| 0.003434229593725604, | |
| 0.991738920489146, | |
| 0.2841550750953314 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.9917251240210555, | |
| 0.0010401509769359558, | |
| 0.12837521751244405, | |
| 0.0860426112985644 | |
| ], | |
| [ | |
| -0.0005618429159653116, | |
| 0.9999927657551425, | |
| -0.0037620167355606232, | |
| -0.00010616468588270681 | |
| ], | |
| [ | |
| -0.12837820188006968, | |
| 0.0036587598070982725, | |
| 0.9917185340401349, | |
| 0.2962117879772126 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9917129184547671, | |
| 0.0010976912916680025, | |
| 0.12846899409490492, | |
| 0.08877149443440668 | |
| ], | |
| [ | |
| -0.0006078353839203117, | |
| 0.9999923956222033, | |
| -0.0038521726224106673, | |
| 0.0006778930955131431 | |
| ], | |
| [ | |
| -0.1284722456644803, | |
| 0.003742161353414903, | |
| 0.991706044310677, | |
| 0.30398263225649397 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9914222160987521, | |
| 0.001235427637714805, | |
| 0.1306922459229747, | |
| 0.0931820428200523 | |
| ], | |
| [ | |
| -0.0007549848538043562, | |
| 0.9999927748418211, | |
| -0.003725622367542477, | |
| 0.0008602220264450323 | |
| ], | |
| [ | |
| -0.13069590438766568, | |
| 0.003594994117794522, | |
| 0.9914159856455732, | |
| 0.3166789039844578 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.9909863421273151, | |
| 0.0013980945311247858, | |
| 0.13395564582654187, | |
| 0.09775120304663898 | |
| ], | |
| [ | |
| -0.0009419251619434451, | |
| 0.9999935404645409, | |
| -0.0034686894040527835, | |
| 0.0005456720867959789 | |
| ], | |
| [ | |
| -0.1339596300909837, | |
| 0.0033112476311096405, | |
| 0.9909812577163163, | |
| 0.32989517836694243 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9906661777734344, | |
| 0.0012706920226574357, | |
| 0.13630447372539736, | |
| 0.100946478969167 | |
| ], | |
| [ | |
| -0.0007800141530293404, | |
| 0.9999930227755275, | |
| -0.0036532147739066967, | |
| 4.423474792549485e-05 | |
| ], | |
| [ | |
| -0.13630816480935784, | |
| 0.003512796898024563, | |
| 0.9906602568308966, | |
| 0.33739150704038234 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9901754556592177, | |
| 0.0010804849664231607, | |
| 0.13982631927608674, | |
| 0.10573939285295905 | |
| ], | |
| [ | |
| -0.0005363286709966372, | |
| 0.9999921365179059, | |
| -0.003929281602392422, | |
| -0.0007079212603802313 | |
| ], | |
| [ | |
| -0.139829465284029, | |
| 0.003815685337074602, | |
| 0.990168248927318, | |
| 0.34863600005054224 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9896273598087592, | |
| 0.0010265828637641178, | |
| 0.14365456778525676, | |
| 0.11100370936085621 | |
| ], | |
| [ | |
| -0.0004933079695541851, | |
| 0.9999928554032556, | |
| -0.0037477712965299646, | |
| 0.00035194125636410956 | |
| ], | |
| [ | |
| -0.14365738882908974, | |
| 0.0036380310702006694, | |
| 0.989620795741854, | |
| 0.3597456007665837 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.9890572042213237, | |
| 0.0009099242718368035, | |
| 0.1475297218045184, | |
| 0.116397379970203 | |
| ], | |
| [ | |
| -0.00037643039100280107, | |
| 0.9999932895454269, | |
| -0.0036440587642027054, | |
| 0.0013852126958554367 | |
| ], | |
| [ | |
| -0.14753204763053956, | |
| 0.00354864790247713, | |
| 0.9890509097210339, | |
| 0.37099290833244813 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9884569259395666, | |
