Download vista4d_eval/source/cows/transforms.json from HugMinjun/geo4d_evals: direct link, hf CLI and curl.
- Browser
- Download file 35.4 kB
-
https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/vista4d_eval/source/cows/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/vista4d_eval/source/cows/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/vista4d_eval/source/cows/transforms.json
35.4 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": [ | |
| [ | |
| 0.9997148451237224, | |
| 0.003809767302799443, | |
| 0.02357358929714163, | |
| 0.003430735319852829 | |
| ], | |
| [ | |
| -0.00375829335477136, | |
| 0.9999904567753906, | |
| -0.002227462503809593, | |
| 0.011277705430984497 | |
| ], | |
| [ | |
| -0.023581850442899486, | |
| 0.0021382308680114766, | |
| 0.9997196228435472, | |
| -0.001309812068939209 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1657.34619140625, | |
| "fy": 1657.34619140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.9996512991982369, | |
| 0.004534415192964631, | |
| 0.02601382498085102, | |
| 0.002195321023464203 | |
| ], | |
| [ | |
| -0.004487867651179128, | |
| 0.9999882229295314, | |
| -0.0018474431476991615, | |
| 0.009822875261306763 | |
| ], | |
| [ | |
| -0.026021895688477757, | |
| 0.0017300523391776542, | |
| 0.9996598760897035, | |
| 0.0011082887649536133 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1657.7860107421875, | |
| "fy": 1657.7860107421875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.9995731655599011, | |
| 0.003807926412585179, | |
| 0.028965261762921267, | |
| 0.001541275531053543 | |
| ], | |
| [ | |
| -0.003766863983390367, | |
| 0.9999918218281137, | |
| -0.0014720776544928328, | |
| 0.007862940430641174 | |
| ], | |
| [ | |
| -0.028970630443413973, | |
| 0.0013623411197472813, | |
| 0.9995793348195952, | |
| -0.004185140132904053 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1658.96044921875, | |
| "fy": 1658.96044921875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9995136571976285, | |
| 0.0035444543749915216, | |
| 0.030982025734395166, | |
| 0.0033897310495376587 | |
| ], | |
| [ | |
| -0.003507535594003423, | |
| 0.9999930724562985, | |
| -0.001245886619764678, | |
| 0.0066346675157547 | |
| ], | |
| [ | |
| -0.030986227093338276, | |
| 0.0011366101337370264, | |
| 0.9995191653229691, | |
| -0.005415201187133789 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1659.495361328125, | |
| "fy": 1659.495361328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9994273949846832, | |
| 0.0037203487571862877, | |
| 0.033630955372310145, | |
| 0.004713837057352066 | |
| ], | |
| [ | |
| -0.0036584087689402623, | |
| 0.999991497085659, | |
| -0.0019031031661119685, | |
| 0.010019615292549133 | |
| ], | |
| [ | |
| -0.033637749618676244, | |
| 0.0017789776576527117, | |
| 0.9994325074956709, | |
| -0.0033858418464660645 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1660.103515625, | |
| "fy": 1660.103515625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9993344193252376, | |
| 0.004577388334949221, | |
| 0.036190687585645004, | |
| 0.0031215548515319824 | |
| ], | |
| [ | |
| -0.004529674314417937, | |
| 0.9999887605569102, | |
| -0.0014002894198148592, | |
| 0.006283789873123169 | |
| ], | |
| [ | |
| -0.036196690490926935, | |
| 0.0012354253862600613, | |
| 0.9993439214412715, | |
| -0.0037761926651000977 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1661.3817138671875, | |
| "fy": 1661.3817138671875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9992073838557577, | |
| 0.004543804706125831, | |
| 0.039546907425553696, | |
| 0.004156552255153656 | |
| ], | |
| [ | |
| -0.004464819075818001, | |
| 0.9999878582684817, | |
| -0.002085355181992676, | |
| 0.009681075811386108 | |
| ], | |
| [ | |
| -0.039555902704311086, | |
| 0.0019071325091457442, | |
| 0.9992155390139004, | |
| -0.0060648322105407715 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1663.5872802734375, | |
| "fy": 1663.5872802734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.99911191648214, | |
| 0.004840951991588295, | |
| 0.04185622447379841, | |
| 0.003895863890647888 | |
| ], | |
| [ | |
| -0.004761226437285172, | |
| 0.9999866568117469, | |
