Download vista4d_eval/source/swing/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/swing/transforms.json
- Command line
-
hf download hf://datasets/HugMinjun/geo4d_evals/vista4d_eval/source/swing/transforms.json
-
curl -L -o transforms.json https://huggingface.co/datasets/HugMinjun/geo4d_evals/resolve/main/vista4d_eval/source/swing/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": [ | |
| [ | |
| 0.9974606394044038, | |
| 0.026696693739605606, | |
| -0.06602695951149258, | |
| -0.0355120450258255 | |
| ], | |
| [ | |
| -0.02244639156385197, | |
| 0.9976783464689302, | |
| 0.06429678446690386, | |
| 0.033479757606983185 | |
| ], | |
| [ | |
| 0.06759017935115226, | |
| -0.06265144475903901, | |
| 0.9957441258299665, | |
| 0.020918726921081543 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 871.69189453125, | |
| "fy": 871.69189453125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 1, | |
| "c2w": [ | |
| [ | |
| 0.9958837275717949, | |
| 0.03531496051722186, | |
| -0.08347727068713943, | |
| -0.0412827730178833 | |
| ], | |
| [ | |
| -0.028454994570798087, | |
| 0.9962272920753439, | |
| 0.0819847291158774, | |
| 0.033956900238990784 | |
| ], | |
| [ | |
| 0.0860576227982319, | |
| -0.07927191235169609, | |
| 0.9931314361505345, | |
| 0.0203704833984375 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 871.8392944335938, | |
| "fy": 871.8392944335938, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 2, | |
| "c2w": [ | |
| [ | |
| 0.993981612417966, | |
| 0.04228685357880013, | |
| -0.10105630207654341, | |
| -0.04798266291618347 | |
| ], | |
| [ | |
| -0.03264390294257699, | |
| 0.9949189955614862, | |
| 0.09523952893414848, | |
| 0.02866034209728241 | |
| ], | |
| [ | |
| 0.10457021457210504, | |
| -0.09136746841917014, | |
| 0.9903115953774426, | |
| 0.020064353942871094 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 872.078125, | |
| "fy": 872.078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 3, | |
| "c2w": [ | |
| [ | |
| 0.9915344294711355, | |
| 0.04634035253168803, | |
| -0.12129322693617378, | |
| -0.04996611177921295 | |
| ], | |
| [ | |
| -0.034066411476127434, | |
| 0.9942644740240436, | |
| 0.10137867282042935, | |
| 0.026913821697235107 | |
| ], | |
| [ | |
| 0.12529546992006718, | |
| -0.09638841953747007, | |
| 0.9874261075121414, | |
| 0.019228577613830566 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.2764892578125, | |
| "fy": 873.2764892578125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 4, | |
| "c2w": [ | |
| [ | |
| 0.9888985702106673, | |
| 0.04935556466854576, | |
| -0.14015579214412308, | |
| -0.055536165833473206 | |
| ], | |
| [ | |
| -0.034882807764573316, | |
| 0.993975489603879, | |
| 0.10390339642758951, | |
| 0.02847234159708023 | |
| ], | |
| [ | |
| 0.14443963291893774, | |
| -0.09786089261282026, | |
| 0.984662601168169, | |
| 0.016371488571166992 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.409912109375, | |
| "fy": 873.409912109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 5, | |
| "c2w": [ | |
| [ | |
| 0.9861628403785296, | |
| 0.04962416003381011, | |
| -0.15817804840587105, | |
| -0.05900551378726959 | |
| ], | |
| [ | |
| -0.03269487677875211, | |
| 0.993625403497394, | |
| 0.10788698974882559, | |
| 0.02835763245820999 | |
| ], | |
| [ | |
| 0.1625235284165758, | |
| -0.10122252844885775, | |
| 0.981498905982807, | |
| 0.013770639896392822 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 872.9306640625, | |
| "fy": 872.9306640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 6, | |
| "c2w": [ | |
| [ | |
| 0.9828695662200848, | |
| 0.05005259182207903, | |
| -0.17737574200051942, | |
| -0.06353960931301117 | |
| ], | |
| [ | |
| -0.030591941281253393, | |
| 0.9933719555155764, | |
| 0.11079842563775259, | |
| 0.02575676143169403 | |
| ], | |
| [ | |
| 0.18174583606505798, | |
| -0.10347413226044722, | |
| 0.9778862689627871, | |
| 0.014626085758209229 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 872.2765502929688, | |
| "fy": 872.2765502929688, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 7, | |
| "c2w": [ | |
| [ | |
| 0.9789472234213699, | |
| 0.05232739308174618, | |
| -0.19729211258653898, | |
| -0.06444753706455231 | |
| ], | |
| [ | |
| -0.03047286718270158, | |
| 0.993215495345673, | |
| 0.11222470392438316, | |
| 0.024493373930454254 | |
| ], | |
| [ | |
| 0.20182600952616725, | |
| -0.10385000596301576, | |
| 0.9739001171271242, | |
| 0.011178731918334961 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.3267822265625, | |
| "fy": 873.3267822265625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 8, | |
| "c2w": [ | |
| [ | |
| 0.9745551398708376, | |
| 0.05769454997548207, | |
| -0.21659551762319268, | |
| -0.07115958631038666 | |
| ], | |
| [ | |
| -0.033354348495544424, | |
| 0.9928750508463382, | |
| 0.11439676937448355, | |
| 0.022464372217655182 | |
| ], | |
| [ | |
| 0.22165235570092626, | |
| -0.10426155720114491, | |
| 0.969535848177994, | |
| 0.014594972133636475 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 872.0211791992188, | |
| "fy": 872.0211791992188, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 9, | |
| "c2w": [ | |
| [ | |
| 0.9694681014027844, | |
| 0.06388673213847926, | |
| -0.2367489932801121, | |
| -0.08098840713500977 | |
| ], | |
| [ | |
| -0.03732474884061654, | |
| 0.9926608091289228, | |
| 0.11502774075628897, | |
| 0.017382904887199402 | |
| ], | |
| [ | |
| 0.242360193692086, | |
| -0.10267912872720249, | |
| 0.964737546194485, | |
| 0.014923810958862305 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 870.6815795898438, | |
| "fy": 870.6815795898438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 10, | |
| "c2w": [ | |
| [ | |
| 0.9631913219541283, | |
| 0.06929544135581114, | |
| -0.2597318215382217, | |
| -0.08503291010856628 | |
| ], | |
| [ | |
| -0.04106905368662723, | |
| 0.9927943752917912, | |
| 0.11257291511845507, | |
| 0.016126468777656555 | |
| ], | |
| [ | |
| 0.26566108134528155, | |
| -0.09776231480629559, | |
| 0.9590968249672037, | |
| 0.005087614059448242 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 874.7550048828125, | |
| "fy": 874.7550048828125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 11, | |
| "c2w": [ | |
| [ | |
| 0.9564624804169403, | |
| 0.0730708369744464, | |
| -0.28256004023663484, | |
| -0.08962994813919067 | |
| ], | |
| [ | |
| -0.04289607744119738, | |
| 0.9928329445902442, | |
| 0.11154671970266122, | |
| 0.019324734807014465 | |
| ], | |
| [ | |
| 0.28868572894210354, | |
| -0.09456953484140158, | |
| 0.9527419131039884, | |
| 0.002776622772216797 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 875.2755737304688, | |
| "fy": 875.2755737304688, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 12, | |
| "c2w": [ | |
| [ | |
| 0.949960638460038, | |
| 0.07635287556424178, | |
| -0.30289441026481256, | |
| -0.09068070352077484 | |
| ], | |
| [ | |
| -0.04367848482608695, | |
| 0.9926086551572809, | |
| 0.11322653253611732, | |
| 0.01680459827184677 | |
| ], | |
| [ | |
| 0.3093007845769136, | |
| -0.09433078023596804, | |
| 0.9462741297109307, | |
| 0.001251518726348877 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 876.3014526367188, | |
| "fy": 876.3014526367188, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 13, | |
| "c2w": [ | |
| [ | |
| 0.9440786901758813, | |
| 0.07905346776082994, | |
| -0.3201030708862054, | |
| -0.09085093438625336 | |
| ], | |
| [ | |
| -0.0448121978976465, | |
| 0.9925876304715973, | |
| 0.11296752964618599, | |
| 0.016150452196598053 | |
| ], | |
| [ | |
| 0.3266608236005259, | |
| -0.0923057152605792, | |
| 0.9406233897022008, | |
| -0.0018437504768371582 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 877.4912109375, | |
| "fy": 877.4912109375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 14, | |
| "c2w": [ | |
| [ | |
| 0.9382529769954682, | |
| 0.08189956178610552, | |
| -0.33611577311751534, | |
| -0.09028226137161255 | |
| ], | |
| [ | |
| -0.046527503198137574, | |
| 0.9926198302973608, | |
| 0.1119868918516159, | |
| 0.01570330560207367 | |
| ], | |
| [ | |
| 0.34280685904060976, | |
| -0.08943340695557904, | |
| 0.9351390929241645, | |
| -0.009228229522705078 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.2838745117188, | |
| "fy": 879.2838745117188, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 15, | |
| "c2w": [ | |
| [ | |
| 0.9320299571866122, | |
| 0.08457964327325825, | |
| -0.35237259094670037, | |
| -0.09336760640144348 | |
| ], | |
| [ | |
| -0.047595580861015924, | |
| 0.9925287460834991, | |
| 0.11234477682749039, | |
| 0.015421204268932343 | |
| ], | |
| [ | |
| 0.3592420069942059, | |
| -0.08793731939105573, | |
| 0.9290921419692938, | |
| -0.011349320411682129 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 878.6874389648438, | |
| "fy": 878.6874389648438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 16, | |
| "c2w": [ | |
| [ | |
| 0.9248647695814418, | |
| 0.08761200839732382, | |
| -0.3700666074798629, | |
| -0.09256021678447723 | |
| ], | |
| [ | |
| -0.04873367093697672, | |
| 0.9923821893207809, | |
| 0.11314866166199684, | |
| 0.014264613389968872 | |
| ], | |
| [ | |
| 0.3771606916210574, | |
| -0.08661250662278398, | |
| 0.9220889796502527, | |
| -0.009732842445373535 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 877.4403686523438, | |
| "fy": 877.4403686523438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 17, | |
| "c2w": [ | |
| [ | |
| 0.918131942965821, | |
| 0.0912483395666918, | |
| -0.3856260829250645, | |
| -0.0924936980009079 | |
| ], | |
| [ | |
| -0.05147775465833146, | |
| 0.9923456954510886, | |
| 0.11224999552352809, | |
| 0.012307897210121155 | |
| ], | |
| [ | |
| 0.3929170091522428, | |
| -0.08320914160125188, | |
| 0.9158015410954707, | |
| -0.0077939629554748535 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 877.8018798828125, | |
| "fy": 877.8018798828125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 18, | |
| "c2w": [ | |
| [ | |
| 0.9129515157471144, | |
| 0.09337461748649606, | |
| -0.39724137587151825, | |
| -0.09176681935787201 | |
| ], | |
| [ | |
| -0.05414565114162671, | |
| 0.9925797805872444, | |
| 0.10887436627520367, | |
| 0.009311825037002563 | |
| ], | |
| [ | |
| 0.40445986000775874, | |
| -0.07788812475999438, | |
| 0.9112330446509695, | |
| -0.0063509345054626465 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 877.7545166015625, | |
| "fy": 877.7545166015625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 19, | |
| "c2w": [ | |
| [ | |
| 0.9080154208744893, | |
| 0.09588744025327667, | |
| -0.4078156375812455, | |
| -0.09220410883426666 | |
| ], | |
| [ | |
| -0.05760049642759325, | |
| 0.992783816225851, | |
| 0.10517831074574809, | |
| 0.00943773239850998 | |
| ], | |
| [ | |
| 0.41495804398206126, | |
| -0.07201314492305375, | |
| 0.9069861788874584, | |
| -0.010909795761108398 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 880.0711669921875, | |
| "fy": 880.0711669921875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 20, | |
| "c2w": [ | |
| [ | |
| 0.9042049616665051, | |
| 0.09429676995188177, | |
| -0.4165591272248347, | |
| -0.09139582514762878 | |
| ], | |
| [ | |
| -0.056647918324230356, | |
| 0.993184057542385, | |
| 0.10186481823071436, | |
| 0.0090857595205307 | |
| ], | |
| [ | |
| 0.423325407514368, | |
| -0.0685094666472234, | |
| 0.9033836684003685, | |
| -0.009406864643096924 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 878.3688354492188, | |
| "fy": 878.3688354492188, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 21, | |
| "c2w": [ | |
| [ | |
| 0.9013068555551161, | |
| 0.09005092322949645, | |
| -0.4237178109955544, | |
| -0.08437009155750275 | |
| ], | |
| [ | |
| -0.05300896999326111, | |
| 0.9937305670759614, | |
| 0.09843581238117294, | |
| 0.005349889397621155 | |
| ], | |
| [ | |
| 0.42992557638456735, | |
| -0.06626002780261492, | |
| 0.9004296793675749, | |
| -0.005352973937988281 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 878.4237670898438, | |
| "fy": 878.4237670898438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 22, | |
| "c2w": [ | |
| [ | |
| 0.899960350037072, | |
| 0.0862666392059142, | |
| -0.42735165299934047, | |
| -0.08630338311195374 | |
| ], | |
| [ | |
| -0.0508897941659716, | |
| 0.9943134651236477, | |
| 0.09354657622569955, | |
| 0.002698838710784912 | |
| ], | |
| [ | |
| 0.43299145166030395, | |
| -0.06244037182722572, | |
| 0.8992327856318305, | |
| -0.0015640854835510254 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 878.192626953125, | |
| "fy": 878.192626953125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 23, | |
| "c2w": [ | |
| [ | |
| 0.8985382044778688, | |
| 0.08264601553887566, | |
| -0.4310437694819832, | |
| -0.08519907295703888 | |
| ], | |
| [ | |
| -0.049015734258091075, | |
| 0.994862923965441, | |
| 0.08857324829808348, | |
| 0.0011565014719963074 | |
| ], | |
| [ | |
| 0.4361496909191034, | |
| -0.05845852063199743, | |
| 0.897973300536653, | |
| 0.0009607672691345215 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 877.47265625, | |
| "fy": 877.47265625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 24, | |
| "c2w": [ | |
| [ | |
| 0.898845044458583, | |
| 0.07825483290718438, | |
| -0.4312235698323049, | |
| -0.07955391705036163 | |
| ], | |
| [ | |
| -0.046430566485924425, | |
| 0.9953955967599407, | |
| 0.08385587902298665, | |
| -0.0006694570183753967 | |
| ], | |
| [ | |
| 0.4358001704314077, | |
| -0.055351486679134025, | |
| 0.8983398156457089, | |
| 0.0006136894226074219 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 878.1151123046875, | |
| "fy": 878.1151123046875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 25, | |
| "c2w": [ | |
| [ | |
| 0.9005836864493117, | |
| 0.07067707895266129, | |
| -0.4288983261940846, | |
| -0.07181529700756073 | |
| ], | |
| [ | |
| -0.04105167106829085, | |
| 0.9961118678111384, | |
| 0.07794810522589096, | |
| -0.005402080714702606 | |
| ], | |
| [ | |
| 0.43273985719352076, | |
| -0.052591798947411596, | |
| 0.8999835102264967, | |
| 0.0061948299407958984 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 878.7167358398438, | |
| "fy": 878.7167358398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 26, | |
| "c2w": [ | |
| [ | |
| 0.9043834042261194, | |
| 0.061655155834678184, | |
| -0.4222431762851553, | |
| -0.06121520698070526 | |
| ], | |
| [ | |
| -0.035545566930973486, | |
| 0.9969526752610182, | |
| 0.06943972898459677, | |
| -0.010260343551635742 | |
| ], | |
| [ | |
| 0.4252377815198581, | |
| -0.0477912654038377, | |
| 0.9038190217732581, | |
| 0.006178915500640869 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 880.306884765625, | |
| "fy": 880.306884765625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 27, | |
| "c2w": [ | |
| [ | |
| 0.9094716556120627, | |
| 0.053341529355542566, | |
| -0.4123299514760804, | |
| -0.05139546096324921 | |
| ], | |
| [ | |
| -0.031219472716922814, | |
| 0.9976975309172564, | |
| 0.060207817805395275, | |
| -0.00998445600271225 | |
| ], | |
| [ | |
| 0.414592151591817, | |
| -0.0418845800697849, | |
| 0.9090429196637785, | |
| 0.005336880683898926 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 880.7154541015625, | |
| "fy": 880.7154541015625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 28, | |
| "c2w": [ | |
| [ | |
| 0.9158231481617042, | |
| 0.046561982976791545, | |
| -0.3988733420930186, | |
| -0.048287540674209595 | |
| ], | |
| [ | |
| -0.027140451541276606, | |
| 0.9981609742219838, | |
| 0.054203924492195084, | |
| -0.00907791405916214 | |
| ], | |
| [ | |
| 0.40066364594422726, | |
| -0.03881560615897855, | |
| 0.9154026390267783, | |
| 0.0015676617622375488 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 880.6403198242188, | |
| "fy": 880.6403198242188, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 29, | |
| "c2w": [ | |
| [ | |
| 0.9208700917323687, | |
| 0.04226082850282799, | |
| -0.38757231135244047, | |
| -0.05410681664943695 | |
| ], | |
| [ | |
| -0.024445020871441726, | |
| 0.9984103856098948, | |
| 0.0507852622410873, | |
| -0.012826725840568542 | |
| ], | |
| [ | |
| 0.3891024480871503, | |
| -0.03729241585839892, | |
| 0.9204393302179293, | |
| 4.684925079345703e-05 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 880.510986328125, | |
| "fy": 880.510986328125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 30, | |
| "c2w": [ | |
| [ | |
| 0.9240200089913216, | |
| 0.03796681466866554, | |
| -0.3804543914421194, | |
| -0.04950276017189026 | |
| ], | |
| [ | |
| -0.02180202400014593, | |
| 0.9986705635536641, | |
| 0.04670949840134404, | |
| -0.010294340550899506 | |
| ], | |
| [ | |
| 0.3817220123770374, | |
| -0.03486583535960776, | |
| 0.92361933651884, | |
| -0.0032318830490112305 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 880.3272705078125, | |
| "fy": 880.3272705078125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 31, | |
| "c2w": [ | |
| [ | |
| 0.9272612767484255, | |
| 0.035369064646859565, | |
| -0.37274059868612003, | |
| -0.04029053449630737 | |
| ], | |
| [ | |
| -0.019609859223558006, | |
| 0.9987495240932005, | |
| 0.04598740637215546, | |
| -0.004869908094406128 | |
| ], | |
| [ | |
| 0.373901027096895, | |
| -0.03533295047985369, | |
| 0.9267953412411376, | |
| 0.0017940402030944824 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 880.370849609375, | |
| "fy": 880.370849609375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 32, | |
| "c2w": [ | |
| [ | |
| 0.9316656879803769, | |
| 0.036053791777093974, | |
| -0.36152340164717756, | |
| -0.03456500172615051 | |
| ], | |
| [ | |
| -0.02020992321879821, | |
| 0.9986661803514539, | |
| 0.047512306045150006, | |
| -0.004255793988704681 | |
| ], | |
| [ | |
| 0.36275419341965287, | |
| -0.03695922511000109, | |
| 0.9311516583434335, | |
| 0.006756305694580078 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 880.0936889648438, | |
| "fy": 880.0936889648438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 33, | |
| "c2w": [ | |
| [ | |
| 0.9365732399032866, | |
| 0.03727217158844382, | |
| -0.3484843633825528, | |
| -0.034399330615997314 | |
| ], | |
| [ | |
| -0.021575376314429663, | |
| 0.9985746629288451, | |
| 0.04881747323894448, | |
| -5.8807432651519775e-05 | |
| ], | |
| [ | |
| 0.34980718893978163, | |
| -0.03820245779561723, | |
| 0.9360424684726768, | |
| 0.003533005714416504 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.5426635742188, | |
| "fy": 879.5426635742188, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 34, | |
| "c2w": [ | |
| [ | |
| 0.9410521777913617, | |
| 0.04018314484035928, | |
| -0.3358662137591014, | |
| -0.03370262682437897 | |
| ], | |
| [ | |
| -0.023316461220857065, | |
| 0.9982630997337886, | |
| 0.05410292363657169, | |
| 0.0065535977482795715 | |
| ], | |
| [ | |
| 0.3374568732597871, | |
| -0.043082462564565306, | |
| 0.9403545927516391, | |
| 0.007697403430938721 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 879.9469604492188, | |
| "fy": 879.9469604492188, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 35, | |
| "c2w": [ | |
| [ | |
| 0.9454068706761776, | |
| 0.04189992769733365, | |
| -0.32318763116374827, | |
| -0.03175744414329529 | |
| ], | |
| [ | |
| -0.022700727312550243, | |
| 0.9977584899302588, | |
| 0.06294976371338745, | |
| 0.01194126158952713 | |
| ], | |
| [ | |
| 0.3251007933822342, | |
| -0.05217654483624091, | |
| 0.9442388904886272, | |
| 0.013662457466125488 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 878.5572509765625, | |
| "fy": 878.5572509765625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 36, | |
| "c2w": [ | |
| [ | |
| 0.9501247170173595, | |
| 0.04435915848699066, | |
| -0.30869934753900746, | |
| -0.024119406938552856 | |
| ], | |
| [ | |
| -0.022353227180363897, | |
| 0.9969732502939291, | |
| 0.07446255054039592, | |
| 0.019686006009578705 | |
| ], | |
| [ | |
| 0.31106808796034624, | |
| -0.06384828311461528, | |
| 0.9482404976565864, | |
| 0.020715773105621338 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 876.1288452148438, | |
| "fy": 876.1288452148438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 37, | |
| "c2w": [ | |
| [ | |
| 0.955550277131902, | |
| 0.04799689525283356, | |
| -0.2908951115423452, | |
| -0.017485007643699646 | |
| ], | |
| [ | |
| -0.023427472400933142, | |
| 0.9959008626359462, | |
| 0.08736489762989005, | |
| 0.02515178918838501 | |
| ], | |
| [ | |
| 0.2938959363619178, | |
| -0.07666661494461732, | |
| 0.9527577912265454, | |
| 0.026588380336761475 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 876.2958984375, | |
| "fy": 876.2958984375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 38, | |
| "c2w": [ | |
| [ | |
| 0.9613869391056353, | |
| 0.05015985296366738, | |
| -0.2705903591552374, | |
| -0.016405239701271057 | |
| ], | |
| [ | |
| -0.023386643199490565, | |
| 0.9945833613165596, | |
| 0.10127685970701082, | |
| 0.028641141951084137 | |
| ], | |
| [ | |
| 0.2742047013399973, | |
| -0.09103804997316875, | |
| 0.9573525240057215, | |
| 0.03099846839904785 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 875.8758544921875, | |
| "fy": 875.8758544921875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 39, | |
| "c2w": [ | |
| [ | |
| 0.9663649550563551, | |
| 0.04908823995241629, | |
| -0.25244626821821586, | |
| -0.019817501306533813 | |
| ], | |
| [ | |
| -0.020250115793653337, | |
| 0.993090661564053, | |
| 0.11558923273651701, | |
| 0.032107338309288025 | |
| ], | |
| [ | |
| 0.25637610350668993, | |
| -0.10658931753532812, | |
| 0.9606820550723744, | |
| 0.030431091785430908 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.9120483398438, | |
| "fy": 873.9120483398438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 40, | |
| "c2w": [ | |
| [ | |
| 0.9701732552242371, | |
| 0.04535274936645642, | |
| -0.23813228040841297, | |
| -0.025472894310951233 | |
| ], | |
| [ | |
| -0.01473902299915311, | |
| 0.991561491161321, | |
| 0.12879662436169456, | |
| 0.0299878790974617 | |
| ], | |
| [ | |
| 0.24196408007933326, | |
| -0.1214452031610985, | |
| 0.9626548948509646, | |
| 0.03738141059875488 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 872.804931640625, | |
| "fy": 872.804931640625, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 41, | |
| "c2w": [ | |
| [ | |
| 0.9727062106707556, | |
| 0.041343226616297864, | |
| -0.2283273206068289, | |
| -0.020666107535362244 | |
| ], | |
| [ | |
| -0.009867991047739359, | |
| 0.9904793734987256, | |
| 0.13730707711641907, | |
| 0.02668125182390213 | |
| ], | |
| [ | |
| 0.23183021907254026, | |
| -0.131306314724486, | |
| 0.9638534127336232, | |
| 0.03899163007736206 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.4706420898438, | |
| "fy": 873.4706420898438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 42, | |
| "c2w": [ | |
| [ | |
| 0.9753524026669886, | |
| 0.03617514569739592, | |
| -0.21766729071108804, | |
| -0.014899805188179016 | |
| ], | |
| [ | |
| -0.005457345601532357, | |
| 0.9901224485939134, | |
| 0.1400990869683994, | |
| 0.029676295816898346 | |
| ], | |
| [ | |
| 0.22058537574081957, | |
| -0.13545809545451948, | |
| 0.9659157294428521, | |
| 0.03496617078781128 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.8095092773438, | |
| "fy": 873.8095092773438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 43, | |
| "c2w": [ | |
| [ | |
| 0.9783392678105048, | |
| 0.03127930938105721, | |
| -0.20463108723908163, | |
| -0.0031681805849075317 | |
| ], | |
| [ | |
| -0.001454008502252809, | |
| 0.9895321325406089, | |
| 0.14430538634753, | |
| 0.027949534356594086 | |
| ], | |
| [ | |
| 0.207002808964709, | |
| -0.14088209067968394, | |
| 0.9681436224065322, | |
| 0.04156011343002319 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 874.0048828125, | |
| "fy": 874.0048828125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 44, | |
| "c2w": [ | |
| [ | |
| 0.9819614130910082, | |
| 0.027736827952392653, | |
| -0.1870359633210948, | |
| -1.1935830116271973e-05 | |
| ], | |
| [ | |
| 4.200319963548625e-05, | |
| 0.9891501174006716, | |
| 0.14690828255060392, | |
| 0.02394043654203415 | |
| ], | |
| [ | |
| 0.1890814148350964, | |
| -0.1442661208370706, | |
| 0.9713060820063784, | |
| 0.052776038646698 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 872.8790893554688, | |
| "fy": 872.8790893554688, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 45, | |
| "c2w": [ | |
| [ | |
| 0.9851499286481107, | |
| 0.024124780687200878, | |
| -0.16999297938860966, | |
| -0.00038373470306396484 | |
| ], | |
| [ | |
| 0.0007753746627064121, | |
| 0.989444274720803, | |
| 0.1449117870166431, | |
| 0.016849927604198456 | |
| ], | |
| [ | |
| 0.17169454527955805, | |
| -0.14289164488877207, | |
| 0.9747322508987929, | |
| 0.05114400386810303 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 873.1220703125, | |
| "fy": 873.1220703125, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 46, | |
| "c2w": [ | |
| [ | |
| 0.9875431195652361, | |
| 0.020012404925785987, | |
| -0.15607078730001867, | |
| -0.00046397745609283447 | |
| ], | |
| [ | |
| 0.0018604085210953733, | |
| 0.9903246244138335, | |
| 0.13875762018618396, | |
| 0.008466504514217377 | |
| ], | |
| [ | |
| 0.1573376174965669, | |
| -0.13731948852469963, | |
| 0.9779510377272563, | |
| 0.05634194612503052 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 874.2933349609375, | |
| "fy": 874.2933349609375, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 47, | |
| "c2w": [ | |
| [ | |
| 0.9894656149211839, | |
| 0.015014477306289312, | |
| -0.14398736875109058, | |
| 0.006046459078788757 | |
| ], | |
| [ | |
| 0.0036657173767954665, | |
| 0.9916897453220508, | |
| 0.12860020038553296, | |
| 0.001057460904121399 | |
| ], | |
| [ | |
| 0.14472166183663437, | |
| -0.12777329335312876, | |
| 0.9811878648357498, | |
| 0.05897819995880127 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 875.1913452148438, | |
| "fy": 875.1913452148438, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| }, | |
| { | |
| "frame_index": 48, | |
| "c2w": [ | |
| [ | |
| 0.9915080645776396, | |
| 0.011721933901032157, | |
| -0.1295158451430668, | |
| 0.010451853275299072 | |
| ], | |
| [ | |
| 0.003341568071672863, | |
| 0.9933040534187991, | |
| 0.11548112999362942, | |
| -0.0015683546662330627 | |
| ], | |
| [ | |
| 0.13000227613517173, | |
| -0.11493325770812793, | |
| 0.9848298099023359, | |
| 0.0513385534286499 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "intrinsics": { | |
| "fx": 877.7762451171875, | |
| "fy": 877.7762451171875, | |
| "cx": 416.0, | |
| "cy": 240.0 | |
| } | |
| } | |
| ] | |
| } | |