| 0.0006691306550722267, | |
| 0.1515006858937257, | |
| 0.12204975878244904 | |
| ], | |
| [ | |
| -0.00011053028818630426, | |
| 0.9999931654868679, | |
| -0.0036955057312338916, | |
| 0.002365301980840737 | |
| ], | |
| [ | |
| -0.15150212323646914, | |
| 0.0036361028204152453, | |
| 0.9884502442769295, | |
| 0.3825156295979586 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.9880148430436835, | |
| 0.00045189295159467504, | |
| 0.15435823825804007, | |
| 0.12575857877163416 | |
| ], | |
| [ | |
| 0.00012834639235099246, | |
| 0.9999929640227329, | |
| -0.0037490575126455004, | |
| 0.0022093322689856784 | |
| ], | |
| [ | |
| -0.15435884636964975, | |
| 0.003723935792928261, | |
| 0.9880078333948781, | |
| 0.39051503846615104 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9872851317418342, | |
| 4.1285630652252976e-05, | |
| 0.15895932478783906, | |
| 0.1312326599269435 | |
| ], | |
| [ | |
| 0.0005792781052424572, | |
| 0.9999923917358999, | |
| -0.0038575778917541216, | |
| 0.0007613338484352028 | |
| ], | |
| [ | |
| -0.15895827464585097, | |
| 0.0039006109535385746, | |
| 0.987277596299948, | |
| 0.4029905438052178 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.9867742596220537, | |
| -0.00022917618914057401, | |
| 0.16210030236129291, | |
| 0.13595008182029703 | |
| ], | |
| [ | |
| 0.0009001520952153352, | |
| 0.9999913293276087, | |
| -0.004065832732412048, | |
| 0.0003045239628923406 | |
| ], | |
| [ | |
| -0.1620979650506253, | |
| 0.004157974011078567, | |
| 0.986765909919151, | |
| 0.41479565049279893 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.9865087848199073, | |
| -0.0003626294717552276, | |
| 0.1637079288642309, | |
| 0.13884280999521412 | |
| ], | |
| [ | |
| 0.0010708846063817315, | |
| 0.999990445798915, | |
| -0.004238103000979597, | |
| 0.00033038021753296995 | |
| ], | |
| [ | |
| -0.16370482790470686, | |
| 0.004356238142401325, | |
| 0.9864997478509242, | |
| 0.4224422554006911 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.9863114509137473, | |
| -0.0006348495768917242, | |
| 0.1648918395871468, | |
| 0.14301900676643461 | |
| ], | |
| [ | |
| 0.0013234525385451114, | |
| 0.9999908569713023, | |
| -0.004066257146156258, | |
| 0.000983852736262121 | |
| ], | |
| [ | |
| -0.16488775051469665, | |
| 0.004228822509300755, | |
| 0.9863032732331308, | |
| 0.43440031001882273 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.9862157029863894, | |
| -0.0009434352833724607, | |
| 0.1654620715237418, | |
| 0.14711375579207756 | |
| ], | |
| [ | |
| 0.0015739110846906537, | |
| 0.9999919926678594, | |
| -0.003679321141377809, | |
| 0.0019446693233753753 | |
| ], | |
| [ | |
| -0.16545727541259478, | |
| 0.003889026874423695, | |
| 0.9862092909129435, | |
| 0.44660243826510115 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.9858255223065492, | |
| -0.0009573101937681515, | |
| 0.1677710437656411, | |
| 0.15175538768213087 | |
| ], | |
| [ | |
| 0.001550359905880943, | |
| 0.9999930047983431, | |
| -0.003403929867573908, | |
| 0.0006317592312672898 | |
| ], | |
| [ | |
| -0.16776661155659664, | |
| 0.003615786439217957, | |
| 0.9858201104335639, | |
| 0.45820590865469085 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.9854926248921712, | |
| -0.0010356830579220935, | |
| 0.16971509550933342, | |
| 0.15673473771252394 | |
| ], | |
| [ | |
| 0.0015915364953853174, | |
| 0.9999938061759546, | |
| -0.003139207115116038, | |
| -0.0003497992612919201 | |
| ], | |
| [ | |
| -0.1697107931002695, | |
| 0.003363773228276793, | |
| 0.9854881692516387, | |
| 0.46953113763287907 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.9853525663943621, | |
| -0.001173304141906597, | |
| 0.17052549151793922, | |
| 0.16050459525323896 | |
| ], | |
| [ | |
| 0.0017059077091742686, | |
| 0.9999941142002826, | |
| -0.002976817710213025, | |
| -0.0005623694569328926 | |
| ], | |
| [ | |
| -0.17052099512650037, | |
| 0.003224115721037777, | |
| 0.9853487683550862, | |
| 0.47671030173646933 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.9851144198864149, | |
| -0.001332644563594278, | |
| 0.1718947462557239, | |
| 0.1660651459928134 | |
| ], | |
| [ | |
| 0.0017985243133701962, | |
| 0.9999951197736767, | |
| -0.0025545526270874756, | |
| -0.00014800494387996635 | |
| ], | |
| [ | |
| -0.17189050305978745, | |
| 0.002825683509784115, | |
| 0.98511200909874, | |
| 0.4878084263530447 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.9848203007009814, | |
| -0.0013983395479190144, | |
| 0.17357136853103844, | |
| 0.17143722558939173 | |
| ], | |
| [ | |
| 0.0017327762231864983, | |
| 0.9999969229271974, | |
| -0.0017752810192570067, | |
| 0.0017327991822017298 | |
| ], | |
| [ | |
| -0.17356835199364312, | |
| 0.0020490931276299544, | |
| 0.9848196933467391, | |
| 0.49956530789200015 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.9845775092305092, | |
| -0.0014740063701354483, | |
| 0.1749427209765171, | |
| 0.17502430573386185 | |
| ], | |
| [ | |
| 0.0017287862419692423, | |
| 0.9999976554694012, | |
| -0.0013039761617647393, | |
| 0.0025395261821669524 | |
| ], | |
| [ | |
| -0.17494038874878579, | |
| 0.0015863041706031533, | |
| 0.9845777491003451, | |
| 0.507497224327274 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.9841411246831351, | |
| -0.0016354402117833328, | |
| 0.1773797396624756, | |
| 0.18041346657069396 | |
| ], | |
| [ | |
| 0.0017824012288794031, | |
| 0.999998187627413, | |
| -0.0006691694468348729, | |
| 0.0030789030559809243 | |
| ], | |
| [ | |
| -0.1773783237976761, | |
| 0.0009747190379643683, | |
| 0.9841422560633822, | |
| 0.5195360920941398 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.9837201103064114, | |
| -0.001629525593683276, | |
| 0.1796999978438554, | |
| 0.18568042735197185 | |
| ], | |
| [ | |
| 0.0016387817882322455, | |
| 0.9999986524971697, | |
| 9.694377637166739e-05, | |
| 0.0021344983901963096 | |
| ], | |
| [ | |
| -0.17969991366996443, | |
| 0.00019912354142602725, | |
| 0.9837214551776448, | |
| 0.531286016172843 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 49, | |
| "c2w": [ | |
| [ | |
| 0.9833044406893459, | |
| -0.0015410758629724882, | |
| 0.1819615399082925, | |
| 0.19088628810547265 | |
| ], | |
| [ | |
| 0.0013954749866165559, | |
| 0.9999985955449195, | |
| 0.000928201352191354, | |
| 0.0004482029546124008 | |
| ], | |
| [ | |
| -0.18196271478018317, | |
| -0.0006587817339953617, | |
| 0.9833052102152477, | |
| 0.5428914684074647 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 50, | |
| "c2w": [ | |
| [ | |
| 0.982980723259868, | |
| -0.0019801818546537567, | |
| 0.1836980581806171, | |
| 0.19567103432586203 | |
| ], | |
| [ | |
| 0.0017057910230226165, | |
| 0.9999971810556285, | |
| 0.0016517135896557701, | |
| 0.0011201084798114454 | |
| ], | |
| [ | |
| -0.18370081103928929, | |
| -0.0013102521203867989, | |
| 0.9829813300683224, | |
| 0.5540293693594801 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 51, | |
| "c2w": [ | |
| [ | |
| 0.982763130400084, | |
| -0.002273557961645993, | |
| 0.18485524190680266, | |
| 0.19886086513945495 | |
| ], | |
| [ | |
| 0.0019119574019353877, | |
| 0.9999958944575795, | |
| 0.0021343586574548946, | |
| 0.0015680454966108086 | |
| ], | |
| [ | |
| -0.18485933556388404, | |
| -0.0017441336475466248, | |
| 0.9827634425703363, | |
| 0.5614546366608237 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 52, | |
| "c2w": [ | |
| [ | |
| 0.9824608743619624, | |
| -0.0024424458439925504, | |
| 0.18645284874795506, | |
| 0.20458325062520732 | |
| ], | |
| [ | |
| 0.0019333690701599797, | |
| 0.9999938908271252, | |
| 0.002912111341719895, | |
| 0.0028561983866486 | |
| ], | |
| [ | |
| -0.18645882234951286, | |
| -0.0025005532842130025, | |
| 0.9824595944878883, | |
| 0.5726270659903934 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 53, | |
| "c2w": [ | |
| [ | |
| 0.9821486897379662, | |
| -0.002618485131209189, | |
| 0.18808799744165994, | |
| 0.2106658865163458 | |
| ], | |
| [ | |
| 0.001980257720493569, | |
| 0.9999916272349422, | |
| 0.0035810667925849303, | |
| 0.003227333564214948 | |
| ], | |
| [ | |
| -0.1880957995951974, | |
| -0.0031446773491354088, | |
| 0.9821456517131322, | |
| 0.5838332508378156 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 54, | |
| "c2w": [ | |
| [ | |
| 0.9819292212579289, | |
| -0.0027442574590138204, | |
| 0.18922862756675118, | |
| 0.21520131098428624 | |
| ], | |
| [ | |
| 0.002046630485138023, | |
| 0.9999903706594081, | |
| 0.003881995893515802, | |
| 0.0022520667326305873 | |
| ], | |
| [ | |
| -0.1892374586160332, | |
| -0.003424564126807507, | |
| 0.9819253824079948, | |
| 0.5913490480932339 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 55, | |
| "c2w": [ | |
| [ | |
| 0.9815316183840744, | |
| -0.002922559798691875, | |
| 0.1912776535734448, | |
| 0.2225255619644111 | |
| ], | |
| [ | |
| 0.002118891444666231, | |
| 0.9999880487388868, | |
| 0.004405982119754466, | |
| 0.00146236000863859 | |
| ], | |
| [ | |
| -0.19128824431047878, | |
| -0.003919314176861293, | |
| 0.9815260804303662, | |
| 0.6021906961355836 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 56, | |
| "c2w": [ | |
| [ | |
| 0.9809961660017321, | |
| -0.0030803687940137063, | |
| 0.19400266394561483, | |
| 0.23089204150096426 | |
| ], | |
| [ | |
| 0.0021363663012146624, | |
| 0.9999848402663883, | |
| 0.005074955806032024, | |
| 0.00201904033141568 | |
| ], | |
| [ | |
| -0.19401535565240535, | |
| -0.004564051434746361, | |
| 0.9809878751572682, | |
| 0.6121682484963781 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 57, | |
| "c2w": [ | |
| [ | |
| 0.980453560981116, | |
| -0.0031962950328677485, | |
| 0.19672467678843003, | |
| 0.23948294391081587 | |
| ], | |
| [ | |
| 0.0020264919170618918, | |
| 0.999979051133086, | |
| 0.006147408029681575, | |
| 0.0039025061120299175 | |
| ], | |
| [ | |
| -0.1967402045591075, | |
| -0.005628587126106839, | |
| 0.9804394988560002, | |
| 0.6234584366619637 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 58, | |
| "c2w": [ | |
| [ | |
| 0.979903618215364, | |