| -0.002004225855241891, | |
| 0.007590159773826599 | |
| ], | |
| [ | |
| -0.041865368339461376, | |
| 0.0018031589727648628, | |
| 0.9991216340123563, | |
| -0.008016049861907959 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1664.423828125, | |
| "fy": 1664.423828125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9990312864199532, | |
| 0.00582972006241131, | |
| 0.043617692718527244, | |
| 0.004771627485752106 | |
| ], | |
| [ | |
| -0.005714086050916299, | |
| 0.9999798232924331, | |
| -0.0027752889286061806, | |
| 0.007060781121253967 | |
| ], | |
| [ | |
| -0.043632991814642814, | |
| 0.002523365218996449, | |
| 0.9990444407799262, | |
| -0.011889159679412842 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1664.5120849609375, | |
| "fy": 1664.5120849609375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9988629656575798, | |
| 0.006063242002624569, | |
| 0.047286498434135314, | |
| 0.0012418292462825775 | |
| ], | |
| [ | |
| -0.00589751787545002, | |
| 0.999975972133068, | |
| -0.0036434104124208008, | |
| 0.005752488970756531 | |
| ], | |
| [ | |
| -0.04730745311948839, | |
| 0.0033603947598753172, | |
| 0.998874723189252, | |
| -0.011083781719207764 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1664.85400390625, | |
| "fy": 1664.85400390625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.9987520854539323, | |
| 0.005615178018335161, | |
| 0.049626017140642464, | |
| 0.0011727958917617798 | |
| ], | |
| [ | |
| -0.005395597310922929, | |
| 0.9999750577454273, | |
| -0.004557566970180415, | |
| 0.006444185972213745 | |
| ], | |
| [ | |
| -0.0496503709057576, | |
| 0.004284117511427657, | |
| 0.9987574715645782, | |
| -0.012789487838745117 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1664.0703125, | |
| "fy": 1664.0703125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.9987168470278641, | |
| 0.004401213831971623, | |
| 0.050450855092125234, | |
| 0.0005829334259033203 | |
| ], | |
| [ | |
| -0.004142702238696782, | |
| 0.999977755635671, | |
| -0.00522745177023971, | |
| 0.008331254124641418 | |
| ], | |
| [ | |
| -0.0504727399779613, | |
| 0.005011741279629731, | |
| 0.9987128641248514, | |
| -0.011017441749572754 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1665.8807373046875, | |
| "fy": 1665.8807373046875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.9987176205765018, | |
| 0.004561595117866756, | |
| 0.050421287171114576, | |
| 0.0010204240679740906 | |
| ], | |
| [ | |
| -0.004246192298466164, | |
| 0.9999707552500227, | |
| -0.00636069930612718, | |
| 0.009208515286445618 | |
| ], | |
| [ | |
| -0.050448827548078515, | |
| 0.006138443994952909, | |
| 0.9987077827394484, | |
| -0.01399683952331543 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1667.2484130859375, | |
| "fy": 1667.2484130859375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.998698888949608, | |
| 0.0042870051899885474, | |
| 0.050814867876639705, | |
| 0.0011732541024684906 | |
| ], | |
| [ | |
| -0.003936053454231885, | |
| 0.999967721454403, | |
| -0.007004536565408539, | |
| 0.008992373943328857 | |
| ], | |
| [ | |
| -0.05084325613121939, | |
| 0.006795412849249288, | |
| 0.9986835262835689, | |
| -0.007125914096832275 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1664.0042724609375, | |
| "fy": 1664.0042724609375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9986801233183108, | |
| 0.003968201380639213, | |
| 0.051208052752731305, | |
| 0.0008501261472702026 | |
| ], | |
| [ | |
| -0.00359518808472067, | |
| 0.9999663463912899, | |
| -0.007374327595790714, | |
| 0.009882375597953796 | |
| ], | |
| [ | |
| -0.051235592233907896, | |
| 0.007180491811655709, | |
| 0.9986607805585354, | |
| -0.003808915615081787 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1663.923828125, | |
| "fy": 1663.923828125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9986461648324793, | |
| 0.004350215403672536, | |
| 0.05183544242429558, | |
| 0.0004187934100627899 | |
| ], | |
| [ | |
| -0.003969339911388625, | |
| 0.9999643817351659, | |
| -0.007448463041234335, | |
| 0.008051902055740356 | |
| ], | |
| [ | |
| -0.051865998554435015, | |
| 0.007232626559586815, | |
| 0.9986278622725289, | |
| -0.0012527704238891602 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1663.899658203125, | |
| "fy": 1663.899658203125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9985834042410775, | |
| 0.004391372742118954, | |
| 0.05302735727660378, | |
| 0.0016124434769153595 | |
| ], | |
| [ | |
| -0.00397147266397119, | |
| 0.9999599420011498, | |
| -0.00802133392500308, | |
| 0.008190751075744629 | |
| ], | |
| [ | |
| -0.0530604577739407, | |
| 0.007799374237517105, | |
| 0.9985608432050211, | |
| -0.004238605499267578 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1665.759521484375, | |
| "fy": 1665.759521484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9985114821253471, | |
| 0.004058851376278324, | |
| 0.054390677412097944, | |
| -0.000573623925447464 | |
| ], | |
| [ | |
| -0.003634317548500362, | |
| 0.999962175089254, | |
| -0.007901906524597383, | |
| 0.007882475852966309 | |
| ], | |
| [ | |
| -0.05442069275375228, | |
| 0.007692471402097867, | |
| 0.9984884646724418, | |
| -0.007875680923461914 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1664.08154296875, | |
| "fy": 1664.08154296875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.9984740103109273, | |
| 0.0040772537876960805, | |
| 0.05507292197772994, | |
| -0.0004384070634841919 | |
| ], | |
| [ | |
| -0.0036242159784997557, | |
| 0.9999587912270037, | |
| -0.008323515265270816, | |
| 0.009788990020751953 | |
| ], | |
| [ | |
| -0.0551045895743321, | |
| 0.00811121750298501, | |
| 0.9984476412704192, | |
| -0.010263919830322266 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.07568359375, | |
| "fy": 1666.07568359375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9984173098846432, | |
| 0.0037401272659972158, | |
| 0.056114942490803316, | |
| 0.0002887733280658722 | |
| ], | |
| [ | |
| -0.0032608173966659506, | |
| 0.9999574380900128, | |
| -0.00863070555427132, | |
| 0.010128557682037354 | |
| ], | |
| [ | |
| -0.05614483406884045, | |
| 0.008434065241214829, | |
| 0.9983870112090247, | |
| -0.009170114994049072 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1667.075439453125, | |
| "fy": 1667.075439453125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.998366985329625, | |
| 0.00322240705658362, | |
| 0.05703489016906395, | |
| -0.0011321157217025757 | |
| ], | |
| [ | |
| -0.002682698378695481, | |
| 0.9999509249022811, | |
| -0.00953681899173036, | |
| 0.011282309889793396 | |
| ], | |
| [ | |
| -0.05706282268907174, | |
| 0.009368237819022587, | |
| 0.9983266351184474, | |
| -0.00928187370300293 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.26318359375, | |
| "fy": 1666.26318359375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.9983081728405478, | |
| 0.0024472163797361244, | |
| 0.058093056140623205, | |
| -0.0008121170103549957 | |
| ], | |
| [ | |
| -0.0018995005841082285, | |
| 0.999953244505969, | |
| -0.009481597941091538, | |
| 0.009453266859054565 | |
| ], | |
| [ | |
| -0.05811354349287101, | |
| 0.009355208922107639, | |
| 0.9982661449376743, | |
| -0.005868852138519287 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.58349609375, | |
| "fy": 1666.58349609375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.9982295772679138, | |
| 0.00182069713532047, | |
| 0.05945078745873882, | |
| 0.001995295286178589 | |
| ], | |
| [ | |
| -0.0012423762644817949, | |
| 0.9999515666642821, | |
| -0.009763238543921735, | |
| 0.009312361478805542 | |
| ], | |
| [ | |
| -0.059465683959239665, | |
| 0.009672093237221308, | |
| 0.9981834916705801, | |
| -0.0070500969886779785 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.4534912109375, | |
| "fy": 1666.4534912109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.9981062159768169, | |
| 0.0011773577047421676, | |
| 0.061502808531602504, | |
| 0.0024358704686164856 | |
| ], | |
| [ | |
| -0.0005749844525314362, | |
| 0.9999517054728869, | |
| -0.0098110200664565, | |
| 0.010241121053695679 | |
| ], | |
| [ | |
| -0.06151138936261502, | |
| 0.009757076954710769, | |
| 0.9980586898714827, | |
| -0.004115939140319824 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.859375, | |
| "fy": 1666.859375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.9979872105104594, | |
| 0.0005467723453914791, | |
| 0.06341315870979275, | |
| 0.0010822825133800507 | |
| ], | |
| [ | |
| 5.7773087314396514e-05, | |
| 0.9999545752906099, | |
| -0.009531212810799852, | |
| 0.00856482982635498 | |
| ], | |
| [ | |
| -0.06341548958906953, | |
| 0.00951569205978653, | |
| 0.9979418456427211, | |
| -0.015297174453735352 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1668.159423828125, | |
| "fy": 1668.159423828125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9978239695092808, | |
| -0.000359262516347546, | |
| 0.06593327538645481, | |
| 0.0007044821977615356 | |
| ], | |
| [ | |
| 0.000998872838504144, | |
| 0.9999527633140004, | |
| -0.009668163928427, | |
| 0.008414313197135925 | |
| ], | |
| [ | |
| -0.06592668750812686, | |
| 0.009712984666866278, | |
| 0.9977771944693197, | |
| -0.020320594310760498 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1669.2586669921875, | |
| "fy": 1669.2586669921875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.9976862624182539, | |
| -0.00028402448371394115, | |
| 0.06798559488588547, | |
| -0.00023088231682777405 | |
| ], | |
| [ | |
| 0.0010296754562908062, | |
| 0.999939702952002, | |
| -0.010932988096406544, | |
| 0.009541153907775879 | |
| ], | |
| [ | |
| -0.06797839031890784, | |
| 0.010977695129402176, | |
| 0.9976263973348417, | |
| -0.014037251472473145 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1670.2762451171875, | |
| "fy": 1670.2762451171875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9974821224501813, | |
| -0.0008123942159407326, | |
| 0.0709137180517219, | |
| 0.001726984977722168 | |
| ], | |
| [ | |
| 0.001600122216381717, | |
| 0.9999376427415815, | |
| -0.011052159847830536, | |
| 0.009359389543533325 | |
| ], | |
| [ | |
| -0.07090031735594608, | |
| 0.011137802478373605, | |
| 0.9974212221297374, | |
| -0.015563607215881348 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1670.9871826171875, | |
| "fy": 1670.9871826171875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9973216112901231, | |
| -0.0005239306553381838, | |
| 0.07313910821401022, | |
| 0.002875629812479019 | |
| ], | |
| [ | |
| 0.0013759900057151789, | |
| 0.9999317716316616, | |
| -0.011599945390802027, | |
| 0.009253978729248047 | |
| ], | |
| [ | |
| -0.07312804048500446, | |
| 0.011669514909961416, | |
| 0.9972542865872217, | |
| -0.0159376859664917 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1672.26513671875, | |
| "fy": 1672.26513671875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.9970981449961484, | |
| -0.0005135785975751274, | |
| 0.07612506474390623, | |
| 0.0014700628817081451 | |
| ], | |
| [ | |
| 0.0014416977333916124, | |
| 0.9999252975649353, | |
| -0.012137577901773255, | |
| 0.010049253702163696 | |
| ], | |
| [ | |
| -0.07611314441596372, | |
| 0.012212105743900133, | |
| 0.9970243997618187, | |
| -0.017983853816986084 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1670.600830078125, | |
| "fy": 1670.600830078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9968880375763216, | |
| -0.001174627501809306, | |
| 0.07882170251562741, | |
| 0.003028314560651779 | |
| ], | |
| [ | |
| 0.002105079257579941, | |
| 0.9999290737882395, | |
| -0.011722458543927524, | |
| 0.00894610583782196 | |
| ], | |
| [ | |
| -0.07880234246866896, | |
| 0.011851904624438823, | |
| 0.9968198047682563, | |
| -0.011857688426971436 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1668.981201171875, | |
| "fy": 1668.981201171875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9966148387454961, | |
| -0.0015995380021567947, | |
| 0.08219674367314367, | |
| 0.0019863657653331757 | |
| ], | |
| [ | |
| 0.002641578500468542, | |
| 0.9999175025453524, | |
| -0.012570209484738396, | |
| 0.010763347148895264 | |
| ], | |
| [ | |
| -0.08216985612324412, | |
| 0.012744786449525142, | |
| 0.9965368458632327, | |
| -0.00958031415939331 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1668.951904296875, | |
| "fy": 1668.951904296875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9964183988300916, | |
| -0.003079181133952614, | |
| 0.08450380533692384, | |
| 0.00195244699716568 | |
| ], | |
| [ | |
| 0.004200978050650768, | |
| 0.9999053598630349, | |
| -0.01310050001307647, | |
| 0.013193830847740173 | |
| ], | |
| [ | |
| -0.08445546907272701, | |
| 0.013408577878320201, | |
| 0.9963370332287095, | |
| -0.012338697910308838 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1669.005615234375, | |
| "fy": 1669.005615234375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.9961886536692282, | |
| -0.004105611109427909, | |
| 0.08712812552849167, | |
| 0.0016168579459190369 | |
| ], | |
| [ | |
| 0.005263262690060606, | |
| 0.9999008465431549, | |
| -0.013061207759519576, | |
| 0.014164522290229797 | |
| ], | |
| [ | |
| -0.08706586223397716, | |
| 0.0134700051855991, | |
| 0.9961114870303193, | |
| -0.011080026626586914 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1669.2840576171875, | |
| "fy": 1669.2840576171875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9959861197671092, | |
| -0.004772959151866021, | |
| 0.0893804681806484, | |
| 0.005072683095932007 | |
| ], | |
| [ | |
| 0.005930997659396556, | |
| 0.9999018230653097, | |
| -0.012695176148214363, | |
| 0.01426425576210022 | |
| ], | |
| [ | |
| -0.08931109952308015, | |
| 0.013174334579195021, | |
| 0.9959166453124347, | |
| -0.003942668437957764 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.5107421875, | |
| "fy": 1666.5107421875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.9956645392726193, | |
| -0.004869856424477209, | |
| 0.09288923367887146, | |
| 0.0025168396532535553 | |
| ], | |
| [ | |
| 0.006130017732228151, | |
| 0.9998929497001023, | |
| -0.013285782725604808, | |
| 0.015180498361587524 | |
| ], | |
| [ | |
| -0.09281459000418835, | |
| 0.013797595385949983, | |
| 0.9955878053913275, | |
| -0.008788526058197021 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1667.047119140625, | |
| "fy": 1667.047119140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9954253198379543, | |
| -0.004417216709481168, | |
| 0.09544066650044165, | |
| 0.003540772944688797 | |
| ], | |
| [ | |
| 0.005703642481193933, | |
| 0.9998964741201561, | |
| -0.013210204560369828, | |
| 0.015325292944908142 | |
| ], | |
| [ | |
| -0.09537243358514946, | |
| 0.013694131539517276, | |
| 0.9953474617807718, | |
| -0.006054282188415527 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1668.005126953125, | |
| "fy": 1668.005126953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.9951724470565441, | |
| -0.004532014027893891, | |
| 0.09803704130756603, | |
| 0.002603922039270401 | |
| ], | |
| [ | |
| 0.005846006110350401, | |
| 0.9998968406939872, | |
| -0.013119915500486213, | |
| 0.0166759192943573 | |
| ], | |
| [ | |
| -0.09796746823332839, | |
| 0.013629703556318493, | |
| 0.9950962799392421, | |
| -0.007099628448486328 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.9700927734375, | |
| "fy": 1666.9700927734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.994950114773268, | |
| -0.00470981549898849, | |
| 0.10026009550477075, | |
| 0.003848522901535034 | |
| ], | |
| [ | |
| 0.006052151213233945, | |
| 0.9998960248030674, | |
| -0.013088584672010229, | |
| 0.018082603812217712 | |
| ], | |
| [ | |
| -0.1001880261226483, | |
| 0.013629278080284595, | |
| 0.9948751691547326, | |
| -0.002803623676300049 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1664.7899169921875, | |
| "fy": 1664.7899169921875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.9946994771875282, | |
| -0.004818579246737366, | |
| 0.10271188527576088, | |
| 0.004229821264743805 | |
| ], | |
| [ | |
| 0.006175090289570299, | |
| 0.9998978131934507, | |
| -0.012893076858183422, | |
| 0.017646923661231995 | |
| ], | |
| [ | |
| -0.10263926316363435, | |
| 0.013458991975563427, | |
| 0.994627587186394, | |
| -0.00564497709274292 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.830322265625, | |
| "fy": 1666.830322265625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.9944002724180014, | |
| -0.005371316580129519, | |
| 0.10554263201759212, | |
| 0.003722626715898514 | |
| ], | |
| [ | |
| 0.006712394950820778, | |
| 0.9999011389928746, | |
| -0.012355403464765921, | |
| 0.015559449791908264 | |
| ], | |
| [ | |
| -0.10546583318321172, | |
| 0.01299466040144924, | |
| 0.9943380194038758, | |
| -0.010008752346038818 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1667.34228515625, | |
| "fy": 1667.34228515625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.9941551776619293, | |
| -0.005735943194498346, | |
| 0.10780807800738652, | |
| 0.0036925412714481354 | |
| ], | |
| [ | |
| 0.007113842188278483, | |
| 0.9998978015233764, | |
| -0.012400796669554515, | |
| 0.018325388431549072 | |
| ], | |
| [ | |
| -0.10772592992078328, | |
| 0.013095245869736937, | |
| 0.9940943811119315, | |
| -0.0017933249473571777 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1664.529052734375, | |
| "fy": 1664.529052734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.9938898313538589, | |
| -0.00631421313409504, | |
| 0.1101958885072216, | |
| 0.004351269453763962 | |
| ], | |
| [ | |
| 0.007700007100976128, | |
| 0.999896481077867, | |
| -0.012154711791879906, | |
| 0.015315636992454529 | |
| ], | |
| [ | |
| -0.11010773370678235, | |
| 0.012928953576990521, | |
| 0.9938355644357675, | |
| -0.0026639699935913086 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1663.994873046875, | |
| "fy": 1663.994873046875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.9935816217137008, | |
| -0.00627283979993817, | |
| 0.11294340385173919, | |
| 0.003478892147541046 | |
| ], | |
| [ | |
| 0.007758542136634812, | |
| 0.9998890015149066, | |
| -0.012719656970089555, | |
| 0.017098724842071533 | |
| ], | |
| [ | |
| -0.11285107893452662, | |
| 0.013514293557822379, | |
| 0.993520003750778, | |
| -0.0009961724281311035 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1663.1044921875, | |
| "fy": 1663.1044921875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.993379293034926, | |
| -0.005660803001565989, | |
| 0.11474116732371285, | |
| 0.003784485161304474 | |
| ], | |
| [ | |
| 0.007198402271380288, | |
| 0.9998897066136841, | |
| -0.012990674068061172, | |
| 0.018719717860221863 | |
| ], | |
| [ | |
| -0.11465497448506218, | |
| 0.013730619701261939, | |
| 0.9933104786059843, | |
| -0.003920853137969971 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1664.91748046875, | |
| "fy": 1664.91748046875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.9931118523268546, | |
| -0.004605167204514718, | |
| 0.11707963615822464, | |
| 0.002694088965654373 | |
| ], | |
| [ | |
| 0.006199880293474677, | |
| 0.9998928583906177, | |
| -0.013260212056606617, | |
| 0.016392767429351807 | |
| ], | |
| [ | |
| -0.11700602656389276, | |
| 0.013894753486768007, | |
| 0.993034000210099, | |
| -0.004679381847381592 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.925048828125, | |
| "fy": 1666.925048828125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.9927979173646709, | |
| -0.0035511640219249136, | |
| 0.11974842174517747, | |
| 0.0019600912928581238 | |
| ], | |
| [ | |
| 0.005318542418419043, | |
| 0.9998815532755337, | |
| -0.014442732630947922, | |
| 0.017578035593032837 | |
| ], | |
| [ | |
| -0.1196829494243643, | |
| 0.014975601937650322, | |
| 0.9926992107197877, | |
| -0.005946993827819824 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.5740966796875, | |
| "fy": 1666.5740966796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.9925094305210992, | |
| -0.004036301198935933, | |
| 0.12210134560812594, | |
| 0.0016811303794384003 | |
| ], | |
| [ | |
| 0.005819898184630747, | |
| 0.999881463446838, | |
| -0.014254397234901217, | |
| 0.01397046446800232 | |
| ], | |
| [ | |
| -0.12202933709483181, | |
| 0.01485824108167943, | |
| 0.9924152727362443, | |
| -0.006568729877471924 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.32666015625, | |
| "fy": 1666.32666015625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.9923307856964347, | |
| -0.0043946181511417305, | |
| 0.1235325831123251, | |
| 0.0026304200291633606 | |
| ], | |
| [ | |
| 0.006238291145305961, | |
| 0.9998748027243779, | |
| -0.0145417536931888, | |
| 0.014626309275627136 | |
| ], | |
| [ | |
| -0.12345321171473936, | |
| 0.015200862087152538, | |
| 0.9922339634930479, | |
| -0.00713038444519043 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1666.515869140625, | |
| "fy": 1666.515869140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |