xclean 3-D maps: 8 licence-safe maps (own OAK-D-Lite routes + Rosario CC BY 4.0) (part 3)

.gitattributes

@@ -74,3 +74,9 @@ maps/oak_164424/full/splats.ply filter=lfs diff=lfs merge=lfs -text
 maps/oak_164424/splats.spz filter=lfs diff=lfs merge=lfs -text
 maps/oak_164424/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
 maps/rosario_01/full/splats.ply filter=lfs diff=lfs merge=lfs -text
+maps/rosario_01/splats.spz filter=lfs diff=lfs merge=lfs -text
+maps/rosario_01/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
+maps/rosario_03/full/splats.ply filter=lfs diff=lfs merge=lfs -text
+maps/rosario_03/splats.spz filter=lfs diff=lfs merge=lfs -text
+maps/rosario_03/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
+maps/rosario_04/full/splats.ply filter=lfs diff=lfs merge=lfs -text

maps/rosario_01/keyframes.json

@@ -0,0 +1 @@
+{"row":"rosario_01","n":80,"image_size":[320,179],"K":[[167.1716,0.0,161.9923],[0.0,167.1716,95.7904],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.4762","pose":"T_map_cam: 4x4 camera-to-map (OpenCV camera axes), xclean P1's LIVE pose of the keyframe (published at that frame, never revised)","channels":"RGB","selection":"evenly spaced over the route's 1838 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 (see notes/SPARK_NOTES.md, Lab results)","held_out_rule":"held_out_of_map = never trained on by the splat map (every 10th segment keyframe)","source":{"file":"keyframes.json","sha1":"6c663d9a6d3da7623ee4c0a1c25e836e7e572ffe"},"keyframes":[{"file":"keyframes/kf000000.jpg","kf_id":0,"t":0.0,"held_out_of_map":true,"T_map_cam":[[0.01048,-0.99409,0.10809,-0.03095],[0.99745,0.00277,-0.07129,-0.07714],[0.07057,0.10856,0.99158,0.02651],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000080.jpg","kf_id":80,"t":5.192,"held_out_of_map":false,"T_map_cam":[[0.00433,-0.99512,0.09861,3.23917],[0.99738,-0.00282,-0.07228,-0.58122],[0.0722,0.09866,0.9925,7.12024],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000171.jpg","kf_id":171,"t":11.098,"held_out_of_map":false,"T_map_cam":[[0.0035,-0.99407,0.1087,6.52295],[0.99853,-0.00242,-0.05423,-0.92376],[0.05417,0.10873,0.9926,14.08794],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000258.jpg","kf_id":258,"t":16.744,"held_out_of_map":true,"T_map_cam":[[-0.00205,-0.99414,0.10807,8.89343],[0.99847,-0.00801,-0.05472,-1.13904],[0.05527,0.1078,0.99264,19.19142],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000335.jpg","kf_id":335,"t":21.741,"held_out_of_map":false,"T_map_cam":[[-0.00631,-0.99131,0.13138,11.5155],[0.99927,-0.01119,-0.03642,-1.34233],[0.03757,0.13106,0.99066,24.78514],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000418.jpg","kf_id":418,"t":27.127,"held_out_of_map":false,"T_map_cam":[[0.00416,-0.9933,0.11552,14.23319],[0.99689,-0.00497,-0.07864,-1.61269],[0.07869,0.11548,0.99019,30.60248],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000507.jpg","kf_id":507,"t":32.904,"held_out_of_map":true,"T_map_cam":[[0.00295,-0.99411,0.10837,17.23639],[0.99901,-0.00188,-0.04441,-1.93478],[0.04435,0.1084,0.99312,36.95761],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000584.jpg","kf_id":584,"t":37.9,"held_out_of_map":false,"T_map_cam":[[0.01044,-0.99492,0.10009,19.88909],[0.99892,0.00584,-0.04613,-2.07482],[0.04531,0.10047,0.99391,42.65418],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000667.jpg","kf_id":667,"t":43.286,"held_out_of_map":false,"T_map_cam":[[0.024,-0.99281,0.11732,22.33153],[0.99604,0.01369,-0.08785,-2.43927],[0.08561,0.11896,0.9892,47.84947],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000746.jpg","kf_id":746,"t":48.415,"held_out_of_map":false,"T_map_cam":[[-0.00739,-0.9942,0.10727,25.04653],[0.99941,-0.01094,-0.03252,-2.73495],[0.03351,0.10697,0.9937,53.65315],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000823.jpg","kf_id":823,"t":53.411,"held_out_of_map":false,"T_map_cam":[[-0.02053,-0.9927,0.11881,27.68545],[0.99952,-0.02316,-0.02082,-2.75518],[0.02342,0.11832,0.9927,59.24691],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000914.jpg","kf_id":914,"t":59.316,"held_out_of_map":false,"T_map_cam":[[-0.01681,-0.99322,0.11505,30.4516],[0.99947,-0.0199,-0.02578,-2.73039],[0.0279,0.11455,0.99303,65.01778],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf000994.jpg","kf_id":994,"t":64.508,"held_out_of_map":false,"T_map_cam":[[0.00305,-0.99187,0.12718,33.26213],[0.9975,-0.00597,-0.07043,-3.05339],[0.07062,0.12707,0.98938,70.99253],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001069.jpg","kf_id":1069,"t":69.375,"held_out_of_map":false,"T_map_cam":[[-0.01172,-0.99376,0.11094,35.81347],[0.99972,-0.0139,-0.01889,-3.14694],[0.02032,0.11069,0.99365,76.34591],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001152.jpg","kf_id":1152,"t":74.761,"held_out_of_map":false,"T_map_cam":[[-0.02392,-0.99337,0.11247,38.61874],[0.99963,-0.02519,-0.00989,-3.04775],[0.01265,0.1122,0.99361,82.35429],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001235.jpg","kf_id":1235,"t":80.149,"held_out_of_map":false,"T_map_cam":[[-0.0307,-0.99508,0.09418,41.34035],[0.99865,-0.03449,-0.03881,-3.09421],[0.04187,0.09286,0.9948,88.17375],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001325.jpg","kf_id":1325,"t":85.989,"held_out_of_map":false,"T_map_cam":[[-0.02783,-0.99432,0.10269,43.94342],[0.99896,-0.03137,-0.03302,-3.11525],[0.03605,0.10167,0.99416,93.71176],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001405.jpg","kf_id":1405,"t":91.181,"held_out_of_map":false,"T_map_cam":[[-0.01893,-0.99253,0.12054,46.4389],[0.99945,-0.02204,-0.02457,-3.18503],[0.02705,0.12001,0.9924,98.92636],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001488.jpg","kf_id":1488,"t":96.567,"held_out_of_map":false,"T_map_cam":[[-0.01818,-0.99366,0.11098,49.39657],[0.99957,-0.02059,-0.02068,-3.19787],[0.02284,0.11055,0.99361,105.22834],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001576.jpg","kf_id":1576,"t":102.278,"held_out_of_map":false,"T_map_cam":[[-0.01624,-0.9927,0.11947,50.87267],[0.99809,-0.02322,-0.0572,-3.27543],[0.05956,0.11831,0.99119,108.31286],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001654.jpg","kf_id":1654,"t":107.34,"held_out_of_map":false,"T_map_cam":[[-0.36882,-0.92772,-0.0576,52.77838],[0.59394,-0.28288,0.75314,0.38071],[-0.71499,0.24356,0.65534,112.39048],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001790.jpg","kf_id":1790,"t":116.166,"held_out_of_map":false,"T_map_cam":[[-0.37982,-0.92275,-0.06545,52.86594],[0.55853,-0.28515,0.77893,0.78713],[-0.73742,0.2593,0.62368,112.54748],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf001930.jpg","kf_id":1930,"t":125.252,"held_out_of_map":false,"T_map_cam":[[-0.37653,-0.92463,-0.05727,52.53684],[0.57288,-0.28098,0.76998,-0.46849],[-0.72804,0.2571,0.6355,111.82435],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf002077.jpg","kf_id":2077,"t":134.791,"held_out_of_map":false,"T_map_cam":[[-0.37277,-0.92645,-0.05226,52.38409],[0.57358,-0.27432,0.77185,-1.00932],[-0.72942,0.25775,0.63365,111.49618],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf002196.jpg","kf_id":2196,"t":142.514,"held_out_of_map":false,"T_map_cam":[[-0.45228,-0.85141,-0.2656,51.5881],[0.08342,-0.33688,0.93785,-2.76296],[-0.88797,0.40201,0.22339,109.91797],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf002297.jpg","kf_id":2297,"t":149.071,"held_out_of_map":false,"T_map_cam":[[-0.44986,-0.8515,-0.26939,51.59409],[0.078,-0.33794,0.93793,-2.62542],[-0.88969,0.40092,0.21844,109.91992],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf002443.jpg","kf_id":2443,"t":158.544,"held_out_of_map":false,"T_map_cam":[[-0.42672,-0.788,-0.44381,51.35171],[-0.36194,-0.30092,0.8823,-4.69943],[-0.8288,0.53713,-0.15679,109.3442],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf002557.jpg","kf_id":2557,"t":165.943,"held_out_of_map":false,"T_map_cam":[[-0.41939,-0.79048,-0.44638,51.32998],[-0.36267,-0.30488,0.88064,-4.57656],[-0.83222,0.53121,-0.15882,109.3123],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf002668.jpg","kf_id":2668,"t":173.146,"held_out_of_map":false,"T_map_cam":[[-0.36828,-0.77494,-0.51366,50.79392],[-0.55046,-0.26349,0.79219,-2.91656],[-0.74924,0.5745,-0.32953,108.16674],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf002765.jpg","kf_id":2765,"t":179.441,"held_out_of_map":false,"T_map_cam":[[-0.02034,-0.72759,-0.68571,48.3701],[-0.99408,0.08796,-0.06384,-2.95027],[0.10677,0.68035,-0.72506,102.96522],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf002867.jpg","kf_id":2867,"t":186.06,"held_out_of_map":false,"T_map_cam":[[-0.02517,-0.70967,-0.70408,45.6934],[-0.99946,0.03285,0.00263,-3.21906],[0.02126,0.70377,-0.71011,97.24752],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf002950.jpg","kf_id":2950,"t":191.447,"held_out_of_map":false,"T_map_cam":[[-0.02261,-0.72111,-0.69245,42.79589],[-0.99972,0.011,0.02119,-3.14043],[-0.00766,0.69273,-0.72115,90.9904],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003024.jpg","kf_id":3024,"t":196.249,"held_out_of_map":false,"T_map_cam":[[-0.02544,-0.73627,-0.67621,40.54398],[-0.99967,0.02045,0.01535,-3.13128],[0.00253,0.67638,-0.73655,86.01948],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003099.jpg","kf_id":3099,"t":201.118,"held_out_of_map":false,"T_map_cam":[[-0.02045,-0.72638,-0.68699,38.15703],[-0.99937,0.03487,-0.00712,-3.25511],[0.02912,0.68641,-0.72663,80.69832],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003179.jpg","kf_id":3179,"t":206.309,"held_out_of_map":false,"T_map_cam":[[-0.05063,-0.73257,-0.6788,35.49815],[-0.99859,0.02642,0.04597,-3.19252],[-0.01574,0.68017,-0.73288,74.83048],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003245.jpg","kf_id":3245,"t":210.591,"held_out_of_map":false,"T_map_cam":[[-0.02053,-0.7313,-0.68174,33.44326],[-0.99938,0.03462,-0.00703,-3.33299],[0.02875,0.68117,-0.73156,70.29755],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003326.jpg","kf_id":3326,"t":215.849,"held_out_of_map":false,"T_map_cam":[[-0.03967,-0.73108,-0.68114,30.88452],[-0.99918,0.02346,0.03302,-3.27833],[-0.00816,0.68189,-0.73141,64.64559],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003410.jpg","kf_id":3410,"t":221.299,"held_out_of_map":true,"T_map_cam":[[-0.02766,-0.7218,-0.69155,28.09625],[-0.99962,0.02068,0.0184,-3.39696],[0.00102,0.69179,-0.7221,58.51851],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003494.jpg","kf_id":3494,"t":226.751,"held_out_of_map":false,"T_map_cam":[[-0.03122,-0.72893,-0.68388,25.59896],[-0.99921,0.03945,0.00358,-3.53971],[0.02437,0.68345,-0.72959,52.79929],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003578.jpg","kf_id":3578,"t":232.204,"held_out_of_map":false,"T_map_cam":[[-0.05236,-0.73728,-0.67355,22.99884],[-0.99859,0.03284,0.04169,-3.61908],[-0.00862,0.67478,-0.73796,46.92616],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003665.jpg","kf_id":3665,"t":237.849,"held_out_of_map":true,"T_map_cam":[[-0.03015,-0.73685,-0.67538,20.38816],[-0.99937,0.03473,0.00673,-3.41312],[0.0185,0.67516,-0.73744,40.94239],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003741.jpg","kf_id":3741,"t":242.78,"held_out_of_map":false,"T_map_cam":[[-0.04895,-0.74023,-0.67057,17.96964],[-0.99873,0.02833,0.04162,-3.51918],[-0.01181,0.67176,-0.74068,35.38781],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003814.jpg","kf_id":3814,"t":247.519,"held_out_of_map":false,"T_map_cam":[[-0.02875,-0.73737,-0.67487,15.70664],[-0.99891,0.04607,-0.00778,-3.6439],[0.03683,0.67391,-0.73789,30.18277],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003899.jpg","kf_id":3899,"t":253.037,"held_out_of_map":true,"T_map_cam":[[-0.04512,-0.73573,-0.67577,13.125],[-0.99898,0.03098,0.03296,-3.55544],[-0.00331,0.67657,-0.73637,24.3016],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf003981.jpg","kf_id":3981,"t":258.356,"held_out_of_map":false,"T_map_cam":[[-0.02058,-0.7376,-0.67493,10.5976],[-0.99852,0.04911,-0.02323,-3.85993],[0.05028,0.67346,-0.73752,18.5084],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004067.jpg","kf_id":4067,"t":263.938,"held_out_of_map":false,"T_map_cam":[[-0.05728,-0.74021,-0.66993,8.00927],[-0.99831,0.04907,0.03114,-3.81294],[0.00982,0.67059,-0.74177,12.47395],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004170.jpg","kf_id":4170,"t":270.621,"held_out_of_map":true,"T_map_cam":[[-0.02876,-0.73236,-0.68031,4.81351],[-0.9994,0.03404,0.00561,-4.08533],[0.01904,0.68006,-0.73291,5.1624],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004285.jpg","kf_id":4285,"t":278.087,"held_out_of_map":false,"T_map_cam":[[-0.2813,-0.77475,-0.56624,2.0526],[-0.744,-0.1966,0.6386,0.57378],[-0.60608,0.60092,-0.52111,-1.35369],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004395.jpg","kf_id":4395,"t":285.224,"held_out_of_map":false,"T_map_cam":[[0.35301,-0.85107,-0.38867,-0.31809],[-0.19485,0.33943,-0.92023,-5.00535],[0.9151,0.40058,-0.04601,-6.76221],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004483.jpg","kf_id":4483,"t":290.934,"held_out_of_map":false,"T_map_cam":[[0.09138,-0.99355,0.06708,1.89042],[0.96283,0.07096,-0.26063,-8.58667],[0.25419,0.08841,0.96311,-1.51509],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004566.jpg","kf_id":4566,"t":296.321,"held_out_of_map":false,"T_map_cam":[[0.0065,-0.99731,0.07303,4.32162],[0.99748,0.0013,-0.07092,-9.0822],[0.07064,0.0733,0.99481,4.17829],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004648.jpg","kf_id":4648,"t":301.643,"held_out_of_map":false,"T_map_cam":[[-0.0228,-0.99693,0.07492,7.03766],[0.99943,-0.02085,0.02661,-8.86894],[-0.02497,0.07549,0.99683,10.49326],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004732.jpg","kf_id":4732,"t":307.094,"held_out_of_map":false,"T_map_cam":[[-0.0222,-0.99655,0.07993,9.52429],[0.99965,-0.02329,-0.01281,-8.85412],[0.01463,0.07962,0.99672,16.1678],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004811.jpg","kf_id":4811,"t":312.221,"held_out_of_map":false,"T_map_cam":[[-0.01613,-0.99668,0.07976,11.94234],[0.99894,-0.01264,0.04414,-8.6084],[-0.04299,0.08039,0.99584,21.78586],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004887.jpg","kf_id":4887,"t":317.153,"held_out_of_map":false,"T_map_cam":[[-0.04442,-0.99565,0.08191,14.29711],[0.99801,-0.04055,0.04834,-8.14163],[-0.0448,0.08389,0.99547,27.16286],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf004977.jpg","kf_id":4977,"t":322.994,"held_out_of_map":false,"T_map_cam":[[-0.01248,-0.99588,0.08983,16.89637],[0.99985,-0.01349,-0.01061,-8.15532],[0.01178,0.08969,0.9959,33.09299],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005050.jpg","kf_id":5050,"t":327.731,"held_out_of_map":false,"T_map_cam":[[-0.02173,-0.9974,0.06864,19.46956],[0.99943,-0.01989,0.02736,-8.01629],[-0.02592,0.0692,0.99727,39.10443],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005136.jpg","kf_id":5136,"t":333.314,"held_out_of_map":false,"T_map_cam":[[-0.01729,-0.99589,0.08887,21.8256],[0.99944,-0.01465,0.03019,-7.76065],[-0.02877,0.08935,0.99559,44.45475],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005219.jpg","kf_id":5219,"t":338.699,"held_out_of_map":false,"T_map_cam":[[-0.02966,-0.99447,0.10077,24.62205],[0.99918,-0.02672,0.03035,-7.48075],[-0.02749,0.10159,0.99445,50.77719],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005289.jpg","kf_id":5289,"t":343.241,"held_out_of_map":false,"T_map_cam":[[-0.02906,-0.99601,0.08437,26.75177],[0.99939,-0.02731,0.02177,-7.20893],[-0.01938,0.08495,0.9962,55.63606],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005373.jpg","kf_id":5373,"t":348.694,"held_out_of_map":false,"T_map_cam":[[-0.02903,-0.99657,0.07753,29.32649],[0.99923,-0.02688,0.02857,-6.93649],[-0.02638,0.0783,0.99658,61.44562],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005451.jpg","kf_id":5451,"t":353.755,"held_out_of_map":false,"T_map_cam":[[-0.05282,-0.99546,0.07924,31.66252],[0.99733,-0.04858,0.05446,-6.58508],[-0.05036,0.0819,0.99537,66.65655],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005528.jpg","kf_id":5528,"t":358.757,"held_out_of_map":false,"T_map_cam":[[-0.04531,-0.99534,0.08515,34.19496],[0.9989,-0.04411,0.01591,-6.2197],[-0.01208,0.08577,0.99624,72.32489],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005590.jpg","kf_id":5590,"t":362.776,"held_out_of_map":false,"T_map_cam":[[-0.04479,-0.99526,0.08631,36.14402],[0.99874,-0.04264,0.02665,-5.95637],[-0.02284,0.08739,0.99591,76.75651],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005661.jpg","kf_id":5661,"t":367.383,"held_out_of_map":false,"T_map_cam":[[-0.05122,-0.99481,0.08788,38.25608],[0.99782,-0.04731,0.04605,-5.62469],[-0.04165,0.09004,0.99507,81.45207],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005744.jpg","kf_id":5744,"t":372.77,"held_out_of_map":false,"T_map_cam":[[-0.07012,-0.99457,0.07694,41.00498],[0.9959,-0.06538,0.06253,-5.01119],[-0.05716,0.08101,0.99507,87.78393],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005817.jpg","kf_id":5817,"t":377.507,"held_out_of_map":false,"T_map_cam":[[-0.06272,-0.99334,0.09662,43.09788],[0.99704,-0.05805,0.05045,-4.64116],[-0.0445,0.0995,0.99404,92.34043],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005907.jpg","kf_id":5907,"t":383.348,"held_out_of_map":false,"T_map_cam":[[-0.05602,-0.9959,0.07096,46.04244],[0.99779,-0.0533,0.03972,-4.15658],[-0.03577,0.07303,0.99669,98.9659],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf005986.jpg","kf_id":5986,"t":388.475,"held_out_of_map":false,"T_map_cam":[[-0.06225,-0.99354,0.09487,48.45039],[0.99702,-0.05756,0.05145,-3.69141],[-0.04566,0.09779,0.99416,104.37457],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006062.jpg","kf_id":6062,"t":393.411,"held_out_of_map":false,"T_map_cam":[[-0.05796,-0.99501,0.08119,50.77368],[0.99645,-0.05268,0.06575,-3.23799],[-0.06114,0.08471,0.99453,109.56932],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006142.jpg","kf_id":6142,"t":398.6,"held_out_of_map":false,"T_map_cam":[[-0.08067,-0.99392,0.07496,53.31356],[0.99484,-0.07565,0.06764,-2.61225],[-0.06156,0.08003,0.99489,115.3544],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006224.jpg","kf_id":6224,"t":403.92,"held_out_of_map":false,"T_map_cam":[[-0.02754,-0.9946,0.10011,55.64436],[0.99913,-0.03052,-0.02837,-2.41508],[0.03127,0.09924,0.99457,120.37371],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006288.jpg","kf_id":6288,"t":408.074,"held_out_of_map":false,"T_map_cam":[[-0.07683,-0.99351,0.08389,57.91965],[0.99577,-0.0722,0.0569,-1.98314],[-0.05047,0.08791,0.99485,125.47728],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006372.jpg","kf_id":6372,"t":413.528,"held_out_of_map":false,"T_map_cam":[[0.04822,-0.99579,0.07795,60.68361],[0.9716,0.02867,-0.23488,-2.10367],[0.23165,0.08706,0.96889,131.59123],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006472.jpg","kf_id":6472,"t":420.015,"held_out_of_map":false,"T_map_cam":[[0.21515,-0.97641,0.0184,62.19929],[0.78539,0.1618,-0.59749,-5.8995],[0.58041,0.143,0.80167,134.85003],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006567.jpg","kf_id":6567,"t":426.18,"held_out_of_map":false,"T_map_cam":[[-0.28283,-0.95917,-5e-05,64.54269],[0.81508,-0.24038,0.52712,-3.88613],[-0.50561,0.14905,0.84979,140.18731],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006633.jpg","kf_id":6633,"t":430.464,"held_out_of_map":false,"T_map_cam":[[-0.41064,-0.79328,-0.44953,64.17957],[-0.31512,-0.33916,0.88638,1.8275],[-0.85561,0.50564,-0.1107,139.59028],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006708.jpg","kf_id":6708,"t":435.331,"held_out_of_map":true,"T_map_cam":[[0.07965,-0.74404,-0.66337,61.41715],[-0.97315,0.08611,-0.21344,2.27044],[0.21593,0.66256,-0.71721,133.47325],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006780.jpg","kf_id":6780,"t":440.003,"held_out_of_map":false,"T_map_cam":[[0.03169,-0.74338,-0.66811,59.09361],[-0.99282,0.05376,-0.10691,0.94078],[0.11539,0.6667,-0.73634,128.10347],[0.0,0.0,0.0,1.0]]},{"file":"keyframes/kf006855.jpg","kf_id":6855,"t":444.87,"held_out_of_map":false,"T_map_cam":[[0.02959,-0.7376,-0.67459,56.84843],[-0.99704,0.02618,-0.07236,0.636],[0.07104,0.67473,-0.73464,122.96421],[0.0,0.0,0.0,1.0]]}]}