xclean-maps / maps /oak_164002 /keyframes.json
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Public wording: heading check, median run, no internal tool/run names (part 2)
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Raw History Blame Contribute Delete
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{"row":"oak_164002","n":80,"image_size":[320,200],"K":[[236.3888,0.0,164.4994],[0.0,236.3888,94.8158],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.5000","pose":"T_map_cam: 4x4 camera-to-map (OpenCV camera axes), xclean's LIVE pose of the keyframe (published at that frame, never revised)","channels":"grey (single channel JPEG)","selection":"evenly spaced over the route's 1117 keyframes","files_relative_to":"","three_js_pose":"camera.matrixWorld = world.matrixWorld * T_map_cam * diag(1,-1,-1,1); vertical fov = 2 atan(h/2 / fy); principal point (cx, cy) via PerspectiveCamera.setViewOffset","held_out_rule":"held_out_of_map = never trained on by the splat map (every 10th segment 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