| -0.003293630169075472, | |
| 0.19944435567031762, | |
| 0.24818605775731672 | |
| ], | |
| [ | |
| 0.0018506135295755812, | |
| 0.9999707502874806, | |
| 0.007421172350633446, | |
| 0.006449364621562728 | |
| ], | |
| [ | |
| -0.19946296457739457, | |
| -0.006902939214784555, | |
| 0.9798810515527865, | |
| 0.6354049427299447 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 59, | |
| "c2w": [ | |
| [ | |
| 0.9796939467299941, | |
| -0.003458236869717133, | |
| 0.20046897849383288, | |
| 0.25330263357612054 | |
| ], | |
| [ | |
| 0.0018087108040590947, | |
| 0.9999629919226215, | |
| 0.008410906632865896, | |
| 0.005876909527743812 | |
| ], | |
| [ | |
| -0.2004906464297903, | |
| -0.007877523907449389, | |
| 0.9796639450909953, | |
| 0.6421382341815768 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 60, | |
| "c2w": [ | |
| [ | |
| 0.9793774348211579, | |
| -0.0037070575210419545, | |
| 0.20200519272450576, | |
| 0.26097749730432623 | |
| ], | |
| [ | |
| 0.0017439103495089999, | |
| 0.9999495185576238, | |
| 0.009895408686336373, | |
| 0.0050182268870154366 | |
| ], | |
| [ | |
| -0.20203167806020397, | |
| -0.009339061029484294, | |
| 0.9793344592115945, | |
| 0.6522381713590247 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 61, | |
| "c2w": [ | |
| [ | |
| 0.9792830609175838, | |
| -0.0037306426001512748, | |
| 0.20246177146730146, | |
| 0.2675058353405362 | |
| ], | |
| [ | |
| 0.0015955023561817195, | |
| 0.9999413940496711, | |
| 0.010708073507020771, | |
| 0.002727031336789305 | |
| ], | |
| [ | |
| -0.20248985399797018, | |
| -0.010163206767072983, | |
| 0.9792316213522163, | |
| 0.6630380130768091 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 62, | |
| "c2w": [ | |
| [ | |
| 0.9792200278417253, | |
| -0.0037465794584109605, | |
| 0.20276612196324234, | |
| 0.2718580606980095 | |
| ], | |
| [ | |
| 0.0014963524918467888, | |
| 0.9999355993060614, | |
| 0.011249807538264264, | |
| 0.0011995676366385504 | |
| ], | |
| [ | |
| -0.2027952119821146, | |
| -0.010712627258971378, | |
| 0.9791625715959222, | |
| 0.6702379075553321 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 63, | |
| "c2w": [ | |
| [ | |
| 0.9789751189212202, | |
| -0.0037697808122711795, | |
| 0.20394485844416377, | |
| 0.27769684219639795 | |
| ], | |
| [ | |
| 0.0014147721385988918, | |
| 0.9999306471295671, | |
| 0.011691849761304452, | |
| 0.0024715174734489505 | |
| ], | |
| [ | |
| -0.20397478999371077, | |
| -0.01115749450694477, | |
| 0.9789125575675026, | |
| 0.6812593606156147 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 64, | |
| "c2w": [ | |
| [ | |
| 0.9787438438960642, | |
| -0.0038919519420940814, | |
| 0.20504960557298682, | |
| 0.2835841548579348 | |
| ], | |
| [ | |
| 0.0013937055386017403, | |
| 0.9999230528603836, | |
| 0.012326635519982159, | |
| 0.0036116817236855497 | |
| ], | |
| [ | |
| -0.20508180226540998, | |
| -0.011778839860157922, | |
| 0.9786739565918368, | |
| 0.692592555558684 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 65, | |
| "c2w": [ | |
| [ | |
| 0.9785415516177892, | |
| -0.004211805049989711, | |
| 0.20600653498292334, | |
| 0.28956852984576864 | |
| ], | |
| [ | |
| 0.0014938849353447693, | |
| 0.9999098071022456, | |
| 0.013347133345768323, | |
| 0.004488274800774548 | |
| ], | |
| [ | |
| -0.20604417018020552, | |
| -0.012752974514624106, | |
| 0.9784595860717906, | |
| 0.7045492342673269 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 66, | |
| "c2w": [ | |
| [ | |
| 0.9783057154793233, | |
| -0.0043430293783619555, | |
| 0.20712089502584682, | |
| 0.29555090631269176 | |
| ], | |
| [ | |
| 0.001478878680755591, | |
| 0.9999011641923807, | |
| 0.01398122900782533, | |
| 0.0039520493033255825 | |
| ], | |
| [ | |
| -0.2071611449532387, | |
| -0.013371609571788087, | |
| 0.9782154466573929, | |
| 0.7160698175544845 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 67, | |
| "c2w": [ | |
| [ | |
| 0.9781368800574018, | |
| -0.00436766344248642, | |
| 0.20791625089834867, | |
| 0.29953849111700365 | |
| ], | |
| [ | |
| 0.0014304631552806406, | |
| 0.9998970823589755, | |
| 0.0142750994802034, | |
| 0.003123626113513618 | |
| ], | |
| [ | |
| -0.2079572014784131, | |
| -0.01366558473178102, | |
| 0.9780424602987363, | |
| 0.7236048412720946 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 68, | |
| "c2w": [ | |
| [ | |
| 0.9779090292445435, | |
| -0.004341478156116236, | |
| 0.20898584183962068, | |
| 0.30571526555896766 | |
| ], | |
| [ | |
| 0.0012573733718399024, | |
| 0.999888375895949, | |
| 0.014888074434442523, | |
| 0.003585835861105146 | |
| ], | |
| [ | |
| -0.20902715023220972, | |
| -0.014296409184885507, | |
| 0.9778053298843384, | |
| 0.7343142182235173 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 69, | |
| "c2w": [ | |
| [ | |
| 0.9776933651712473, | |
| -0.004284213601449737, | |
| 0.20999364088928868, | |
| 0.31198973861867974 | |
| ], | |
| [ | |
| 0.0010335844888304804, | |
| 0.9998779817706963, | |
| 0.01558695843529998, | |
| 0.00490046787485141 | |
| ], | |
| [ | |
| -0.21003479569639605, | |
| -0.015022219675416589, | |
| 0.9775784968547523, | |
| 0.7447270158624436 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 70, | |
| "c2w": [ | |
| [ | |
| 0.9775669247396019, | |
| -0.004340753664215511, | |
| 0.2105803065644651, | |
| 0.31606566406881376 | |
| ], | |
| [ | |
| 0.0009055371173910811, | |
| 0.9998649896941644, | |
| 0.01640677867278401, | |
| 0.006476564591379699 | |
| ], | |
| [ | |
| -0.21062309383751474, | |
| -0.015848035888251035, | |
| 0.9774388738436784, | |
| 0.7528446517540327 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 71, | |
| "c2w": [ | |
| [ | |
| 0.9773766127376782, | |
| -0.004426493027500602, | |
| 0.211460074323501, | |
| 0.32217955224401484 | |
| ], | |
| [ | |
| 0.0007125411218510107, | |
| 0.999844213709776, | |
| 0.01763634305148652, | |
| 0.008840709666172133 | |
| ], | |
| [ | |
| -0.21150519889253966, | |
| -0.01708667523415641, | |
| 0.9772275049193356, | |
| 0.7650211055914163 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 72, | |
| "c2w": [ | |
| [ | |
| 0.9772066421507911, | |
| -0.004350824568499986, | |
| 0.21224572754698776, | |
| 0.32769291529932043 | |
| ], | |
| [ | |
| 0.00037815668954279584, | |
| 0.9998240509792407, | |
| 0.018754308331136917, | |
| 0.007873177446187067 | |
| ], | |
| [ | |
| -0.21228997982451778, | |
| -0.018246572528432137, | |
| 0.9770363488924405, | |
| 0.777506493952027 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 73, | |
| "c2w": [ | |
| [ | |
| 0.9770372767107143, | |
| -0.004325000377903586, | |
| 0.21302453917199868, | |
| 0.33275671498853465 | |
| ], | |
| [ | |
| 0.00011128403945907242, | |
| 0.9998041833173273, | |
| 0.019788447059702268, | |
| 0.006870870055241269 | |
| ], | |
| [ | |
| -0.21306841045442146, | |
| -0.01931034419432268, | |
| 0.976846437815854, | |
| 0.7901023348394122 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 74, | |
| "c2w": [ | |
| [ | |
| 0.9768698250038875, | |
| -0.004397765588881725, | |
| 0.21378962709799493, | |
| 0.33692138794556614 | |
| ], | |
| [ | |
| -1.952249660312419e-05, | |
| 0.9997866554339925, | |
| 0.020655343981244596, | |
| 0.005799012322374012 | |
| ], | |
| [ | |
| -0.21383485360377202, | |
| -0.020181755967622308, | |
| 0.9766613292796623, | |
| 0.8029190807803468 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 75, | |
| "c2w": [ | |
| [ | |
| 0.9767816663108504, | |
| -0.004457229134827004, | |
| 0.21419082489088695, | |
| 0.3399378077357435 | |
| ], | |
| [ | |
| -7.875046437798294e-05, | |
| 0.9997760125712896, | |
| 0.0211640847999025, | |
| 0.005829419990604658 | |
| ], | |
| [ | |
| -0.2142371820141483, | |
| -0.020689557643718565, | |
| 0.9765625284881375, | |
| 0.8113673450351483 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 76, | |
| "c2w": [ | |
| [ | |
| 0.9766849081541729, | |
| -0.004562594749776966, | |
| 0.21462938501757983, | |
| 0.3448223941492441 | |
| ], | |
| [ | |
| -0.00012537274613797725, | |
| 0.9997618318767955, | |
| 0.02182346911077261, | |
| 0.006992500728163851 | |
| ], | |
| [ | |
| -0.21467783878535235, | |
| -0.021341561599461933, | |
| 0.9764517209176022, | |
| 0.823895391858618 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 77, | |
| "c2w": [ | |
| [ | |
| 0.9766831863845559, | |
| -0.0046625869411200515, | |
| 0.2146350710315717, | |
| 0.3496688521337289 | |
| ], | |
| [ | |
| -0.00014690581246870138, | |
| 0.9997493831554457, | |
| 0.022386364130617665, | |
| 0.0073619352412801296 | |
| ], | |
| [ | |
| -0.21468565823639363, | |
| -0.021895916590150753, | |
| 0.976437728165132, | |
| 0.8362724089051282 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 78, | |
| "c2w": [ | |
| [ | |
| 0.9767137411322705, | |
| -0.004727343700284966, | |
| 0.21449456894043625, | |
| 0.35288711464704675 | |
| ], | |
| [ | |
| -0.00015278313613494498, | |
| 0.9997416405649211, | |
| 0.02272946937070128, | |
| 0.007343676175210011 | |
| ], | |
| [ | |
| -0.21454660225861769, | |
| -0.022232956215935632, | |
| 0.9764606756634816, | |
| 0.8444734103438152 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 79, | |
| "c2w": [ | |
| [ | |
| 0.9768013798057721, | |
| -0.004896297160054628, | |
| 0.21409131389119973, | |
| 0.3572833690922358 | |
| ], | |
| [ | |
| -0.0001143949509519568, | |
| 0.9997265079575716, | |
| 0.02338581195415082, | |
| 0.006827844749298283 | |
| ], | |
| [ | |
| -0.21414726550515412, | |
| -0.022867784350044662, | |
| 0.9765336722896886, | |
| 0.8560864901679389 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 80, | |
| "c2w": [ | |
| [ | |
| 0.9769097126979642, | |
| -0.005100888805040873, | |
| 0.21359165285605095, | |
| 0.36146405387503094 | |
| ], | |
| [ | |
| -5.2125180169073325e-05, | |
| 0.9997092389190889, | |
| 0.024112961302624726, | |
| 0.006067791909983279 | |
| ], | |
| [ | |
| -0.21365254625055782, | |
| -0.023567319601831983, | |
| 0.9766253994891995, | |
| 0.8673553588251093 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 762.5608317057291, | |
| "fy": 762.5607490539551, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |