Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- references/Town04/Town04_status.json +13 -0
- references/Town04/Town04_subsets.json +252 -0
- references/Town04/subset_1/metadata.json +251 -0
- references/Town04/subset_1/reference/depth/10686.npy +3 -0
- references/Town04/subset_1/reference/depth/10840.npy +3 -0
- references/Town04/subset_1/reference/depth/1630.npy +3 -0
- references/Town04/subset_1/reference/depth/2116.npy +3 -0
- references/Town04/subset_1/reference/depth/7072.npy +3 -0
- references/Town04/subset_1/reference/depth/8924.npy +3 -0
- references/Town04/subset_1/reference/depth/9756.npy +3 -0
- references/Town04/subset_1/reference/depth/9834.npy +3 -0
- references/Town05/subset_3/reference/cameras/1.json +96 -0
- references/Town05/subset_3/reference/cameras/1307.json +96 -0
- references/Town05/subset_3/reference/cameras/1324.json +96 -0
- references/Town05/subset_3/reference/cameras/1336.json +96 -0
- references/Town05/subset_3/reference/cameras/1345.json +96 -0
- references/Town05/subset_3/reference/cameras/1354.json +96 -0
- references/Town05/subset_3/reference/cameras/1460.json +96 -0
- references/Town05/subset_3/reference/cameras/1465.json +96 -0
- references/Town05/subset_3/reference/cameras/1556.json +96 -0
- references/Town05/subset_3/reference/cameras/1575.json +96 -0
- references/Town05/subset_3/reference/cameras/1603.json +96 -0
- references/Town05/subset_3/reference/cameras/1611.json +96 -0
- references/Town05/subset_3/reference/cameras/1640.json +96 -0
- references/Town05/subset_3/reference/cameras/1652.json +96 -0
- references/Town05/subset_3/reference/cameras/1655.json +96 -0
- references/Town05/subset_3/reference/cameras/1667.json +96 -0
- references/Town05/subset_3/reference/cameras/1735.json +96 -0
- references/Town05/subset_3/reference/cameras/175.json +96 -0
- references/Town05/subset_3/reference/cameras/1894.json +96 -0
- references/Town05/subset_3/reference/cameras/1912.json +96 -0
- references/Town05/subset_3/reference/cameras/1927.json +96 -0
- references/Town05/subset_3/reference/cameras/1994.json +96 -0
- references/Town05/subset_3/reference/cameras/2454.json +96 -0
- references/Town05/subset_3/reference/cameras/2472.json +96 -0
- references/Town05/subset_3/reference/cameras/2524.json +96 -0
- references/Town05/subset_3/reference/cameras/2561.json +96 -0
- references/Town05/subset_3/reference/cameras/260.json +96 -0
- references/Town05/subset_3/reference/cameras/2846.json +96 -0
- references/Town05/subset_3/reference/cameras/2886.json +96 -0
- references/Town05/subset_3/reference/cameras/2923.json +96 -0
- references/Town05/subset_3/reference/cameras/2925.json +96 -0
- references/Town05/subset_3/reference/cameras/2927.json +96 -0
- references/Town05/subset_3/reference/cameras/3355.json +96 -0
- references/Town05/subset_3/reference/cameras/3374.json +96 -0
- references/Town05/subset_3/reference/cameras/3405.json +96 -0
- references/Town05/subset_3/reference/cameras/3421.json +96 -0
- references/Town05/subset_3/reference/cameras/3444.json +96 -0
- references/Town05/subset_3/reference/cameras/3461.json +96 -0
- references/Town05/subset_3/reference/cameras/3476.json +96 -0
references/Town04/Town04_status.json
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"total_subsets": 4,
|
| 3 |
+
"completed": [
|
| 4 |
+
0,
|
| 5 |
+
3,
|
| 6 |
+
1,
|
| 7 |
+
2
|
| 8 |
+
],
|
| 9 |
+
"failed": [],
|
| 10 |
+
"in_progress": [],
|
| 11 |
+
"created_at": "posix.times_result(user=0.52, system=0.61, children_user=0.0, children_system=0.0, elapsed=17543114.6)",
|
| 12 |
+
"seed": 42
|
| 13 |
+
}
|
references/Town04/Town04_subsets.json
ADDED
|
@@ -0,0 +1,252 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
[
|
| 3 |
+
16,
|
| 4 |
+
241,
|
| 5 |
+
962,
|
| 6 |
+
161,
|
| 7 |
+
926,
|
| 8 |
+
40,
|
| 9 |
+
1184,
|
| 10 |
+
1412,
|
| 11 |
+
1432,
|
| 12 |
+
1421,
|
| 13 |
+
1400,
|
| 14 |
+
9,
|
| 15 |
+
1465,
|
| 16 |
+
1507,
|
| 17 |
+
23,
|
| 18 |
+
1161,
|
| 19 |
+
1162,
|
| 20 |
+
24,
|
| 21 |
+
1360,
|
| 22 |
+
1318,
|
| 23 |
+
30,
|
| 24 |
+
321,
|
| 25 |
+
119,
|
| 26 |
+
48,
|
| 27 |
+
902,
|
| 28 |
+
774,
|
| 29 |
+
49,
|
| 30 |
+
907,
|
| 31 |
+
1174,
|
| 32 |
+
52,
|
| 33 |
+
1122,
|
| 34 |
+
981,
|
| 35 |
+
419,
|
| 36 |
+
468,
|
| 37 |
+
497,
|
| 38 |
+
1,
|
| 39 |
+
393,
|
| 40 |
+
350,
|
| 41 |
+
467,
|
| 42 |
+
477,
|
| 43 |
+
496,
|
| 44 |
+
510,
|
| 45 |
+
886,
|
| 46 |
+
1297,
|
| 47 |
+
1263,
|
| 48 |
+
880,
|
| 49 |
+
594,
|
| 50 |
+
11,
|
| 51 |
+
808,
|
| 52 |
+
569
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0,
|
| 56 |
+
170,
|
| 57 |
+
290,
|
| 58 |
+
189,
|
| 59 |
+
4,
|
| 60 |
+
561,
|
| 61 |
+
666,
|
| 62 |
+
633,
|
| 63 |
+
10,
|
| 64 |
+
1539,
|
| 65 |
+
844,
|
| 66 |
+
807,
|
| 67 |
+
15,
|
| 68 |
+
209,
|
| 69 |
+
225,
|
| 70 |
+
158,
|
| 71 |
+
17,
|
| 72 |
+
1531,
|
| 73 |
+
988,
|
| 74 |
+
1567,
|
| 75 |
+
18,
|
| 76 |
+
1546,
|
| 77 |
+
1043,
|
| 78 |
+
1012,
|
| 79 |
+
19,
|
| 80 |
+
1024,
|
| 81 |
+
731,
|
| 82 |
+
695,
|
| 83 |
+
25,
|
| 84 |
+
457,
|
| 85 |
+
413,
|
| 86 |
+
1337,
|
| 87 |
+
26,
|
| 88 |
+
124,
|
| 89 |
+
428,
|
| 90 |
+
109,
|
| 91 |
+
27,
|
| 92 |
+
968,
|
| 93 |
+
115,
|
| 94 |
+
1003,
|
| 95 |
+
28,
|
| 96 |
+
1028,
|
| 97 |
+
829,
|
| 98 |
+
798,
|
| 99 |
+
29,
|
| 100 |
+
88,
|
| 101 |
+
816,
|
| 102 |
+
54,
|
| 103 |
+
37,
|
| 104 |
+
1601,
|
| 105 |
+
1594,
|
| 106 |
+
1595,
|
| 107 |
+
39,
|
| 108 |
+
1097,
|
| 109 |
+
1194,
|
| 110 |
+
1185,
|
| 111 |
+
47,
|
| 112 |
+
1080,
|
| 113 |
+
779,
|
| 114 |
+
775,
|
| 115 |
+
51,
|
| 116 |
+
1225,
|
| 117 |
+
179,
|
| 118 |
+
247
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
5,
|
| 122 |
+
702,
|
| 123 |
+
7,
|
| 124 |
+
1210,
|
| 125 |
+
8,
|
| 126 |
+
1115,
|
| 127 |
+
14,
|
| 128 |
+
1327,
|
| 129 |
+
31,
|
| 130 |
+
1101,
|
| 131 |
+
32,
|
| 132 |
+
708,
|
| 133 |
+
33,
|
| 134 |
+
1191,
|
| 135 |
+
34,
|
| 136 |
+
782,
|
| 137 |
+
35,
|
| 138 |
+
862,
|
| 139 |
+
36,
|
| 140 |
+
761,
|
| 141 |
+
38,
|
| 142 |
+
1092,
|
| 143 |
+
41,
|
| 144 |
+
1401,
|
| 145 |
+
42,
|
| 146 |
+
266,
|
| 147 |
+
43,
|
| 148 |
+
275,
|
| 149 |
+
44,
|
| 150 |
+
1076,
|
| 151 |
+
45,
|
| 152 |
+
144,
|
| 153 |
+
46,
|
| 154 |
+
1073,
|
| 155 |
+
556,
|
| 156 |
+
879,
|
| 157 |
+
2,
|
| 158 |
+
3,
|
| 159 |
+
6,
|
| 160 |
+
12,
|
| 161 |
+
13,
|
| 162 |
+
20,
|
| 163 |
+
21,
|
| 164 |
+
22,
|
| 165 |
+
50,
|
| 166 |
+
61,
|
| 167 |
+
63,
|
| 168 |
+
65,
|
| 169 |
+
89,
|
| 170 |
+
108,
|
| 171 |
+
128,
|
| 172 |
+
135,
|
| 173 |
+
136,
|
| 174 |
+
145,
|
| 175 |
+
149,
|
| 176 |
+
210,
|
| 177 |
+
231,
|
| 178 |
+
267,
|
| 179 |
+
271,
|
| 180 |
+
291,
|
| 181 |
+
306,
|
| 182 |
+
314,
|
| 183 |
+
330,
|
| 184 |
+
351
|
| 185 |
+
],
|
| 186 |
+
[
|
| 187 |
+
372,
|
| 188 |
+
381,
|
| 189 |
+
385,
|
| 190 |
+
407,
|
| 191 |
+
458,
|
| 192 |
+
518,
|
| 193 |
+
528,
|
| 194 |
+
540,
|
| 195 |
+
573,
|
| 196 |
+
593,
|
| 197 |
+
634,
|
| 198 |
+
653,
|
| 199 |
+
661,
|
| 200 |
+
674,
|
| 201 |
+
684,
|
| 202 |
+
732,
|
| 203 |
+
746,
|
| 204 |
+
749,
|
| 205 |
+
760,
|
| 206 |
+
797,
|
| 207 |
+
799,
|
| 208 |
+
819,
|
| 209 |
+
826,
|
| 210 |
+
828,
|
| 211 |
+
845,
|
| 212 |
+
861,
|
| 213 |
+
863,
|
| 214 |
+
867,
|
| 215 |
+
901,
|
| 216 |
+
912,
|
| 217 |
+
927,
|
| 218 |
+
943,
|
| 219 |
+
949,
|
| 220 |
+
955,
|
| 221 |
+
974,
|
| 222 |
+
996,
|
| 223 |
+
1015,
|
| 224 |
+
1044,
|
| 225 |
+
1072,
|
| 226 |
+
1091,
|
| 227 |
+
1114,
|
| 228 |
+
1133,
|
| 229 |
+
1141,
|
| 230 |
+
1148,
|
| 231 |
+
1173,
|
| 232 |
+
1209,
|
| 233 |
+
1217,
|
| 234 |
+
1232,
|
| 235 |
+
1239,
|
| 236 |
+
1264,
|
| 237 |
+
1281,
|
| 238 |
+
1288,
|
| 239 |
+
1307,
|
| 240 |
+
1312,
|
| 241 |
+
1361,
|
| 242 |
+
1442,
|
| 243 |
+
1450,
|
| 244 |
+
1466,
|
| 245 |
+
1479,
|
| 246 |
+
1488,
|
| 247 |
+
1497,
|
| 248 |
+
1522,
|
| 249 |
+
1568,
|
| 250 |
+
1602
|
| 251 |
+
]
|
| 252 |
+
]
|
references/Town04/subset_1/metadata.json
ADDED
|
@@ -0,0 +1,251 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"sequence_name": "subset1_20260124_052946",
|
| 3 |
+
"depth_format": "npy",
|
| 4 |
+
"target_frames": [],
|
| 5 |
+
"target_to_reference_mapping": {},
|
| 6 |
+
"reference_frames": [],
|
| 7 |
+
"config": {
|
| 8 |
+
"server": {
|
| 9 |
+
"host": "localhost",
|
| 10 |
+
"port": 12000,
|
| 11 |
+
"tm_port": 22000,
|
| 12 |
+
"timeout": 180.0,
|
| 13 |
+
"map_name": "Town04"
|
| 14 |
+
},
|
| 15 |
+
"camera": {
|
| 16 |
+
"width": 1280,
|
| 17 |
+
"height": 704,
|
| 18 |
+
"fov": 90.0
|
| 19 |
+
},
|
| 20 |
+
"depth": {
|
| 21 |
+
"max_depth": 100.0,
|
| 22 |
+
"format": "npy"
|
| 23 |
+
},
|
| 24 |
+
"traffic": {
|
| 25 |
+
"num_vehicles": 372,
|
| 26 |
+
"num_pedestrians": 372,
|
| 27 |
+
"vehicle_filter": "vehicle.*",
|
| 28 |
+
"pedestrian_filter": "walker.pedestrian.*",
|
| 29 |
+
"wave_delay_ticks": 50,
|
| 30 |
+
"sidewalk_spawn_ratio": 0.8
|
| 31 |
+
},
|
| 32 |
+
"reference": {
|
| 33 |
+
"spacing": 10.0,
|
| 34 |
+
"height": 2.0,
|
| 35 |
+
"num_references_per_target": 2,
|
| 36 |
+
"fov_weight": 0.7,
|
| 37 |
+
"max_distance": 30.0,
|
| 38 |
+
"num_directions": 8,
|
| 39 |
+
"uniform_ref_cam": false,
|
| 40 |
+
"single_lane_per_road": true,
|
| 41 |
+
"spacing_jitter": 0.05,
|
| 42 |
+
"direction_offset_ratio": 0.5,
|
| 43 |
+
"junction_min_dist": 0
|
| 44 |
+
},
|
| 45 |
+
"trajectory": {
|
| 46 |
+
"mode": "vehicle",
|
| 47 |
+
"autopilot": true,
|
| 48 |
+
"camera_offset_x": 1.5,
|
| 49 |
+
"camera_offset_z": 1.4,
|
| 50 |
+
"camera_pitch": 0.0,
|
| 51 |
+
"num_targets": 1,
|
| 52 |
+
"free_speed": 5.0,
|
| 53 |
+
"free_pattern": "random",
|
| 54 |
+
"free_start_position": [
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
10.0
|
| 58 |
+
],
|
| 59 |
+
"collision_avoidance": true,
|
| 60 |
+
"collision_margin": 2.0
|
| 61 |
+
},
|
| 62 |
+
"capture": {
|
| 63 |
+
"num_frames": 100,
|
| 64 |
+
"fps": 20,
|
| 65 |
+
"frame_skip": 1,
|
| 66 |
+
"warmup_seconds": 2.0
|
| 67 |
+
},
|
| 68 |
+
"output": {
|
| 69 |
+
"output_dir": "./output",
|
| 70 |
+
"save_rgb": true,
|
| 71 |
+
"save_depth": true,
|
| 72 |
+
"save_cameras": true,
|
| 73 |
+
"save_metadata": true
|
| 74 |
+
},
|
| 75 |
+
"precapture": {
|
| 76 |
+
"output_dir": "output/reference_library/Town04_20260123_144909",
|
| 77 |
+
"num_subsets": 4,
|
| 78 |
+
"weather_variation": false,
|
| 79 |
+
"update_vehicles": true,
|
| 80 |
+
"update_pedestrians": true,
|
| 81 |
+
"update_lighting": true,
|
| 82 |
+
"num_cameras": 0,
|
| 83 |
+
"initial_weather": "ClearNoon",
|
| 84 |
+
"sun_altitude_min": 45.0,
|
| 85 |
+
"sun_altitude_max": 90.0
|
| 86 |
+
},
|
| 87 |
+
"multiserver": {
|
| 88 |
+
"enabled": true,
|
| 89 |
+
"gpu_ids": [
|
| 90 |
+
2,
|
| 91 |
+
3
|
| 92 |
+
],
|
| 93 |
+
"server_configs": [],
|
| 94 |
+
"max_retries": 3,
|
| 95 |
+
"retry_delay": 5.0,
|
| 96 |
+
"port_configs": "./configs/port_configs.json",
|
| 97 |
+
"rerun_failed": true,
|
| 98 |
+
"rerun_dir": "output/reference_library/Town04_20260123_144909"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
"subset_index": 1,
|
| 102 |
+
"subset": [
|
| 103 |
+
0,
|
| 104 |
+
170,
|
| 105 |
+
290,
|
| 106 |
+
189,
|
| 107 |
+
4,
|
| 108 |
+
561,
|
| 109 |
+
666,
|
| 110 |
+
633,
|
| 111 |
+
10,
|
| 112 |
+
1539,
|
| 113 |
+
844,
|
| 114 |
+
807,
|
| 115 |
+
15,
|
| 116 |
+
209,
|
| 117 |
+
225,
|
| 118 |
+
158,
|
| 119 |
+
17,
|
| 120 |
+
1531,
|
| 121 |
+
988,
|
| 122 |
+
1567,
|
| 123 |
+
18,
|
| 124 |
+
1546,
|
| 125 |
+
1043,
|
| 126 |
+
1012,
|
| 127 |
+
19,
|
| 128 |
+
1024,
|
| 129 |
+
731,
|
| 130 |
+
695,
|
| 131 |
+
25,
|
| 132 |
+
457,
|
| 133 |
+
413,
|
| 134 |
+
1337,
|
| 135 |
+
26,
|
| 136 |
+
124,
|
| 137 |
+
428,
|
| 138 |
+
109,
|
| 139 |
+
27,
|
| 140 |
+
968,
|
| 141 |
+
115,
|
| 142 |
+
1003,
|
| 143 |
+
28,
|
| 144 |
+
1028,
|
| 145 |
+
829,
|
| 146 |
+
798,
|
| 147 |
+
29,
|
| 148 |
+
88,
|
| 149 |
+
816,
|
| 150 |
+
54,
|
| 151 |
+
37,
|
| 152 |
+
1601,
|
| 153 |
+
1594,
|
| 154 |
+
1595,
|
| 155 |
+
39,
|
| 156 |
+
1097,
|
| 157 |
+
1194,
|
| 158 |
+
1185,
|
| 159 |
+
47,
|
| 160 |
+
1080,
|
| 161 |
+
779,
|
| 162 |
+
775,
|
| 163 |
+
51,
|
| 164 |
+
1225,
|
| 165 |
+
179,
|
| 166 |
+
247
|
| 167 |
+
],
|
| 168 |
+
"subset_details": [
|
| 169 |
+
{
|
| 170 |
+
"subset_idx": 1,
|
| 171 |
+
"roads": [
|
| 172 |
+
0,
|
| 173 |
+
170,
|
| 174 |
+
290,
|
| 175 |
+
189,
|
| 176 |
+
4,
|
| 177 |
+
561,
|
| 178 |
+
666,
|
| 179 |
+
633,
|
| 180 |
+
10,
|
| 181 |
+
1539,
|
| 182 |
+
844,
|
| 183 |
+
807,
|
| 184 |
+
15,
|
| 185 |
+
209,
|
| 186 |
+
225,
|
| 187 |
+
158,
|
| 188 |
+
17,
|
| 189 |
+
1531,
|
| 190 |
+
988,
|
| 191 |
+
1567,
|
| 192 |
+
18,
|
| 193 |
+
1546,
|
| 194 |
+
1043,
|
| 195 |
+
1012,
|
| 196 |
+
19,
|
| 197 |
+
1024,
|
| 198 |
+
731,
|
| 199 |
+
695,
|
| 200 |
+
25,
|
| 201 |
+
457,
|
| 202 |
+
413,
|
| 203 |
+
1337,
|
| 204 |
+
26,
|
| 205 |
+
124,
|
| 206 |
+
428,
|
| 207 |
+
109,
|
| 208 |
+
27,
|
| 209 |
+
968,
|
| 210 |
+
115,
|
| 211 |
+
1003,
|
| 212 |
+
28,
|
| 213 |
+
1028,
|
| 214 |
+
829,
|
| 215 |
+
798,
|
| 216 |
+
29,
|
| 217 |
+
88,
|
| 218 |
+
816,
|
| 219 |
+
54,
|
| 220 |
+
37,
|
| 221 |
+
1601,
|
| 222 |
+
1594,
|
| 223 |
+
1595,
|
| 224 |
+
39,
|
| 225 |
+
1097,
|
| 226 |
+
1194,
|
| 227 |
+
1185,
|
| 228 |
+
47,
|
| 229 |
+
1080,
|
| 230 |
+
779,
|
| 231 |
+
775,
|
| 232 |
+
51,
|
| 233 |
+
1225,
|
| 234 |
+
179,
|
| 235 |
+
247
|
| 236 |
+
],
|
| 237 |
+
"weather": "WeatherParameters(cloudiness=10.000000, precipitation=0.000000, precipitation_deposits=10.000000, wind_intensity=30.000000, sun_azimuth_angle=198.222549, sun_altitude_angle=79.824745, fog_density=40.000000, fog_distance=60.000000, fog_falloff=2.000000, wetness=30.000000, scattering_intensity=1.000000, mie_scattering_scale=0.030000, rayleigh_scattering_scale=0.033100, dust_storm=0.000000)",
|
| 238 |
+
"sun_azimuth": 198.22254943847656,
|
| 239 |
+
"sun_altitude": 79.82474517822266,
|
| 240 |
+
"cloudiness": 10.0,
|
| 241 |
+
"precipitation": 0.0,
|
| 242 |
+
"precipitation_deposits": 10.0,
|
| 243 |
+
"wind_intensity": 30.0,
|
| 244 |
+
"wetness": 30.0,
|
| 245 |
+
"vehicles": 372,
|
| 246 |
+
"pedestrians": 372
|
| 247 |
+
}
|
| 248 |
+
],
|
| 249 |
+
"total_frames": 1984,
|
| 250 |
+
"total_locations": 257
|
| 251 |
+
}
|
references/Town04/subset_1/reference/depth/10686.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f4eab6182dd425d5fdfcb7a8ea4f078cab37d5fde8ac33c32f899f29d5853d33
|
| 3 |
+
size 3604608
|
references/Town04/subset_1/reference/depth/10840.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5f069cf0b2e05f2bb7f466e510f26e214d8f164fb3f48686556acc7537ace195
|
| 3 |
+
size 3604608
|
references/Town04/subset_1/reference/depth/1630.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6ba90e67ad638e1aa03038386b883d061fefaec181e9d4fad9ac84ed0b7d4637
|
| 3 |
+
size 3604608
|
references/Town04/subset_1/reference/depth/2116.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:97b3f9295c83cd9fedff5c43215616a7c03177702f37358a3709e514c1f47ba4
|
| 3 |
+
size 3604608
|
references/Town04/subset_1/reference/depth/7072.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:adbc37bed3acf7d1494eff9ed5cbc0af485979d412e1e4b14b6d8e3cc4a3db65
|
| 3 |
+
size 3604608
|
references/Town04/subset_1/reference/depth/8924.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:797c6a0be1f3eeddfdbe6126b2088068b17fbbb9e1bcbfb2a877dbe3440923aa
|
| 3 |
+
size 3604608
|
references/Town04/subset_1/reference/depth/9756.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fd9a35621d63ca761644099168d236879611016941c3c9f65209e83dcb5cbae5
|
| 3 |
+
size 3604608
|
references/Town04/subset_1/reference/depth/9834.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f53a868e455dcd5183feb6b48e0e1b3b4459f64c3103d1a18d214f5f7dfcd938
|
| 3 |
+
size 3604608
|
references/Town05/subset_3/reference/cameras/1.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.41226330623173635,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9110647432179985,
|
| 34 |
+
20.399152755737305
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9110647432179985,
|
| 38 |
+
0.0,
|
| 39 |
+
0.41226330623173635,
|
| 40 |
+
200.7336883544922
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.4122633062317364,
|
| 58 |
+
0.9110647432179985,
|
| 59 |
+
0.0,
|
| 60 |
+
-174.47156407648066
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9110647432179986,
|
| 70 |
+
0.4122633062317364,
|
| 71 |
+
0.0,
|
| 72 |
+
-101.34008290038449
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 20.399152755737305,
|
| 85 |
+
"y": 200.7336883544922,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 24.347091674804688,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1,
|
| 95 |
+
"timestamp": 1769268769.6507552
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1307.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.7053734466328222,
|
| 32 |
+
0.0,
|
| 33 |
+
0.7088358771854971,
|
| 34 |
+
51.41205978393555
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.7088358771854971,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7053734466328222,
|
| 40 |
+
-146.03802490234375
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7053734466328221,
|
| 58 |
+
0.7088358771854971,
|
| 59 |
+
0.0,
|
| 60 |
+
67.25228967580297
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.7088358771854971,
|
| 70 |
+
-0.7053734466328221,
|
| 71 |
+
0.0,
|
| 72 |
+
-139.4540574596753
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 51.41205978393555,
|
| 85 |
+
"y": -146.03802490234375,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -44.85972213745117,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1307,
|
| 95 |
+
"timestamp": 1769268859.1649504
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1324.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.0735297706735752,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.9972930225488853,
|
| 34 |
+
71.41388702392578
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.9972930225488853,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.0735297706735752,
|
| 40 |
+
-145.27713012695312
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.07352977067357519,
|
| 58 |
+
-0.9972930225488853,
|
| 59 |
+
-0.0,
|
| 60 |
+
-150.13491494731468
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9972930225488852,
|
| 70 |
+
-0.0735297706735752,
|
| 71 |
+
-0.0,
|
| 72 |
+
60.53837717970555
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 71.41388702392578,
|
| 85 |
+
"y": -145.27713012695312,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -175.7832489013672,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1324,
|
| 95 |
+
"timestamp": 1769268864.5184195
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1336.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.9939867269451551,
|
| 32 |
+
0.0,
|
| 33 |
+
0.1095006240021378,
|
| 34 |
+
81.53553009033203
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.1095006240021378,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9939867269451551,
|
| 40 |
+
-144.34678649902344
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.9939867269451551,
|
| 58 |
+
0.10950062400213781,
|
| 59 |
+
0.0,
|
| 60 |
+
-65.23917148988092
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.10950062400213781,
|
| 70 |
+
-0.9939867269451552,
|
| 71 |
+
-0.0,
|
| 72 |
+
-152.40698128045187
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 81.53553009033203,
|
| 85 |
+
"y": -144.34678649902344,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -83.71347045898438,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1336,
|
| 95 |
+
"timestamp": 1769268868.3848388
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1345.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.8021861123400489,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.5970740667360779,
|
| 34 |
+
91.53475189208984
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.5970740667360779,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.8021861123400489,
|
| 40 |
+
-143.06358337402344
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.8021861123400489,
|
| 58 |
+
-0.597074066736078,
|
| 59 |
+
0.0,
|
| 60 |
+
-158.8474622912906
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.597074066736078,
|
| 70 |
+
-0.802186112340049,
|
| 71 |
+
-0.0,
|
| 72 |
+
-60.110593204356334
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 91.53475189208984,
|
| 85 |
+
"y": -143.06358337402344,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -126.66062927246094,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1345,
|
| 95 |
+
"timestamp": 1769268871.4287984
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1354.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.17988301019667108,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.983688010825884,
|
| 34 |
+
101.34022521972656
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.983688010825884,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.17988301019667108,
|
| 40 |
+
-141.4488983154297
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.17988301019667102,
|
| 58 |
+
-0.9836880108258839,
|
| 59 |
+
-0.0,
|
| 60 |
+
-157.37097018395076
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9836880108258838,
|
| 70 |
+
-0.17988301019667105,
|
| 71 |
+
-0.0,
|
| 72 |
+
74.24291094505756
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 101.34022521972656,
|
| 85 |
+
"y": -141.4488983154297,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -169.63705444335938,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1354,
|
| 95 |
+
"timestamp": 1769268874.3933384
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1460.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.9999995787679444,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0009178583408187524,
|
| 34 |
+
151.4633026123047
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.0009178583408187524,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9999995787679444,
|
| 40 |
+
-62.459686279296875
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9999995787679444,
|
| 58 |
+
0.0009178583408187524,
|
| 59 |
+
-0.0,
|
| 60 |
+
151.52056795512277
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.0009178583408187524,
|
| 70 |
+
0.9999995787679443,
|
| 71 |
+
0.0,
|
| 72 |
+
62.320638113644165
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 151.4633026123047,
|
| 85 |
+
"y": -62.459686279296875,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 89.9474105834961,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1460,
|
| 95 |
+
"timestamp": 1769268908.851627
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1465.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.7077554131169589,
|
| 32 |
+
0.0,
|
| 33 |
+
0.7064575537168831,
|
| 34 |
+
151.4633026123047
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.7064575537168831,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7077554131169589,
|
| 40 |
+
-62.459686279296875
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.707755413116959,
|
| 58 |
+
0.7064575537168831,
|
| 59 |
+
0.0,
|
| 60 |
+
-63.07385513763463
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.7064575537168831,
|
| 70 |
+
-0.7077554131169589,
|
| 71 |
+
-0.0,
|
| 72 |
+
-151.20857530712817
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 151.4633026123047,
|
| 85 |
+
"y": -62.459686279296875,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -45.052581787109375,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1465,
|
| 95 |
+
"timestamp": 1769268910.482413
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1556.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.9959956859149146,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.08940130669558938,
|
| 34 |
+
76.19266510009766
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.08940130669558938,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9959956859149146,
|
| 40 |
+
-148.39808654785156
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9959956859149144,
|
| 58 |
+
-0.08940130669558936,
|
| 59 |
+
-0.0,
|
| 60 |
+
62.620582889554036
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.08940130669558936,
|
| 70 |
+
0.9959956859149145,
|
| 71 |
+
0.0,
|
| 72 |
+
154.61557782025645
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 76.19266510009766,
|
| 85 |
+
"y": -148.39808654785156,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 95.12916564941406,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1556,
|
| 95 |
+
"timestamp": 1769268940.0640435
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1575.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.8115951423659693,
|
| 32 |
+
0.0,
|
| 33 |
+
0.5842202708636204,
|
| 34 |
+
96.5272216796875
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.5842202708636204,
|
| 38 |
+
0.0,
|
| 39 |
+
0.8115951423659693,
|
| 40 |
+
-145.83262634277344
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.8115951423659693,
|
| 58 |
+
0.5842202708636204,
|
| 59 |
+
-0.0,
|
| 60 |
+
163.53940068404572
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.5842202708636205,
|
| 70 |
+
0.8115951423659694,
|
| 71 |
+
0.0,
|
| 72 |
+
61.96389154284667
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 96.5272216796875,
|
| 85 |
+
"y": -145.83262634277344,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 54.2520751953125,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1575,
|
| 95 |
+
"timestamp": 1769268946.360928
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1603.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.34856789125706855,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9372835351080272,
|
| 34 |
+
125.30953216552734
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9372835351080272,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.34856789125706855,
|
| 40 |
+
-138.74765014648438
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.34856789125706855,
|
| 58 |
+
0.9372835351080272,
|
| 59 |
+
0.0,
|
| 60 |
+
86.367008635881
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9372835351080272,
|
| 70 |
+
-0.34856789125706855,
|
| 71 |
+
0.0,
|
| 72 |
+
-165.81353711927207
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 125.30953216552734,
|
| 85 |
+
"y": -138.74765014648438,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -20.39974594116211,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1603,
|
| 95 |
+
"timestamp": 1769268955.8746703
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1611.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.9887460683483645,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.14960351708984373,
|
| 34 |
+
134.29705810546875
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.14960351708984373,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9887460683483645,
|
| 40 |
+
-133.4539794921875
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.9887460683483646,
|
| 58 |
+
-0.14960351708984376,
|
| 59 |
+
0.0,
|
| 60 |
+
-152.75087289420125
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.14960351708984376,
|
| 70 |
+
-0.9887460683483646,
|
| 71 |
+
-0.0,
|
| 72 |
+
-111.86078530094643
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 134.29705810546875,
|
| 85 |
+
"y": -133.4539794921875,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -98.60395050048828,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1611,
|
| 95 |
+
"timestamp": 1769268958.55097
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1640.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.9478826498010869,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.3186196513181037,
|
| 34 |
+
152.2904510498047
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.3186196513181037,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9478826498010869,
|
| 40 |
+
-108.7713623046875
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.9478826498010869,
|
| 58 |
+
-0.3186196513181037,
|
| 59 |
+
0.0,
|
| 60 |
+
-179.01016981140623
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.3186196513181037,
|
| 70 |
+
-0.9478826498010869,
|
| 71 |
+
-0.0,
|
| 72 |
+
-54.57975671127574
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 152.2904510498047,
|
| 85 |
+
"y": -108.7713623046875,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -108.5794677734375,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1640,
|
| 95 |
+
"timestamp": 1769268968.1841838
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1652.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.11317313152710394,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9935752826536844,
|
| 34 |
+
154.6095428466797
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9935752826536844,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.11317313152710394,
|
| 40 |
+
-98.34404754638672
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.11317313152710394,
|
| 58 |
+
0.9935752826536844,
|
| 59 |
+
0.0,
|
| 60 |
+
80.21456871027587
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9935752826536843,
|
| 70 |
+
-0.11317313152710394,
|
| 71 |
+
0.0,
|
| 72 |
+
-164.7461240627217
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 154.6095428466797,
|
| 85 |
+
"y": -98.34404754638672,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -6.498265266418457,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1652,
|
| 95 |
+
"timestamp": 1769268972.1369953
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1655.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.7825892569246947,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.6225383963628702,
|
| 34 |
+
154.6095428466797
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.6225383963628702,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7825892569246947,
|
| 40 |
+
-98.34404754638672
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7825892569246948,
|
| 58 |
+
-0.6225383963628702,
|
| 59 |
+
-0.0,
|
| 60 |
+
59.77282159848836
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.6225383963628702,
|
| 70 |
+
0.7825892569246947,
|
| 71 |
+
0.0,
|
| 72 |
+
173.2133719584621
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 154.6095428466797,
|
| 85 |
+
"y": -98.34404754638672,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 128.50173950195312,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1655,
|
| 95 |
+
"timestamp": 1769268973.1390865
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1667.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.7064569882566545,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7077559775398136,
|
| 34 |
+
154.9400177001953
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7077559775398136,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7064569882566545,
|
| 40 |
+
-87.84029388427734
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7064569882566547,
|
| 58 |
+
-0.7077559775398137,
|
| 59 |
+
-0.0,
|
| 60 |
+
-171.62795133036397
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7077559775398137,
|
| 70 |
+
-0.7064569882566546,
|
| 71 |
+
-0.0,
|
| 72 |
+
47.60433422237176
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 154.9400177001953,
|
| 85 |
+
"y": -87.84029388427734,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -135.05262756347656,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1667,
|
| 95 |
+
"timestamp": 1769268976.9809372
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1735.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.7077554131169589,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7064575537168831,
|
| 34 |
+
155.0039520263672
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7064575537168831,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7077554131169589,
|
| 40 |
+
-18.164913177490234
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.038604736328125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.707755413116959,
|
| 58 |
+
-0.7064575537168831,
|
| 59 |
+
-0.0,
|
| 60 |
+
96.87214597433346
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.038604736328125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7064575537168831,
|
| 70 |
+
0.7077554131169589,
|
| 71 |
+
0.0,
|
| 72 |
+
122.36002839516478
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 155.0039520263672,
|
| 85 |
+
"y": -18.164913177490234,
|
| 86 |
+
"z": 2.038604736328125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 134.94741821289062,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1735,
|
| 95 |
+
"timestamp": 1769268998.7687602
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/175.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.7068242538842219,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7073891956490522,
|
| 34 |
+
35.057830810546875
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7073891956490522,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7068242538842219,
|
| 40 |
+
135.73910522460938
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0000152587890625
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7068242538842218,
|
| 58 |
+
-0.7073891956490523,
|
| 59 |
+
-0.0,
|
| 60 |
+
120.80010156842256
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0000152587890625
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7073891956490521,
|
| 70 |
+
0.7068242538842218,
|
| 71 |
+
-0.0,
|
| 72 |
+
-71.14416103502307
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 35.057830810546875,
|
| 85 |
+
"y": 135.73910522460938,
|
| 86 |
+
"z": 2.0000152587890625
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 135.02288818359375,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 175,
|
| 95 |
+
"timestamp": 1769268801.9566023
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1894.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.0011443596805276455,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9999993452202465,
|
| 34 |
+
2.6568870544433594
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9999993452202465,
|
| 38 |
+
0.0,
|
| 39 |
+
0.0011443596805276455,
|
| 40 |
+
84.56971740722656
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.0011443596805276455,
|
| 58 |
+
0.9999993452202465,
|
| 59 |
+
0.0,
|
| 60 |
+
-84.56662159826702
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9999993452202465,
|
| 70 |
+
0.0011443596805276455,
|
| 71 |
+
0.0,
|
| 72 |
+
-2.753663489561956
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 2.6568870544433594,
|
| 85 |
+
"y": 84.56971740722656,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 0.06556699424982071,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1894,
|
| 95 |
+
"timestamp": 1769269005.261124
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1912.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.9999993447625779,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0011447595445408581,
|
| 34 |
+
-16.576841354370117
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.0011447595445408581,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9999993447625779,
|
| 40 |
+
84.54771423339844
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.999999344762578,
|
| 58 |
+
0.0011447595445408583,
|
| 59 |
+
0.0,
|
| 60 |
+
16.48004368976553
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.0011447595445408583,
|
| 70 |
+
-0.999999344762578,
|
| 71 |
+
-0.0,
|
| 72 |
+
84.56663533193088
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -16.576841354370117,
|
| 85 |
+
"y": 84.54771423339844,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -89.93441009521484,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1912,
|
| 95 |
+
"timestamp": 1769269011.3833747
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1927.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.7062967563622553,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7079158791496042,
|
| 34 |
+
-26.501033782958984
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7079158791496042,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7062967563622553,
|
| 40 |
+
84.5363540649414
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7062967563622553,
|
| 58 |
+
-0.7079158791496041,
|
| 59 |
+
-0.0,
|
| 60 |
+
41.12703320683474
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7079158791496042,
|
| 70 |
+
0.7062967563622553,
|
| 71 |
+
-0.0,
|
| 72 |
+
-78.46825529959604
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -26.501033782958984,
|
| 85 |
+
"y": 84.5363540649414,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 135.0655975341797,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1927,
|
| 95 |
+
"timestamp": 1769269016.679271
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/1994.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.0011446263865735767,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.999999344915003,
|
| 34 |
+
-32.82628631591797
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.999999344915003,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.0011446263865735767,
|
| 40 |
+
91.52913665771484
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.0011446263865735767,
|
| 58 |
+
-0.999999344915003,
|
| 59 |
+
-0.0,
|
| 60 |
+
91.56665053184105
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.999999344915003,
|
| 70 |
+
-0.0011446263865735767,
|
| 71 |
+
-0.0,
|
| 72 |
+
-32.721498146951575
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -32.82628631591797,
|
| 85 |
+
"y": 91.52913665771484,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -179.93441772460938,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1994,
|
| 95 |
+
"timestamp": 1769269040.4584022
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/2454.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.9999826517636611,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.005890345636431435,
|
| 34 |
+
-51.068904876708984
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.005890345636431435,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9999826517636611,
|
| 40 |
+
-17.556434631347656
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.055450439453125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.999982651763661,
|
| 58 |
+
-0.005890345636431434,
|
| 59 |
+
0.0,
|
| 60 |
+
50.964605453155556
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.055450439453125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.0058903456364314336,
|
| 70 |
+
-0.9999826517636609,
|
| 71 |
+
-0.0,
|
| 72 |
+
-17.85694355916825
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -51.068904876708984,
|
| 85 |
+
"y": -17.556434631347656,
|
| 86 |
+
"z": 2.055450439453125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -90.33749389648438,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 2454,
|
| 95 |
+
"timestamp": 1769269044.000557
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/2472.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.0058903451162918554,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9999826517667249,
|
| 34 |
+
-44.1000862121582
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9999826517667249,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.0058903451162918554,
|
| 40 |
+
-22.870922088623047
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.055450439453125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.005890345116291857,
|
| 58 |
+
0.999982651766725,
|
| 59 |
+
0.0,
|
| 60 |
+
23.130290045979276
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.055450439453125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9999826517667251,
|
| 70 |
+
-0.005890345116291857,
|
| 71 |
+
0.0,
|
| 72 |
+
43.96460352934534
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -44.1000862121582,
|
| 85 |
+
"y": -22.870922088623047,
|
| 86 |
+
"z": 2.055450439453125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -0.3374938666820526,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 2472,
|
| 95 |
+
"timestamp": 1769269050.1387787
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/2524.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.9996425252614348,
|
| 32 |
+
0.0,
|
| 33 |
+
0.02673614947859282,
|
| 34 |
+
30.65923500061035
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.02673614947859282,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9996425252614348,
|
| 40 |
+
-120.61502838134766
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0000152587890625
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.9996425252614347,
|
| 58 |
+
0.026736149478592822,
|
| 59 |
+
0.0,
|
| 60 |
+
-27.42349367042547
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0000152587890625
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.026736149478592822,
|
| 70 |
+
-0.9996425252614349,
|
| 71 |
+
-0.0,
|
| 72 |
+
-121.39162144548564
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 30.65923500061035,
|
| 85 |
+
"y": -120.61502838134766,
|
| 86 |
+
"z": 2.0000152587890625
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -88.46794891357422,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 2524,
|
| 95 |
+
"timestamp": 1769269060.826502
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/2561.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.6879483575331531,
|
| 32 |
+
0.0,
|
| 33 |
+
0.7257596415945412,
|
| 34 |
+
34.302040100097656
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.7257596415945412,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.6879483575331531,
|
| 40 |
+
-125.9073715209961
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0000152587890625
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.6879483575331531,
|
| 58 |
+
0.7257596415945413,
|
| 59 |
+
0.0,
|
| 60 |
+
67.78045668229035
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0000152587890625
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.7257596415945412,
|
| 70 |
+
-0.6879483575331531,
|
| 71 |
+
0.0,
|
| 72 |
+
-111.51280576819421
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 34.302040100097656,
|
| 85 |
+
"y": -125.9073715209961,
|
| 86 |
+
"z": 2.0000152587890625
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -43.46792221069336,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 2561,
|
| 95 |
+
"timestamp": 1769269101.4903314
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/260.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.9998177494503144,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.019091041985924248,
|
| 34 |
+
-272.28668212890625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.019091041985924248,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9998177494503144,
|
| 40 |
+
-6.664784908294678
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9998177494503143,
|
| 58 |
+
-0.019091041985924248,
|
| 59 |
+
-0.0,
|
| 60 |
+
-272.3642954199276
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.019091041985924248,
|
| 70 |
+
0.9998177494503144,
|
| 71 |
+
0.0,
|
| 72 |
+
1.4653337668506454
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -272.28668212890625,
|
| 85 |
+
"y": -6.664784908294678,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 91.09390258789062,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 260,
|
| 95 |
+
"timestamp": 1769268806.9756258
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/2846.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.9999970375088931,
|
| 32 |
+
0.0,
|
| 33 |
+
0.002434126832636531,
|
| 34 |
+
-217.39239501953125
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.002434126832636531,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9999970375088931,
|
| 40 |
+
-3.9215495586395264
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9999970375088931,
|
| 58 |
+
0.002434126832636531,
|
| 59 |
+
-0.0,
|
| 60 |
+
-217.3822054474881
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.002434126832636531,
|
| 70 |
+
0.9999970375088932,
|
| 71 |
+
0.0,
|
| 72 |
+
4.450698603011995
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -217.39239501953125,
|
| 85 |
+
"y": -3.9215495586395264,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 89.86053466796875,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 2846,
|
| 95 |
+
"timestamp": 1769269116.7381291
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/2886.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.9999970375088931,
|
| 32 |
+
0.0,
|
| 33 |
+
0.002434126832636531,
|
| 34 |
+
-256.8629150390625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.002434126832636531,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9999970375088931,
|
| 40 |
+
-3.8254764080047607
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9999970375088931,
|
| 58 |
+
0.002434126832636531,
|
| 59 |
+
-0.0,
|
| 60 |
+
-256.85284239018864
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.002434126832636531,
|
| 70 |
+
0.9999970375088932,
|
| 71 |
+
0.0,
|
| 72 |
+
4.450701988870742
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -256.8629150390625,
|
| 85 |
+
"y": -3.8254764080047607,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 89.86053466796875,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 2886,
|
| 95 |
+
"timestamp": 1769269128.5625763
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/2923.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.7088266253981751,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.705382743711976,
|
| 34 |
+
-231.93223571777344
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.705382743711976,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7088266253981751,
|
| 40 |
+
6.613871097564697
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7088266253981751,
|
| 58 |
+
-0.705382743711976,
|
| 59 |
+
-0.0,
|
| 60 |
+
-159.7344334235259
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.705382743711976,
|
| 70 |
+
0.7088266253981751,
|
| 71 |
+
0.0,
|
| 72 |
+
-168.2890847167611
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -231.93223571777344,
|
| 85 |
+
"y": 6.613871097564697,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 134.8604736328125,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 2923,
|
| 95 |
+
"timestamp": 1769269140.3158004
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/2925.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.7053833100275975,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7088260618335858,
|
| 34 |
+
-231.93223571777344
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7088260618335858,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7053833100275975,
|
| 40 |
+
6.613871097564697
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7053833100275975,
|
| 58 |
+
-0.7088260618335858,
|
| 59 |
+
-0.0,
|
| 60 |
+
168.28921233626573
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7088260618335858,
|
| 70 |
+
-0.7053833100275975,
|
| 71 |
+
-0.0,
|
| 72 |
+
-159.73429896919222
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -231.93223571777344,
|
| 85 |
+
"y": 6.613871097564697,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -135.1394805908203,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 2925,
|
| 95 |
+
"timestamp": 1769269140.8866117
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/2927.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.7088263905796511,
|
| 32 |
+
0.0,
|
| 33 |
+
0.705382979676873,
|
| 34 |
+
-231.93223571777344
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.705382979676873,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7088263905796511,
|
| 40 |
+
6.613871097564697
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7088263905796511,
|
| 58 |
+
0.7053829796768729,
|
| 59 |
+
0.0,
|
| 60 |
+
159.73437740089926
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.7053829796768729,
|
| 70 |
+
-0.708826390579651,
|
| 71 |
+
-0.0,
|
| 72 |
+
168.28913789156775
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -231.93223571777344,
|
| 85 |
+
"y": 6.613871097564697,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -45.13950729370117,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 2927,
|
| 95 |
+
"timestamp": 1769269141.4517274
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/3355.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.7081712232012318,
|
| 32 |
+
0.0,
|
| 33 |
+
0.7060407343982861,
|
| 34 |
+
-207.7958526611328
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.7060407343982861,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7081712232012318,
|
| 40 |
+
-91.70680236816406
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7081712232012318,
|
| 58 |
+
0.7060407343982861,
|
| 59 |
+
-0.0,
|
| 60 |
+
-82.40630506184034
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.7060407343982861,
|
| 70 |
+
0.7081712232012318,
|
| 71 |
+
0.0,
|
| 72 |
+
211.65645482672062
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -207.7958526611328,
|
| 85 |
+
"y": -91.70680236816406,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 45.0863151550293,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 3355,
|
| 95 |
+
"timestamp": 1769269150.0567276
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/3374.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.0015062828228017628,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9999988655553854,
|
| 34 |
+
-228.0956573486328
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9999988655553854,
|
| 38 |
+
0.0,
|
| 39 |
+
0.0015062828228017628,
|
| 40 |
+
-91.73738098144531
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.0015062828228017626,
|
| 58 |
+
0.9999988655553852,
|
| 59 |
+
0.0,
|
| 60 |
+
91.39370033984757
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9999988655553853,
|
| 70 |
+
0.0015062828228017626,
|
| 71 |
+
0.0,
|
| 72 |
+
228.23358102792386
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -228.0956573486328,
|
| 85 |
+
"y": -91.73738098144531,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 0.08630368113517761,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 3374,
|
| 95 |
+
"timestamp": 1769269156.076131
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/3405.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.15018223368861405,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9886583316213435,
|
| 34 |
+
-257.51055908203125
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9886583316213435,
|
| 38 |
+
0.0,
|
| 39 |
+
0.15018223368861405,
|
| 40 |
+
-84.6146240234375
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.15018223368861408,
|
| 58 |
+
0.9886583316213436,
|
| 59 |
+
0.0,
|
| 60 |
+
44.981442056435704
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9886583316213436,
|
| 70 |
+
0.15018223368861408,
|
| 71 |
+
0.0,
|
| 72 |
+
267.29757295548256
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -257.51055908203125,
|
| 85 |
+
"y": -84.6146240234375,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 8.637487411499023,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 3405,
|
| 95 |
+
"timestamp": 1769269165.75575
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/3421.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.4327534059878299,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.9015123346942805,
|
| 34 |
+
-269.90277099609375
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.9015123346942805,
|
| 38 |
+
0.0,
|
| 39 |
+
0.4327534059878299,
|
| 40 |
+
-67.9555892944336
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.43275340598782985,
|
| 58 |
+
-0.9015123346942805,
|
| 59 |
+
-0.0,
|
| 60 |
+
-178.0641453944633
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9015123346942805,
|
| 70 |
+
0.4327534059878299,
|
| 71 |
+
-0.0,
|
| 72 |
+
-213.91266449806795
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -269.90277099609375,
|
| 85 |
+
"y": -67.9555892944336,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 154.35757446289062,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 3421,
|
| 95 |
+
"timestamp": 1769269170.8710423
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/3444.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
0.9999735434278894,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0072740940515656416,
|
| 34 |
+
-271.9420166015625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.0072740940515656416,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9999735434278894,
|
| 40 |
+
-47.01640701293945
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.9999735434278895,
|
| 58 |
+
0.0072740940515656416,
|
| 59 |
+
0.0,
|
| 60 |
+
272.27682371456916
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.007274094051565642,
|
| 70 |
+
-0.9999735434278894,
|
| 71 |
+
-0.0,
|
| 72 |
+
-45.03703131464474
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -271.9420166015625,
|
| 85 |
+
"y": -47.01640701293945,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -89.58322143554688,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 3444,
|
| 95 |
+
"timestamp": 1769269178.7558098
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/3461.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.7019441329765356,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7122320086740133,
|
| 34 |
+
-272.08355712890625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7122320086740133,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7019441329765356,
|
| 40 |
+
-27.561159133911133
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7019441329765357,
|
| 58 |
+
-0.7122320086740134,
|
| 59 |
+
-0.0,
|
| 60 |
+
-210.61739633735147
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7122320086740133,
|
| 70 |
+
0.7019441329765356,
|
| 71 |
+
-0.0,
|
| 72 |
+
-174.44022446900996
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -272.08355712890625,
|
| 85 |
+
"y": -27.561159133911133,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 135.41680908203125,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 3461,
|
| 95 |
+
"timestamp": 1769269184.5556064
|
| 96 |
+
}
|
references/Town05/subset_3/reference/cameras/3476.json
ADDED
|
@@ -0,0 +1,96 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"intrinsic": {
|
| 3 |
+
"K": [
|
| 4 |
+
[
|
| 5 |
+
640.0000000000001,
|
| 6 |
+
0.0,
|
| 7 |
+
640.0
|
| 8 |
+
],
|
| 9 |
+
[
|
| 10 |
+
0.0,
|
| 11 |
+
640.0000000000001,
|
| 12 |
+
352.0
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.0,
|
| 16 |
+
0.0,
|
| 17 |
+
1.0
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"width": 1280,
|
| 21 |
+
"height": 704,
|
| 22 |
+
"fov": 90.0,
|
| 23 |
+
"fx": 640.0000000000001,
|
| 24 |
+
"fy": 640.0000000000001,
|
| 25 |
+
"cx": 640.0,
|
| 26 |
+
"cy": 352.0
|
| 27 |
+
},
|
| 28 |
+
"extrinsic": {
|
| 29 |
+
"c2w": [
|
| 30 |
+
[
|
| 31 |
+
-0.007274093531430729,
|
| 32 |
+
0.0,
|
| 33 |
+
0.999973543431673,
|
| 34 |
+
-272.1162109375
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.999973543431673,
|
| 38 |
+
0.0,
|
| 39 |
+
0.007274093531430729,
|
| 40 |
+
-23.0723876953125
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.007274093531430729,
|
| 58 |
+
0.999973543431673,
|
| 59 |
+
0.0,
|
| 60 |
+
21.092378509333063
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.999973543431673,
|
| 70 |
+
0.007274093531430729,
|
| 71 |
+
0.0,
|
| 72 |
+
272.2768423824616
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -272.1162109375,
|
| 85 |
+
"y": -23.0723876953125,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 0.4167785346508026,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 3476,
|
| 95 |
+
"timestamp": 1769269189.7353873
|
| 96 |
+
}
|