Download vista4d_eval/source/couch-sit/transforms.json from HugMinjun/geo4d_evals: direct link, hf CLI and curl.
- Browser
- Download file 35.3 kB
-
https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/vista4d_eval/source/couch-sit/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/vista4d_eval/source/couch-sit/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/vista4d_eval/source/couch-sit/transforms.json
35.3 kB
| { | |
| "format_version": "1.0", | |
| "camera_model": "opencv_pinhole", | |
| "pose_type": "c2w", | |
| "coordinate_system": "opencv", | |
| "image_hw": [ | |
| 480, | |
| 832 | |
| ], | |
| "num_frames": 49, | |
| "frames": [ | |
| { | |
| "frame_index": 0, | |
| "c2w": [ | |
| [ | |
| 0.9999202554636113, | |
| -0.00763174371045208, | |
| 0.010061769303865849, | |
| -0.03743460029363632 | |
| ], | |
| [ | |
| 0.007611957970189498, | |
| 0.9999690220434915, | |
| 0.0020032596542952853, | |
| -0.04551726579666138 | |
| ], | |
| [ | |
| -0.010076745975081092, | |
| -0.0019265101402361898, | |
| 0.9999473724897889, | |
| 0.08940678834915161 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1044.244384765625, | |
| "fy": 1044.244384765625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.999849549854727, | |
| -0.011321627474208973, | |
| 0.013141476577452777, | |
| -0.03617124259471893 | |
| ], | |
| [ | |
| 0.011286164272778131, | |
| 0.9999324736124555, | |
| 0.0027696048968493636, | |
| -0.04926873743534088 | |
| ], | |
| [ | |
| -0.013171945615905178, | |
| -0.0026208713459496954, | |
| 0.999909811374046, | |
| 0.08535611629486084 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1046.4879150390625, | |
| "fy": 1046.4879150390625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.9997656701811584, | |
| -0.013656201488851832, | |
| 0.01679621648212954, | |
| -0.03740197792649269 | |
| ], | |
| [ | |
| 0.013600717866214139, | |
| 0.9999016806068144, | |
| 0.003413150039418879, | |
| -0.04854002594947815 | |
| ], | |
| [ | |
| -0.01684117575296686, | |
| -0.003183909634994593, | |
| 0.9998531079707126, | |
| 0.09093528985977173 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1045.215087890625, | |
| "fy": 1045.215087890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9997099856152047, | |
| -0.015029564899129, | |
| 0.018816398172598454, | |
| -0.036641672253608704 | |
| ], | |
| [ | |
| 0.014942157719624352, | |
| 0.9998769471914566, | |
| 0.004777279327672024, | |
| -0.04946695268154144 | |
| ], | |
| [ | |
| -0.018885883191653307, | |
| -0.004494736258737003, | |
| 0.9998115426229262, | |
| 0.09910011291503906 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1041.8009033203125, | |
| "fy": 1041.8009033203125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9996860538186935, | |
| -0.015460920614370138, | |
| 0.019716838848155293, | |
| -0.032393764704465866 | |
| ], | |
| [ | |
| 0.015331548614121171, | |
| 0.9998600446591888, | |
| 0.0066958727001399255, | |
| -0.05430516600608826 | |
| ], | |
| [ | |
| -0.01981760372751498, | |
| -0.006391480883158387, | |
| 0.9997831822723459, | |
| 0.10289758443832397 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1041.290283203125, | |
| "fy": 1041.290283203125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9997013496164279, | |
| -0.014095440704428716, | |
| 0.019963219340602925, | |
| -0.031687378883361816 | |
| ], | |
| [ | |
| 0.013945562089763198, | |
| 0.9998736658615645, | |
| 0.007627162942897904, | |
| -0.05757151544094086 | |
| ], | |
| [ | |
| -0.020068205527491563, | |
| -0.00734648677293293, | |
| 0.999771622051257, | |
| 0.10169202089309692 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1042.1162109375, | |
| "fy": 1042.1162109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.999734096781136, | |
| -0.012685380518900497, | |
| 0.019256605471807645, | |
| -0.02886802889406681 | |
| ], | |
| [ | |
| 0.012530527606881635, | |
| 0.9998883485736312, | |
| 0.00814102355912201, | |
| -0.0642000138759613 | |
| ], | |
| [ | |
| -0.01935772742600045, | |
| -0.007897563408274006, | |
| 0.9997814295540369, | |
| 0.11256766319274902 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1040.8701171875, | |
| "fy": 1040.8701171875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9997623017752185, | |
| -0.011306719033441055, | |
| 0.018641299681514102, | |
| -0.02983666956424713 | |
| ], | |
| [ | |
| 0.011150695657625108, | |
| 0.9999021031887712, | |
| 0.008452575052810742, | |
| -0.06608019769191742 | |
| ], | |
| [ | |
| -0.018735045648949417, | |
| -0.008242702431314548, | |
| 0.9997905060167158, | |
| 0.1159241795539856 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1038.49951171875, | |
| "fy": 1038.49951171875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9997964635076987, | |
| -0.009224959067955769, | |
| 0.017942454895970524, | |
| -0.033263880759477615 | |
| ], | |
| [ | |
| 0.009054775196730055, | |
| 0.9999134653743094, | |
| 0.009543207494202949, | |
| -0.07131054997444153 | |
| ], | |
| [ | |
| -0.018028937950862953, | |
| -0.009378800207662888, | |
| 0.999793476425521, | |
| 0.12059962749481201 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1038.509521484375, | |
| "fy": 1038.509521484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9997631383872999, | |
| -0.011290690089946027, | |
| 0.018606112954347234, | |
| -0.03654441237449646 | |
| ], | |
| [ | |
| 0.011104028878431012, | |
| 0.9998872862654673, | |
| 0.010105211890215302, | |
| -0.07009318470954895 | |
| ], | |
| [ | |
| -0.018718110605616622, | |
| -0.009896215537870148, | |
| 0.9997758234991402, | |
| 0.10306477546691895 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1040.8265380859375, | |
| "fy": 1040.8265380859375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.9997376107423148, | |
| -0.014328954105368209, | |
| 0.017871506413675107, | |
| -0.036801815032958984 | |
| ], | |
| [ | |
| 0.014129777213586901, | |
| 0.999837196346564, | |
| 0.01122186248965923, | |
| -0.0702156275510788 | |
| ], | |
| [ | |
| -0.01802939441972959, | |
| -0.010966397589394456, | |
| 0.9997773147360209, | |
| 0.09544891119003296 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1043.7738037109375, | |
| "fy": 1043.7738037109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.999699032426141, | |
| -0.017326190842103985, | |
| 0.017368007287554516, | |
| -0.030474476516246796 | |
| ], | |
| [ | |
| 0.017115555107013625, | |
| 0.9997790361305839, | |
| 0.012203961946010417, | |
| -0.06906768679618835 | |
| ], | |
| [ | |
| -0.017575617759166638, | |
| -0.011903025863362941, | |
| 0.9997746824338372, | |
| 0.09463423490524292 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1045.1676025390625, | |
| "fy": 1045.1676025390625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.9996849684068521, | |
| -0.01809415072913719, | |
| 0.017394414355813927, | |
| -0.03673654422163963 | |
| ], | |
| [ | |
| 0.017841717365190655, | |
| 0.9997348104440474, | |
| 0.014559598478841569, | |
| -0.07083946466445923 | |
| ], | |
| [ | |
| -0.017653245108226506, | |
| -0.014244665520667181, | |
| 0.9997426931172605, | |
| 0.10143059492111206 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1045.1226806640625, | |
| "fy": 1045.1226806640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9996681751071693, | |
| -0.020438590508192953, | |
| 0.01567812794757545, | |
| -0.032308124005794525 | |
| ], | |
| [ | |
| 0.0201612707896385, | |
| 0.9996409886946787, | |
| 0.017647007725742986, | |
| -0.07929821312427521 | |
| ], | |
| [ | |
| -0.016033179286997767, | |
| -0.017325061026270207, | |
| 0.99972135088853, | |
| 0.10944825410842896 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1043.3477783203125, | |
| "fy": 1043.3477783203125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9996754761908923, | |
| -0.021247561074395703, | |
| 0.014052880519807536, | |
| -0.02698078379034996 | |
| ], | |
| [ | |
| 0.020959737479302507, | |
| 0.9995737811464211, | |
| 0.020321059259914155, | |
| -0.08531816303730011 | |
| ], | |
| [ | |
| -0.014478663864904309, | |
| -0.02001991990583456, | |
| 0.9996947389576737, | |
| 0.1164160966873169 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1043.7413330078125, | |
| "fy": 1043.7413330078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9996690547446314, | |
| -0.02200208200169152, | |
| 0.013330017763142545, | |
| -0.02810165472328663 | |
| ], | |
| [ | |
| 0.021694854634281592, | |
| 0.9995053104425045, | |
| 0.022769885367071037, | |
| -0.08645036816596985 | |
| ], | |
| [ | |
| -0.013824408427569084, | |
| -0.022473156983899824, | |
| 0.9996518608729762, | |
| 0.13516706228256226 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1040.083984375, | |
| "fy": 1040.083984375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9996742803042538, | |
| -0.022989245529389954, | |
| 0.011082774389213401, | |
| -0.026614805683493614 | |
| ], | |
| [ | |
| 0.022701577892550808, | |
| 0.9994191002930181, | |
| 0.02541850370659781, | |
| -0.0892174243927002 | |
| ], | |
| [ | |
| -0.011660688631518961, | |
| -0.025158627933241934, | |
| 0.999615461955824, | |
| 0.13962417840957642 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1037.476806640625, | |
| "fy": 1037.476806640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9996801391079151, | |
| -0.023613215470468418, | |
| 0.009057346649290839, | |
| -0.03312095254659653 | |
| ], | |
| [ | |
| 0.02335532218922298, | |
| 0.9993463358017234, | |
| 0.027594021908854797, | |
| -0.09067131578922272 | |
| ], | |
| [ | |
| -0.009703009771085359, | |
| -0.027373658411217517, | |
| 0.9995781782464882, | |
| 0.12888836860656738 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1039.650146484375, | |
| "fy": 1039.650146484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.9996555872641731, | |
| -0.02530530702038085, | |
| 0.00695329332944015, | |
| -0.03321478143334389 | |
| ], | |
| [ | |
| 0.02508511310540922, | |
| 0.9992316521020017, | |
| 0.0301138263592166, | |
| -0.09393632411956787 | |
| ], | |
| [ | |
| -0.00770999040270488, | |
| -0.029929030624270266, | |
| 0.9995222904837501, | |
| 0.12844741344451904 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1039.8638916015625, | |
| "fy": 1039.8638916015625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9996323948463331, | |
| -0.026541376049039746, | |
| 0.005534485631772405, | |
| -0.029409656301140785 | |
| ], | |
| [ | |
| 0.026352177915652038, | |
| 0.9991455818053352, | |
| 0.03183817014183431, | |
| -0.09680351614952087 | |
| ], | |
| [ | |
| -0.0063747857129984875, | |
| -0.03168062051636675, | |
| 0.9994777138039707, | |
| 0.13713598251342773 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1038.3798828125, | |
| "fy": 1038.3798828125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.9996374148573594, | |
| -0.026591796709493135, | |
| 0.0042326309851253, | |
| -0.024859925732016563 | |
| ], | |
| [ | |
| 0.02643788804532903, | |
| 0.9991053952541595, | |
| 0.033006775815460764, | |
| -0.10240146517753601 | |
| ], | |
| [ | |
| -0.005106553925879286, | |
| -0.03288290622482162, | |
| 0.9994461654262383, | |
| 0.1565394401550293 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1036.5015869140625, | |
| "fy": 1036.5015869140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.9996765022039983, | |
| -0.025394765683687086, | |
| 0.001413087771725122, | |
| -0.017018504440784454 | |
| ], | |
| [ | |
| 0.025334046872704755, | |
| 0.9991298698372848, | |
| 0.03313139399394216, | |
| -0.10474160313606262 | |
| ], | |
| [ | |
| -0.0022532221886825093, | |
| -0.03308487682916296, | |
| 0.9994500057106249, | |
| 0.15949398279190063 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1035.5010986328125, | |
| "fy": 1035.5010986328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.9997337438693008, | |
| -0.023072213939275464, | |
| -0.00033810207237000724, | |
| -0.014122629538178444 | |
| ], | |
| [ | |
| 0.023070846409333923, | |
| 0.9991923942115815, | |
| 0.03289825824698518, | |
| -0.10916250944137573 | |
| ], | |
| [ | |
| -0.00042120663332455684, | |
| -0.03289729918501958, | |
| 0.9994586486149903, | |
| 0.15768778324127197 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1035.26611328125, | |
| "fy": 1035.26611328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.9997941673123305, | |
| -0.020263121089088745, | |
| -0.0010143628406874797, | |
| -0.01901191659271717 | |
| ], | |
| [ | |
| 0.02028505285970427, | |
| 0.9992952745482245, | |
| 0.03158276264148586, | |
| -0.1115453839302063 | |
| ], | |
| [ | |
| 0.0003736826496438191, | |
| -0.03159683828040986, | |
| 0.9995006253984834, | |
| 0.1570764183998108 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1035.6285400390625, | |
| "fy": 1035.6285400390625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.9998074844419105, | |
| -0.019526398260172603, | |
| -0.0019271286735252832, | |
| -0.017672225832939148 | |
| ], | |
| [ | |
| 0.019575359583116438, | |
| 0.999360185726133, | |
| 0.02993366804486705, | |
| -0.11431637406349182 | |
| ], | |
| [ | |
| 0.001341398945460418, | |
| -0.029965629584805104, | |
| 0.9995500296095517, | |
| 0.15010231733322144 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1036.15869140625, | |
| "fy": 1036.15869140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9997881864957613, | |
| -0.020302407970896934, | |
| -0.0033755553765294085, | |
| -0.016111787408590317 | |
| ], | |
| [ | |
| 0.020391648661619896, | |
| 0.9993735493131505, | |
| 0.028925587255876416, | |
| -0.11581854522228241 | |
| ], | |
| [ | |
| 0.0027861816842786546, | |
| -0.02898829356515383, | |
| 0.9995758680699544, | |
| 0.15364891290664673 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1036.355712890625, | |
| "fy": 1036.355712890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.9997617993949566, | |
| -0.021253187801968505, | |
| -0.0049645220125485385, | |
| -0.014232035726308823 | |
| ], | |
| [ | |
| 0.021388753165606136, | |
| 0.9993485292880588, | |
| 0.029069541582467495, | |
| -0.12073758244514465 | |
| ], | |
| [ | |
| 0.004343467345289358, | |
| -0.029168802135985588, | |
| 0.9995650630516113, | |
| 0.16399455070495605 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1034.6201171875, | |
| "fy": 1034.6201171875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9997457633691283, | |
| -0.02152610440717132, | |
| -0.00671084603681725, | |
| -0.008528192527592182 | |
| ], | |
| [ | |
| 0.021708826006180584, | |
| 0.9993591430430729, | |
| 0.028461027557830837, | |
| -0.1214141696691513 | |
| ], | |
| [ | |
| 0.00609389029370204, | |
| -0.028599476311041934, | |
| 0.999572375796682, | |
| 0.16065305471420288 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1035.75146484375, | |
| "fy": 1035.75146484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9997482996053851, | |
| -0.021025665035765886, | |
| -0.00782680304762267, | |
| -0.003768855705857277 | |
| ], | |
| [ | |
| 0.02124026654693907, | |
| 0.99937015964987, | |
| 0.028427716728718334, | |
| -0.12395426630973816 | |
| ], | |
| [ | |
| 0.007224161761581165, | |
| -0.028586804844141032, | |
| 0.9995652085160057, | |
| 0.16678959131240845 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1035.837890625, | |
| "fy": 1035.837890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.9997876592752587, | |
| -0.019167640883172476, | |
| -0.007565573598446429, | |
| -0.006684218533337116 | |
| ], | |
| [ | |
| 0.019378288063188576, | |
| 0.9993965358787499, | |
| 0.028827868899646093, | |
| -0.1252942979335785 | |
| ], | |
| [ | |
| 0.007008445807727336, | |
| -0.028968355433625165, | |
| 0.999555759360543, | |
| 0.17309868335723877 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1035.5557861328125, | |
| "fy": 1035.5557861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9997936951958928, | |
| -0.01847499163096233, | |
| -0.008440481667413891, | |
| -0.008721607737243176 | |
| ], | |
| [ | |
| 0.018711195422699445, | |
| 0.9994094792364934, | |
| 0.02881985388745651, | |
| -0.1272355020046234 | |
| ], | |
| [ | |
| 0.007903050828359058, | |
| -0.028971839715086198, | |
| 0.9995489854384961, | |
| 0.17888152599334717 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1035.541015625, | |
| "fy": 1035.541015625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9997871685866062, | |
| -0.018356761039509294, | |
| -0.009415245812810103, | |
| -0.005184508860111237 | |
| ], | |
| [ | |
| 0.01862597498731383, | |
| 0.999395621696957, | |
| 0.029350713598221317, | |
| -0.12918587028980255 | |
| ], | |
| [ | |
| 0.0088707714066615, | |
| -0.02951983497737117, | |
| 0.9995248314862217, | |
| 0.1751691699028015 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1036.296142578125, | |
| "fy": 1036.296142578125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9997864492808233, | |
| -0.017875043690515503, | |
| -0.010370084257424663, | |
| -0.006361057050526142 | |
| ], | |
| [ | |
| 0.018170176706978024, | |
| 0.9994113276432698, | |
| 0.02910056454357661, | |
| -0.13108961284160614 | |
| ], | |
| [ | |
| 0.00984380581285006, | |
| -0.029282776360513154, | |
| 0.9995226953379996, | |
| 0.1779157519340515 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1038.04296875, | |
| "fy": 1038.04296875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.999785630892106, | |
| -0.01768545414063476, | |
| -0.010766474516443733, | |
| -0.007824540138244629 | |
| ], | |
| [ | |
| 0.017985352986888355, | |
| 0.9994340735661316, | |
| 0.028426390431170918, | |
| -0.13452529907226562 | |
| ], | |
| [ | |
| 0.010257647859561072, | |
| -0.02861393553581624, | |
| 0.9995379049108354, | |
| 0.18745851516723633 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1038.9130859375, | |
| "fy": 1038.9130859375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9997752960625743, | |
| -0.018134364460330857, | |
| -0.010977349799120758, | |
| -0.004830049350857735 | |
| ], | |
| [ | |
| 0.01843525219033001, | |
| 0.9994390557265166, | |
| 0.0279591731846326, | |
| -0.13661684095859528 | |
| ], | |
| [ | |
| 0.010464170281073331, | |
| -0.02815526086025912, | |
| 0.9995487894176149, | |
| 0.1915685534477234 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1037.5257568359375, | |
| "fy": 1037.5257568359375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.9997658845232781, | |
| -0.018519506671319068, | |
| -0.011189460042274006, | |
| -0.004454470239579678 | |
| ], | |
| [ | |
| 0.018815174716623414, | |
| 0.9994604201501252, | |
| 0.02692318245895311, | |
| -0.13893382251262665 | |
| ], | |
| [ | |
| 0.010684818377942435, | |
| -0.027127410970937137, | |
| 0.9995748787510841, | |
| 0.19634735584259033 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1039.08837890625, | |
| "fy": 1039.08837890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9997396167580144, | |
| -0.018614785557195992, | |
| -0.0131980469463507, | |
| -0.001184653490781784 | |
| ], | |
| [ | |
| 0.01895357689291078, | |
| 0.9994815410902779, | |
| 0.02602711937130677, | |
| -0.1436629593372345 | |
| ], | |
| [ | |
| 0.012706715055552195, | |
| -0.02627049254321917, | |
| 0.9995741096157069, | |
| 0.20638436079025269 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1036.627197265625, | |
| "fy": 1036.627197265625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.9997455996644729, | |
| -0.017744996720036276, | |
| -0.013923040003135106, | |
| -0.001224881038069725 | |
| ], | |
| [ | |
| 0.018082671520220445, | |
| 0.9995359326595018, | |
| 0.02451400239030513, | |
| -0.14642442762851715 | |
| ], | |
| [ | |
| 0.013481577882978388, | |
| -0.0247595317788114, | |
| 0.9996025273296776, | |
| 0.20091336965560913 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1038.279541015625, | |
| "fy": 1038.279541015625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.9997542689668742, | |
| -0.01742818922512393, | |
| -0.01369890151962354, | |
| -0.0015316810458898544 | |
| ], | |
| [ | |
| 0.017758955295901657, | |
| 0.9995443659395611, | |
| 0.024406557014035296, | |
| -0.1481095254421234 | |
| ], | |
| [ | |
| 0.013267297739526101, | |
| -0.024643837745254867, | |
| 0.9996082533032012, | |
| 0.2022864818572998 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1036.663330078125, | |
| "fy": 1036.663330078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.999761364686746, | |
| -0.017271391952522214, | |
| -0.013375825197636396, | |
| -0.0004479512572288513 | |
| ], | |
| [ | |
| 0.017602475679372443, | |
| 0.9995313792840441, | |
| 0.025043455761819402, | |
| -0.14959801733493805 | |
| ], | |
| [ | |
| 0.012937021668547714, | |
| -0.02527292714664124, | |
| 0.9995968750570342, | |
| 0.2035374641418457 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1038.4820556640625, | |
| "fy": 1038.4820556640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.999776051665622, | |
| -0.01729983205026147, | |
| -0.012188614643682542, | |
| -0.004660969600081444 | |
| ], | |
| [ | |
| 0.017615923255609584, | |
| 0.9994982968070257, | |
| 0.026321738690811787, | |
| -0.1501636505126953 | |
| ], | |
| [ | |
| 0.011727137918175914, | |
| -0.026530557681429232, | |
| 0.9995792133419747, | |
| 0.2125512957572937 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1039.5233154296875, | |
| "fy": 1039.5233154296875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.9997768077678668, | |
| -0.017342168362068953, | |
| -0.012065813109599779, | |
| -0.004293403588235378 | |
| ], | |
| [ | |
| 0.017668297201200354, | |
| 0.9994664964729982, | |
| 0.027469140903955986, | |
| -0.14959260821342468 | |
| ], | |
| [ | |
| 0.011583001489431569, | |
| -0.0276761923770768, | |
| 0.999549829899442, | |
| 0.2125198245048523 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1039.4259033203125, | |
| "fy": 1039.4259033203125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.9997526697061025, | |
| -0.018858310540938308, | |
| -0.011788279732953762, | |
| -0.003935381770133972 | |
| ], | |
| [ | |
| 0.019191202738714646, | |
| 0.9994011025266968, | |
| 0.028794687111779505, | |
| -0.1507255733013153 | |
| ], | |
| [ | |
| 0.011238200610524001, | |
| -0.029013796579648865, | |
| 0.999515834019188, | |
| 0.21923786401748657 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1039.556640625, | |
| "fy": 1039.556640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.9997663396143448, | |
| -0.018325553634303385, | |
| -0.011464739775956412, | |
| -0.005010584369301796 | |
| ], | |
| [ | |
| 0.018666757163762242, | |
| 0.9993635546146635, | |
| 0.03039799146213487, | |
| -0.15417516231536865 | |
| ], | |
| [ | |
| 0.010900383072317802, | |
| -0.03060489816907088, | |
| 0.9994721216006661, | |
| 0.22532862424850464 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1039.18359375, | |
| "fy": 1039.18359375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.9998143526979875, | |
| -0.016433374525787945, | |
| -0.010060036818981323, | |
| -0.003032010979950428 | |
| ], | |
| [ | |
| 0.01674111422923531, | |
| 0.999369467825207, | |
| 0.03131136971015829, | |
| -0.15408959984779358 | |
| ], | |
| [ | |
| 0.009539142176724875, | |
| -0.031473973064386186, | |
| 0.9994590505798997, | |
| 0.2256317138671875 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1040.194580078125, | |
| "fy": 1040.194580078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.9998522755577999, | |
| -0.014521351399070508, | |
| -0.009195510613024689, | |
| -0.00382319837808609 | |
| ], | |
| [ | |
| 0.014810417694597844, | |
| 0.9993720530037001, | |
| 0.0321893026156307, | |
| -0.15501455962657928 | |
| ], | |
| [ | |
| 0.008722304145183324, | |
| -0.03232073682195085, | |
| 0.99943948860433, | |
| 0.23247778415679932 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1040.413818359375, | |
| "fy": 1040.413818359375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.9998661151352336, | |
| -0.014452536686245139, | |
| -0.007673068988881175, | |
| -0.004724867641925812 | |
| ], | |
| [ | |
| 0.01469549229872231, | |
| 0.9993600318299483, | |
| 0.032612410014328554, | |
| -0.15445223450660706 | |
| ], | |
| [ | |
| 0.007196826416802758, | |
| -0.03272080323245817, | |
| 0.9994386197888033, | |
| 0.23635929822921753 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1040.1561279296875, | |
| "fy": 1040.1561279296875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.9998653956043488, | |
| -0.014374133307686674, | |
| -0.007910433907928168, | |
| -0.002803182229399681 | |
| ], | |
| [ | |
| 0.014625098149559163, | |
| 0.9993601779427647, | |
| 0.03263956565767625, | |
| -0.15618887543678284 | |
| ], | |
| [ | |
| 0.007436207169963118, | |
| -0.03275086310097522, | |
| 0.9994358827804147, | |
| 0.23854082822799683 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1042.460205078125, | |
| "fy": 1042.460205078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.9998605413362378, | |
| -0.014769533830954914, | |
| -0.00779478987668024, | |
| -0.0024132728576660156 | |
| ], | |
| [ | |
| 0.01501265128726247, | |
| 0.9993715230851009, | |
| 0.0321119782618868, | |
| -0.16033749282360077 | |
| ], | |
| [ | |
| 0.007315612081868635, | |
| -0.03222452043058374, | |
| 0.9994538819289691, | |
| 0.24131745100021362 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1041.9173583984375, | |
| "fy": 1041.9173583984375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |