Download vista4d_eval/source/goat/transforms.json from HugMinjun/geo4d_evals: direct link, hf CLI and curl.
- Browser
- Download file 35 kB
-
https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/vista4d_eval/source/goat/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/vista4d_eval/source/goat/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/vista4d_eval/source/goat/transforms.json
35 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": [ | |
| [ | |
| 0.9958141663026583, | |
| 0.05490071423861252, | |
| -0.07307569888157968, | |
| 0.04031036049127579 | |
| ], | |
| [ | |
| -0.055685841393702716, | |
| 0.9984100084498109, | |
| -0.008748833952235477, | |
| -0.0009446293115615845 | |
| ], | |
| [ | |
| 0.07247919190510117, | |
| 0.01278149456591921, | |
| 0.997288022658171, | |
| 0.028470754623413086 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1542.12109375, | |
| "fy": 1542.12109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.995036218659236, | |
| 0.05451378648873513, | |
| -0.0832536524063053, | |
| 0.045354098081588745 | |
| ], | |
| [ | |
| -0.05528955427058085, | |
| 0.9984455473608944, | |
| -0.007039470417863432, | |
| -0.0035621076822280884 | |
| ], | |
| [ | |
| 0.08274049035925397, | |
| 0.011607585358896992, | |
| 0.9965035249396993, | |
| 0.03158336877822876 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1541.01513671875, | |
| "fy": 1541.01513671875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.9940163743243601, | |
| 0.06204651113934072, | |
| -0.08989815365450873, | |
| 0.06705737113952637 | |
| ], | |
| [ | |
| -0.06302700951842259, | |
| 0.9979788969112791, | |
| -0.008106626358281573, | |
| -0.008356690406799316 | |
| ], | |
| [ | |
| 0.0892134723358455, | |
| 0.013724131126732852, | |
| 0.9959179708081378, | |
| 0.04472261667251587 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1539.8232421875, | |
| "fy": 1539.8232421875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9933527926747091, | |
| 0.067443687369172, | |
| -0.09328225082729041, | |
| 0.07492858171463013 | |
| ], | |
| [ | |
| -0.06853465297556094, | |
| 0.9976122011884733, | |
| -0.008537996334513784, | |
| -0.008206263184547424 | |
| ], | |
| [ | |
| 0.09248367762408435, | |
| 0.014874309191963414, | |
| 0.9956030957661722, | |
| 0.05217665433883667 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1537.974365234375, | |
| "fy": 1537.974365234375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9928955882746114, | |
| 0.07174549548691359, | |
| -0.09492594304061851, | |
| 0.07573758065700531 | |
| ], | |
| [ | |
| -0.07285415083239838, | |
| 0.9973083921789363, | |
| -0.008260968221418856, | |
| -0.010257482528686523 | |
| ], | |
| [ | |
| 0.0940777523716613, | |
| 0.015118027874112249, | |
| 0.9954500598934606, | |
| 0.04635375738143921 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1536.216552734375, | |
| "fy": 1536.216552734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9924958385055793, | |
| 0.07332461909845367, | |
| -0.09785453889919442, | |
| 0.06827943027019501 | |
| ], | |
| [ | |
| -0.07456533456554816, | |
| 0.9971748097668119, | |
| -0.00907797596668733, | |
| -0.016018018126487732 | |
| ], | |
| [ | |
| 0.0969124420816809, | |
| 0.016306409800766985, | |
| 0.9951593237111205, | |
| 0.049317240715026855 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1539.1322021484375, | |
| "fy": 1539.1322021484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9919624480855591, | |
| 0.07339079114730868, | |
| -0.10307421288992107, | |
| 0.07139689475297928 | |
| ], | |
| [ | |
| -0.07491223082483547, | |
| 0.9971298698101713, | |
| -0.010962682390597764, | |
| -0.017318978905677795 | |
| ], | |
| [ | |
| 0.10197381654597037, | |
| 0.018596088489859885, | |
| 0.9946132546029767, | |
| 0.04359769821166992 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1534.3056640625, | |
| "fy": 1534.3056640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9912928802589905, | |
| 0.07411748394912619, | |
| -0.1088348479159365, | |
| 0.06749562174081802 | |
| ], | |
| [ | |
| -0.07583529304610291, | |
| 0.9970514241987668, | |
| -0.011724582373063482, | |
| -0.01709367334842682 | |
| ], | |
| [ | |
| 0.10764494357119475, | |
| 0.01987601761576085, | |
| 0.9939906991754467, | |
| 0.058150649070739746 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1527.8323974609375, | |
| "fy": 1527.8323974609375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9904798964995353, | |
| 0.07533585106038872, | |
| -0.11521321180869998, | |
| 0.0752381756901741 | |
| ], | |
| [ | |
| -0.07734550607499953, | |
| 0.996918720774603, | |
| -0.013066631514281045, | |
| -0.025472357869148254 | |
| ], | |
| [ | |
| 0.11387382192704197, | |
| 0.021853460003732065, | |
| 0.9932548408971351, | |
| 0.055963218212127686 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1529.1107177734375, | |
| "fy": 1529.1107177734375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9894114841316018, | |
| 0.07817139835029802, | |
| -0.12228715201712645, | |
| 0.08591187000274658 | |
| ], | |
| [ | |
| -0.08060707205711509, | |
| 0.9966317039905408, | |
| -0.015091273481404507, | |
| -0.015108838677406311 | |
| ], | |
| [ | |
| 0.1206955467400509, | |
| 0.024788688566976295, | |
| 0.992380020917516, | |
| 0.06977051496505737 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1525.3885498046875, | |
| "fy": 1525.3885498046875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.9888565457042996, | |
| 0.08015612413239435, | |
| -0.1254501007645372, | |
| 0.0885336622595787 | |
| ], | |
| [ | |
| -0.0821313040588781, | |
| 0.9965646742243033, | |
| -0.010644199443694687, | |
| -0.001724526286125183 | |
| ], | |
| [ | |
| 0.12416594102791818, | |
| 0.020828966663788535, | |
| 0.9920428283276739, | |
| 0.0707470178604126 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1519.7064208984375, | |
| "fy": 1519.7064208984375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.9880934360342147, | |
| 0.08359223118679733, | |
| -0.12916539997736398, | |
| 0.08156396448612213 | |
| ], | |
| [ | |
| -0.08456680007548967, | |
| 0.9964156632722996, | |
| -0.002069374450523584, | |
| -0.0073669105768203735 | |
| ], | |
| [ | |
| 0.12852944406279665, | |
| 0.012967839867815837, | |
| 0.9916209039436751, | |
| 0.06322985887527466 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1522.653564453125, | |
| "fy": 1522.653564453125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.9867902734324665, | |
| 0.0889898052903499, | |
| -0.13537271074136015, | |
| 0.08864819258451462 | |
| ], | |
| [ | |
| -0.08962101526167246, | |
| 0.9959749043081063, | |
| 0.0014365277316754983, | |
| -0.016643643379211426 | |
| ], | |
| [ | |
| 0.13495565894969128, | |
| 0.01071468818223195, | |
| 0.9907937048521309, | |
| 0.054586708545684814 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1533.3280029296875, | |
| "fy": 1533.3280029296875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9861717845126775, | |
| 0.08735264873736985, | |
| -0.1408358128802694, | |
| 0.10384129732847214 | |
| ], | |
| [ | |
| -0.08790934363740116, | |
| 0.996125879522264, | |
| 0.0022758398969883772, | |
| -0.014534041285514832 | |
| ], | |
| [ | |
| 0.1404889986166955, | |
| 0.010136414778466094, | |
| 0.9900303502232225, | |
| 0.055713951587677 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1538.8299560546875, | |
| "fy": 1538.8299560546875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9863938369884013, | |
| 0.08422058289797722, | |
| -0.14118814315524164, | |
| 0.1199282705783844 | |
| ], | |
| [ | |
| -0.08489322222611438, | |
| 0.9963892539753619, | |
| 0.001263084513859584, | |
| -0.022937044501304626 | |
| ], | |
| [ | |
| 0.14078472634262448, | |
| 0.010740017632503885, | |
| 0.9899819760227384, | |
| 0.06433063745498657 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1540.1512451171875, | |
| "fy": 1540.1512451171875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9871285434372062, | |
| 0.07896370850163373, | |
| -0.13907541648763522, | |
| 0.1040475144982338 | |
| ], | |
| [ | |
| -0.07970155643974973, | |
| 0.9968187356780838, | |
| 0.00026476825259777654, | |
| -0.019812270998954773 | |
| ], | |
| [ | |
| 0.13865388791022606, | |
| 0.01082316685703574, | |
| 0.9902817570906594, | |
| 0.06720489263534546 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1531.979736328125, | |
| "fy": 1531.979736328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9871338229269744, | |
| 0.07496375247329769, | |
| -0.1412347388169782, | |
| 0.09532427787780762 | |
| ], | |
| [ | |
| -0.07532652698505003, | |
| 0.9971550364417869, | |
| 0.002783456690985594, | |
| -0.012420371174812317 | |
| ], | |
| [ | |
| 0.14104158949029325, | |
| 0.007891078120399428, | |
| 0.989972222297247, | |
| 0.05610215663909912 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1532.244140625, | |
| "fy": 1532.244140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.9868722027320249, | |
| 0.07188041367776232, | |
| -0.1446252453908229, | |
| 0.1069922000169754 | |
| ], | |
| [ | |
| -0.07197494125066727, | |
| 0.9973959004127739, | |
| 0.00458537585763996, | |
| -0.019209936261177063 | |
| ], | |
| [ | |
| 0.14457822556251326, | |
| 0.005884213567384572, | |
| 0.9894758777877755, | |
| 0.06004214286804199 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1538.47900390625, | |
| "fy": 1538.47900390625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.9869065279478988, | |
| 0.07110768926097605, | |
| -0.1447729312467904, | |
| 0.116786889731884 | |
| ], | |
| [ | |
| -0.07141179264739639, | |
| 0.9974420963118426, | |
| 0.0031016730842889024, | |
| -0.03024132549762726 | |
| ], | |
| [ | |
| 0.14462316883787557, | |
| 0.007277433132706291, | |
| 0.9894600436613349, | |
| 0.06682956218719482 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1537.867919921875, | |
| "fy": 1537.867919921875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9868131933374946, | |
| 0.07106446640344752, | |
| -0.14542889351793054, | |
| 0.10935511440038681 | |
| ], | |
| [ | |
| -0.07198634841798593, | |
| 0.9974050330005562, | |
| -0.0010797159832699544, | |
| -0.0346260666847229 | |
| ], | |
| [ | |
| 0.14497478089826743, | |
| 0.011534372976172205, | |
| 0.9893681171048246, | |
| 0.06345051527023315 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1534.8446044921875, | |
| "fy": 1534.8446044921875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.9863640979472016, | |
| 0.07163975436151584, | |
| -0.14816751288938007, | |
| 0.11345511674880981 | |
| ], | |
| [ | |
| -0.07337623638059332, | |
| 0.997284559128265, | |
| -0.006279813608788367, | |
| -0.02964775264263153 | |
| ], | |
| [ | |
| 0.14731528846464723, | |
| 0.01706615713520481, | |
| 0.988942340111502, | |
| 0.06874483823776245 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1537.14453125, | |
| "fy": 1537.14453125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.9859917993733722, | |
| 0.07134408190161694, | |
| -0.15076535923770518, | |
| 0.11424361914396286 | |
| ], | |
| [ | |
| -0.07342085839178092, | |
| 0.9972669525729856, | |
| -0.008246384589887358, | |
| -0.02410845458507538 | |
| ], | |
| [ | |
| 0.14976497962298446, | |
| 0.01920018967108565, | |
| 0.9885351807574282, | |
| 0.06833142042160034 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1532.0140380859375, | |
| "fy": 1532.0140380859375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.9855559900054215, | |
| 0.0708863523451949, | |
| -0.15380024582433632, | |
| 0.11350945383310318 | |
| ], | |
| [ | |
| -0.07279327208499091, | |
| 0.9973238977177201, | |
| -0.006795776651420625, | |
| -0.02385552227497101 | |
| ], | |
| [ | |
| 0.1529069328172986, | |
| 0.017893241526576117, | |
| 0.9880785909046291, | |
| 0.0702086091041565 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1524.3782958984375, | |
| "fy": 1524.3782958984375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.9848503218845314, | |
| 0.07051226728594771, | |
| -0.15842305276104765, | |
| 0.1059824600815773 | |
| ], | |
| [ | |
| -0.07238263733047845, | |
| 0.9973585260698622, | |
| -0.006060056834431807, | |
| -0.02098645269870758 | |
| ], | |
| [ | |
| 0.15757727404996907, | |
| 0.01743532729681919, | |
| 0.9873527293044938, | |
| 0.07294946908950806 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1525.570068359375, | |
| "fy": 1525.570068359375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.9833255037495712, | |
| 0.07317344059291123, | |
| -0.16648303597498137, | |
| 0.1235879436135292 | |
| ], | |
| [ | |
| -0.07495852012834853, | |
| 0.997176698620868, | |
| -0.00445555695219826, | |
| -0.02304723858833313 | |
| ], | |
| [ | |
| 0.16568697575796118, | |
| 0.016860584787664327, | |
| 0.9860342523182438, | |
| 0.07255268096923828 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1526.3861083984375, | |
| "fy": 1526.3861083984375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9825082012878119, | |
| 0.07707780149902217, | |
| -0.16951886891513349, | |
| 0.12229764461517334 | |
| ], | |
| [ | |
| -0.0789225746051078, | |
| 0.9968720646170809, | |
| -0.004161009947186524, | |
| -0.02379794418811798 | |
| ], | |
| [ | |
| 0.1686679033482366, | |
| 0.01746709197767917, | |
| 0.9855181576601995, | |
| 0.06986206769943237 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1532.212158203125, | |
| "fy": 1532.212158203125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.9814298220482047, | |
| 0.08006020879591563, | |
| -0.17431542491123442, | |
| 0.12705588340759277 | |
| ], | |
| [ | |
| -0.08221137985095618, | |
| 0.996601643100889, | |
| -0.00514334439942999, | |
| -0.02751973271369934 | |
| ], | |
| [ | |
| 0.1733112616578381, | |
| 0.019378543189923658, | |
| 0.9846764334777209, | |
| 0.06715267896652222 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1530.22314453125, | |
| "fy": 1530.22314453125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9801762604888233, | |
| 0.08332739436672384, | |
| -0.17975272938734407, | |
| 0.12825825810432434 | |
| ], | |
| [ | |
| -0.0855034632442618, | |
| 0.9963282528721026, | |
| -0.004378390350477358, | |
| -0.0193413645029068 | |
| ], | |
| [ | |
| 0.17872788296005873, | |
| 0.019661075170917718, | |
| 0.983702081921015, | |
| 0.07333624362945557 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1523.1131591796875, | |
| "fy": 1523.1131591796875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9792584164124915, | |
| 0.08342668387566528, | |
| -0.18464274235075692, | |
| 0.13772860169410706 | |
| ], | |
| [ | |
| -0.08512890177286804, | |
| 0.9963691026382319, | |
| -0.0012966845525859312, | |
| -0.01774996519088745 | |
| ], | |
| [ | |
| 0.18386414541243148, | |
| 0.01698822313820237, | |
| 0.9828048515887386, | |
| 0.07074487209320068 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1526.99169921875, | |
| "fy": 1526.99169921875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.978630680295247, | |
| 0.08460011553065755, | |
| -0.18741614668182116, | |
| 0.15353210270404816 | |
| ], | |
| [ | |
| -0.08592841937616325, | |
| 0.9963007700880671, | |
| 0.0010403198731574305, | |
| -0.015436023473739624 | |
| ], | |
| [ | |
| 0.18681086244749454, | |
| 0.015086284304747179, | |
| 0.982280054616554, | |
| 0.0767936110496521 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1529.4744873046875, | |
| "fy": 1529.4744873046875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9789892954572474, | |
| 0.0835576161484007, | |
| -0.18600560250626635, | |
| 0.1689794957637787 | |
| ], | |
| [ | |
| -0.0841709651881479, | |
| 0.9964406576967122, | |
| 0.004611323914028571, | |
| -0.014925017952919006 | |
| ], | |
| [ | |
| 0.18572885613016152, | |
| 0.01114183434363567, | |
| 0.9825378626434916, | |
| 0.0770156979560852 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1528.437744140625, | |
| "fy": 1528.437744140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9797532602326087, | |
| 0.08481996981085599, | |
| -0.1813535822222993, | |
| 0.1687335968017578 | |
| ], | |
| [ | |
| -0.08437038791350623, | |
| 0.9963821905151327, | |
| 0.010206275892315486, | |
| -0.009972631931304932 | |
| ], | |
| [ | |
| 0.18156317552548834, | |
| 0.005301240001269777, | |
| 0.9833649933506632, | |
| 0.07217180728912354 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1529.3968505859375, | |
| "fy": 1529.3968505859375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9801246804334343, | |
| 0.08734907750806589, | |
| -0.17811723516759523, | |
| 0.17674130201339722 | |
| ], | |
| [ | |
| -0.08586972447924612, | |
| 0.9961776843942249, | |
| 0.016012855236299667, | |
| -0.020992085337638855 | |
| ], | |
| [ | |
| 0.17883512301311766, | |
| -0.0003997167124585799, | |
| 0.9838789757909417, | |
| 0.08495932817459106 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1521.9720458984375, | |
| "fy": 1521.9720458984375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.9807924945996838, | |
| 0.09065166068752209, | |
| -0.17270888498141398, | |
| 0.16215497255325317 | |
| ], | |
| [ | |
| -0.088901140739938, | |
| 0.995880312509004, | |
| 0.017860300448355508, | |
| -0.023711711168289185 | |
| ], | |
| [ | |
| 0.17361644424439385, | |
| -0.0021632317402717413, | |
| 0.9848109720735099, | |
| 0.07506054639816284 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1529.7518310546875, | |
| "fy": 1529.7518310546875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9807342859915587, | |
| 0.09343281499065023, | |
| -0.17155340090931107, | |
| 0.16847343742847443 | |
| ], | |
| [ | |
| -0.09178855863717478, | |
| 0.9956245662250489, | |
| 0.01750952976219574, | |
| -0.030340254306793213 | |
| ], | |
| [ | |
| 0.17243874501960915, | |
| -0.0014255567706038378, | |
| 0.9850192114897838, | |
| 0.07350683212280273 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1531.140869140625, | |
| "fy": 1531.140869140625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.98127429061833, | |
| 0.09422629306528242, | |
| -0.16799456022939738, | |
| 0.18820878863334656 | |
| ], | |
| [ | |
| -0.09313375450520973, | |
| 0.9955496342864553, | |
| 0.014388517778719436, | |
| -0.03232482075691223 | |
| ], | |
| [ | |
| 0.16860269969148298, | |
| 0.0015268815542533187, | |
| 0.9856829096060576, | |
| 0.08666306734085083 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1532.432861328125, | |
| "fy": 1532.432861328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9834693816601918, | |
| 0.08736548206115556, | |
| -0.15860406010295605, | |
| 0.1830480992794037 | |
| ], | |
| [ | |
| -0.08669924294993395, | |
| 0.9961723732731911, | |
| 0.01112852187701647, | |
| -0.031962811946868896 | |
| ], | |
| [ | |
| 0.15896923164193918, | |
| 0.0028062914105305226, | |
| 0.9872795491246091, | |
| 0.09539633989334106 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1534.232666015625, | |
| "fy": 1534.232666015625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.9854564165056098, | |
| 0.08097318910850697, | |
| -0.14939542768612318, | |
| 0.17722119390964508 | |
| ], | |
| [ | |
| -0.08065723917939979, | |
| 0.9967083090595455, | |
| 0.008182690243371663, | |
| -0.027994662523269653 | |
| ], | |
| [ | |
| 0.14956624263475632, | |
| 0.003986138138579959, | |
| 0.988743672428229, | |
| 0.07861930131912231 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1539.8597412109375, | |
| "fy": 1539.8597412109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.986936613055972, | |
| 0.07310944464045906, | |
| -0.14356577208363422, | |
| 0.17593032121658325 | |
| ], | |
| [ | |
| -0.07293570935764983, | |
| 0.9973155946904471, | |
| 0.006479728986322277, | |
| -0.025410398840904236 | |
| ], | |
| [ | |
| 0.14365411275039355, | |
| 0.004075989647117026, | |
| 0.989619564377288, | |
| 0.08360695838928223 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1535.9990234375, | |
| "fy": 1535.9990234375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.9882475820468546, | |
| 0.06552446572888779, | |
| -0.13810597731267713, | |
| 0.1713499128818512 | |
| ], | |
| [ | |
| -0.06533191458307004, | |
| 0.9978459574108949, | |
| 0.005931796999737066, | |
| -0.028041914105415344 | |
| ], | |
| [ | |
| 0.1381971689849555, | |
| 0.0031606438710204666, | |
| 0.9903996934646457, | |
| 0.08531302213668823 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1537.949462890625, | |
| "fy": 1537.949462890625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.9889189991205032, | |
| 0.0627500127844762, | |
| -0.1345423690665926, | |
| 0.177005797624588 | |
| ], | |
| [ | |
| -0.06291201113124284, | |
| 0.9980144128213295, | |
| 0.003051336808705035, | |
| -0.03837208449840546 | |
| ], | |
| [ | |
| 0.13446669488734195, | |
| 0.005446806077497108, | |
| 0.9909031437378878, | |
| 0.09114468097686768 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1537.751953125, | |
| "fy": 1537.751953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.9896911599863912, | |
| 0.062154526176347265, | |
| -0.12902799200400383, | |
| 0.17904546856880188 | |
| ], | |
| [ | |
| -0.06302382142668293, | |
| 0.9980084747682252, | |
| -0.0026612447424606105, | |
| -0.040781959891319275 | |
| ], | |
| [ | |
| 0.12860562109631565, | |
| 0.01076564752327789, | |
| 0.9916373808282114, | |
| 0.08773684501647949 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1541.3929443359375, | |
| "fy": 1541.3929443359375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.9902736728613539, | |
| 0.06046812584804956, | |
| -0.1253062591976524, | |
| 0.1823558509349823 | |
| ], | |
| [ | |
| -0.06199705939814038, | |
| 0.9980415332593009, | |
| -0.00833441752058832, | |
| -0.03505638241767883 | |
| ], | |
| [ | |
| 0.1245568844491073, | |
| 0.01602197384370872, | |
| 0.9920831007987603, | |
| 0.09794247150421143 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1531.698486328125, | |
| "fy": 1531.698486328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.9909517702577779, | |
| 0.057976771367170804, | |
| -0.12105074557727706, | |
| 0.17148922383785248 | |
| ], | |
| [ | |
| -0.05974375713471925, | |
| 0.9981529597489268, | |
| -0.011016007801628161, | |
| -0.03395819664001465 | |
| ], | |
| [ | |
| 0.12018848741207942, | |
| 0.018148358776942673, | |
| 0.9925851925992549, | |
| 0.10164320468902588 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1526.787109375, | |
| "fy": 1526.787109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.9913658180846359, | |
| 0.05545170198884431, | |
| -0.11882307637795682, | |
| 0.17435285449028015 | |
| ], | |
| [ | |
| -0.057352639297518514, | |
| 0.9982740131191358, | |
| -0.012636039594122805, | |
| -0.038460150361061096 | |
| ], | |
| [ | |
| 0.11791729940509206, | |
| 0.019341754769303863, | |
| 0.9928350351510837, | |
| 0.10054993629455566 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1529.894775390625, | |
| "fy": 1529.894775390625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.9916607317992886, | |
| 0.05352953071063251, | |
| -0.11723302584680936, | |
| 0.18209680914878845 | |
| ], | |
| [ | |
| -0.05561390856038103, | |
| 0.9983459048013176, | |
| -0.014579010291378714, | |
| -0.030383169651031494 | |
| ], | |
| [ | |
| 0.11625870368250624, | |
| 0.02097721879415928, | |
| 0.9929974169703187, | |
| 0.10118257999420166 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1525.6009521484375, | |
| "fy": 1525.6009521484375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.991923548671981, | |
| 0.05406400589513458, | |
| -0.1147377743228217, | |
| 0.18501663208007812 | |
| ], | |
| [ | |
| -0.056060102569440697, | |
| 0.9983258452825947, | |
| -0.014239787241948881, | |
| -0.027919337153434753 | |
| ], | |
| [ | |
| 0.11377582559528028, | |
| 0.020556991690494627, | |
| 0.9932937488994626, | |
| 0.1063070297241211 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1525.0042724609375, | |
| "fy": 1525.0042724609375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.9923124458893349, | |
| 0.055374539962389904, | |
| -0.11067822756567414, | |
| 0.18882550299167633 | |
| ], | |
| [ | |
| -0.05727276656817075, | |
| 0.9982597919297116, | |
| -0.01404343355723873, | |
| -0.03679141402244568 | |
| ], | |
| [ | |
| 0.10970797574813446, | |
| 0.020274322193415507, | |
| 0.9937570688638364, | |
| 0.10969144105911255 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1527.9925537109375, | |
| "fy": 1527.9925537109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.9926494173809188, | |
| 0.05756084293734326, | |
| -0.10646071356921, | |
| 0.2012055516242981 | |
| ], | |
| [ | |
| -0.05987122356721163, | |
| 0.9980322092944146, | |
| -0.018631849062145163, | |
| -0.0406673401594162 | |
| ], | |
| [ | |
| 0.10517875622904006, | |
| 0.024868827299494658, | |
| 0.9941423291797107, | |
| 0.110146164894104 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 1531.375, | |
| "fy": 1531.375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |