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/Town03/subset_0/reference/cameras/1.json +96 -0
- references/Town03/subset_0/reference/cameras/10.json +96 -0
- references/Town03/subset_0/reference/cameras/1066.json +96 -0
- references/Town03/subset_0/reference/cameras/1074.json +96 -0
- references/Town03/subset_0/reference/cameras/1075.json +96 -0
- references/Town03/subset_0/reference/cameras/1080.json +96 -0
- references/Town03/subset_0/reference/cameras/1081.json +96 -0
- references/Town03/subset_0/reference/cameras/1092.json +96 -0
- references/Town03/subset_0/reference/cameras/1093.json +96 -0
- references/Town03/subset_0/reference/cameras/1102.json +96 -0
- references/Town03/subset_0/reference/cameras/1104.json +96 -0
- references/Town03/subset_0/reference/cameras/1113.json +96 -0
- references/Town03/subset_0/reference/cameras/1124.json +96 -0
- references/Town03/subset_0/reference/cameras/1131.json +96 -0
- references/Town03/subset_0/reference/cameras/1132.json +96 -0
- references/Town03/subset_0/reference/cameras/1135.json +96 -0
- references/Town03/subset_0/reference/cameras/1150.json +96 -0
- references/Town03/subset_0/reference/cameras/1163.json +96 -0
- references/Town03/subset_0/reference/cameras/1184.json +96 -0
- references/Town03/subset_0/reference/cameras/1187.json +96 -0
- references/Town03/subset_0/reference/cameras/1190.json +96 -0
- references/Town03/subset_0/reference/cameras/1202.json +96 -0
- references/Town03/subset_0/reference/cameras/1214.json +96 -0
- references/Town03/subset_0/reference/cameras/1224.json +96 -0
- references/Town03/subset_0/reference/cameras/1227.json +96 -0
- references/Town03/subset_0/reference/cameras/1236.json +96 -0
- references/Town03/subset_0/reference/cameras/1241.json +96 -0
- references/Town03/subset_0/reference/cameras/1244.json +96 -0
- references/Town03/subset_0/reference/cameras/1251.json +96 -0
- references/Town03/subset_0/reference/cameras/1260.json +96 -0
- references/Town03/subset_0/reference/cameras/1264.json +96 -0
- references/Town03/subset_0/reference/cameras/1272.json +96 -0
- references/Town03/subset_0/reference/cameras/1273.json +96 -0
- references/Town03/subset_0/reference/cameras/1274.json +96 -0
- references/Town03/subset_0/reference/cameras/1282.json +96 -0
- references/Town03/subset_0/reference/cameras/1307.json +96 -0
- references/Town03/subset_0/reference/cameras/1310.json +96 -0
- references/Town03/subset_0/reference/cameras/1312.json +96 -0
- references/Town03/subset_0/reference/cameras/1323.json +96 -0
- references/Town03/subset_0/reference/cameras/1324.json +96 -0
- references/Town03/subset_0/reference/cameras/133.json +96 -0
- references/Town03/subset_0/reference/cameras/1331.json +96 -0
- references/Town03/subset_0/reference/cameras/1336.json +96 -0
- references/Town03/subset_0/reference/cameras/1345.json +96 -0
- references/Town03/subset_0/reference/cameras/1351.json +96 -0
- references/Town03/subset_0/reference/cameras/1354.json +96 -0
- references/Town03/subset_0/reference/cameras/1362.json +96 -0
- references/Town03/subset_0/reference/cameras/1373.json +96 -0
- references/Town03/subset_0/reference/cameras/1374.json +96 -0
- references/Town03/subset_0/reference/cameras/1390.json +96 -0
references/Town03/subset_0/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 |
+
0.7053404575403404,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7088687036093378,
|
| 34 |
+
-38.35831832885742
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7088687036093378,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7053404575403404,
|
| 40 |
+
193.62677001953125
|
| 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 |
+
0.7053404575403404,
|
| 58 |
+
-0.708868703609338,
|
| 59 |
+
-0.0,
|
| 60 |
+
164.31163124836283
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.708868703609338,
|
| 70 |
+
-0.7053404575403404,
|
| 71 |
+
-0.0,
|
| 72 |
+
109.38178317122298
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -38.35831832885742,
|
| 85 |
+
"y": 193.62677001953125,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -135.1429443359375,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1,
|
| 95 |
+
"timestamp": 1769263656.086295
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/10.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 |
+
0.3904516448772819,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.9206234371406286,
|
| 34 |
+
-53.75978088378906
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.9206234371406286,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.3904516448772819,
|
| 40 |
+
191.20681762695312
|
| 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 |
+
0.390451644877282,
|
| 58 |
+
-0.9206234371406287,
|
| 59 |
+
-0.0,
|
| 60 |
+
197.02007252276465
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9206234371406287,
|
| 70 |
+
-0.39045164487728196,
|
| 71 |
+
-0.0,
|
| 72 |
+
25.164502197033368
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": -53.75978088378906,
|
| 85 |
+
"y": 191.20681762695312,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -157.01739501953125,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 10,
|
| 95 |
+
"timestamp": 1769263659.2530074
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1066.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 |
+
-0.024313329957161345,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9997043872997629,
|
| 34 |
+
232.77960205078125
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9997043872997629,
|
| 38 |
+
0.0,
|
| 39 |
+
0.024313329957161345,
|
| 40 |
+
96.18475341796875
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.2604169845581055
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.024313329957161345,
|
| 58 |
+
0.9997043872997629,
|
| 59 |
+
0.0,
|
| 60 |
+
-90.49667271133187
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.2604169845581055
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9997043872997629,
|
| 70 |
+
0.024313329957161345,
|
| 71 |
+
0.0,
|
| 72 |
+
-235.04936109075817
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 232.77960205078125,
|
| 85 |
+
"y": 96.18475341796875,
|
| 86 |
+
"z": 2.2604169845581055
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 1.3931884765625,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1066,
|
| 95 |
+
"timestamp": 1769263717.8916118
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1074.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 |
+
0.9997043840622383,
|
| 32 |
+
0.0,
|
| 33 |
+
0.024313463075852474,
|
| 34 |
+
232.54257202148438
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.024313463075852474,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9997043840622383,
|
| 40 |
+
105.9302978515625
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.422254800796509
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.9997043840622383,
|
| 58 |
+
0.02431346307585247,
|
| 59 |
+
0.0,
|
| 60 |
+
-235.04936111641473
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.422254800796509
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.02431346307585247,
|
| 70 |
+
-0.9997043840622382,
|
| 71 |
+
-0.0,
|
| 72 |
+
100.24506792881759
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 232.54257202148438,
|
| 85 |
+
"y": 105.9302978515625,
|
| 86 |
+
"z": 2.422254800796509
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -88.60680389404297,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1074,
|
| 95 |
+
"timestamp": 1769263720.5560408
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1075.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 |
+
0.6897055827464693,
|
| 32 |
+
0.0,
|
| 33 |
+
0.7240899178474681,
|
| 34 |
+
232.54257202148438
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.7240899178474681,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.6897055827464693,
|
| 40 |
+
105.9302978515625
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.422254800796509
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.6897055827464693,
|
| 58 |
+
0.7240899178474682,
|
| 59 |
+
0.0,
|
| 60 |
+
-237.0889708183364
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.422254800796509
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.7240899178474681,
|
| 70 |
+
-0.6897055827464693,
|
| 71 |
+
0.0,
|
| 72 |
+
-95.32101406085658
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 232.54257202148438,
|
| 85 |
+
"y": 105.9302978515625,
|
| 86 |
+
"z": 2.422254800796509
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -43.606807708740234,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1075,
|
| 95 |
+
"timestamp": 1769263720.913956
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1080.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 |
+
-0.9997043808246959,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.024313596194543072,
|
| 34 |
+
232.285400390625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.024313596194543072,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9997043808246959,
|
| 40 |
+
116.5042724609375
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.634535074234009
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9997043808246961,
|
| 58 |
+
-0.024313596194543076,
|
| 59 |
+
-0.0,
|
| 60 |
+
235.04937020768062
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.634535074234009
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.024313596194543076,
|
| 70 |
+
0.999704380824696,
|
| 71 |
+
0.0,
|
| 72 |
+
-110.8221381370078
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 232.285400390625,
|
| 85 |
+
"y": 116.5042724609375,
|
| 86 |
+
"z": 2.634535074234009
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 91.39320373535156,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1080,
|
| 95 |
+
"timestamp": 1769263722.4778028
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1081.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 |
+
-0.6897052452819779,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.724090239286877,
|
| 34 |
+
232.285400390625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.724090239286877,
|
| 38 |
+
0.0,
|
| 39 |
+
0.6897052452819779,
|
| 40 |
+
116.5042724609375
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.634535074234009
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.6897052452819779,
|
| 58 |
+
-0.7240902392868769,
|
| 59 |
+
-0.0,
|
| 60 |
+
244.56806557602218
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.634535074234009
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.724090239286877,
|
| 70 |
+
0.6897052452819779,
|
| 71 |
+
-0.0,
|
| 72 |
+
87.8419833376264
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 232.285400390625,
|
| 85 |
+
"y": 116.5042724609375,
|
| 86 |
+
"z": 2.634535074234009
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 136.39321899414062,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1081,
|
| 95 |
+
"timestamp": 1769263722.8352065
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1092.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 |
+
0.02431386243192319,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.9997043743495582,
|
| 34 |
+
232.05462646484375
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.9997043743495582,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.02431386243192319,
|
| 40 |
+
125.99327850341797
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.828906774520874
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.02431386243192319,
|
| 58 |
+
-0.9997043743495582,
|
| 59 |
+
-0.0,
|
| 60 |
+
120.31388739395156
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.828906774520874
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9997043743495582,
|
| 70 |
+
-0.02431386243192319,
|
| 71 |
+
-0.0,
|
| 72 |
+
235.04940840583612
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 232.05462646484375,
|
| 85 |
+
"y": 125.99327850341797,
|
| 86 |
+
"z": 2.828906774520874
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -178.60678100585938,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1092,
|
| 95 |
+
"timestamp": 1769263726.4546957
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1093.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 |
+
0.7240902392868771,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.6897052452819777,
|
| 34 |
+
232.05462646484375
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.6897052452819777,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7240902392868771,
|
| 40 |
+
125.99327850341797
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.828906774520874
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7240902392868771,
|
| 58 |
+
-0.6897052452819777,
|
| 59 |
+
0.0,
|
| 60 |
+
-81.1302649504752
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.828906774520874
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.6897052452819777,
|
| 70 |
+
-0.7240902392868771,
|
| 71 |
+
-0.0,
|
| 72 |
+
251.27979624483083
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 232.05462646484375,
|
| 85 |
+
"y": 125.99327850341797,
|
| 86 |
+
"z": 2.828906774520874
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -133.60678100585938,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1093,
|
| 95 |
+
"timestamp": 1769263726.8057115
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1102.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 |
+
0.02431386243192319,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.9997043743495582,
|
| 34 |
+
231.79925537109375
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.9997043743495582,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.02431386243192319,
|
| 40 |
+
136.49327087402344
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.0439870357513428
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.02431386243192319,
|
| 58 |
+
-0.9997043743495582,
|
| 59 |
+
-0.0,
|
| 60 |
+
130.81698475512536
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.0439870357513428
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9997043743495582,
|
| 70 |
+
-0.02431386243192319,
|
| 71 |
+
-0.0,
|
| 72 |
+
235.049408176367
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 231.79925537109375,
|
| 85 |
+
"y": 136.49327087402344,
|
| 86 |
+
"z": 3.0439870357513428
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -178.60678100585938,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1102,
|
| 95 |
+
"timestamp": 1769263729.7202325
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1104.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 |
+
0.9997043840622383,
|
| 32 |
+
0.0,
|
| 33 |
+
0.024313463075852474,
|
| 34 |
+
231.79925537109375
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.024313463075852474,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9997043840622383,
|
| 40 |
+
136.49327087402344
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.0439870357513428
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.9997043840622383,
|
| 58 |
+
0.02431346307585247,
|
| 59 |
+
0.0,
|
| 60 |
+
-235.04935591834266
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.0439870357513428
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.02431346307585247,
|
| 70 |
+
-0.9997043840622382,
|
| 71 |
+
-0.0,
|
| 72 |
+
130.81707865128067
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 231.79925537109375,
|
| 85 |
+
"y": 136.49327087402344,
|
| 86 |
+
"z": 3.0439870357513428
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -88.60680389404297,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1104,
|
| 95 |
+
"timestamp": 1769263730.4351873
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1113.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 |
+
0.8076242165130455,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.5896974859211199,
|
| 34 |
+
231.1416015625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.5896974859211199,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.8076242165130455,
|
| 40 |
+
145.5724639892578
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.24458909034729
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.8076242165130456,
|
| 58 |
+
-0.5896974859211198,
|
| 59 |
+
0.0,
|
| 60 |
+
-100.83183883167655
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.24458909034729
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.5896974859211199,
|
| 70 |
+
-0.8076242165130454,
|
| 71 |
+
-0.0,
|
| 72 |
+
253.87146850838528
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 231.1416015625,
|
| 85 |
+
"y": 145.5724639892578,
|
| 86 |
+
"z": 3.24458909034729
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -126.13554382324219,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1113,
|
| 95 |
+
"timestamp": 1769263733.3945663
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1124.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 |
+
0.9486757440657573,
|
| 32 |
+
0.0,
|
| 33 |
+
0.31625042706893197,
|
| 34 |
+
229.11581420898438
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.31625042706893197,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9486757440657573,
|
| 40 |
+
153.91387939453125
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.438533306121826
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.948675744065757,
|
| 58 |
+
0.31625042706893186,
|
| 59 |
+
0.0,
|
| 60 |
+
-266.0319456122966
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.438533306121826
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.3162504270689319,
|
| 70 |
+
-0.9486757440657572,
|
| 71 |
+
-0.0,
|
| 72 |
+
73.55638996481677
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 229.11581420898438,
|
| 85 |
+
"y": 153.91387939453125,
|
| 86 |
+
"z": 3.438533306121826
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -71.56368255615234,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1124,
|
| 95 |
+
"timestamp": 1769263737.0779667
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1131.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 |
+
-0.2773324107000491,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.9607740285703498,
|
| 34 |
+
225.35018920898438
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.9607740285703498,
|
| 38 |
+
0.0,
|
| 39 |
+
0.2773324107000491,
|
| 40 |
+
162.5054473876953
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.650526285171509
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.2773324107000491,
|
| 58 |
+
-0.9607740285703498,
|
| 59 |
+
-0.0,
|
| 60 |
+
218.62792457634288
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.650526285171509
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9607740285703498,
|
| 70 |
+
0.2773324107000491,
|
| 71 |
+
-0.0,
|
| 72 |
+
171.44258164948695
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 225.35018920898438,
|
| 85 |
+
"y": 162.5054473876953,
|
| 86 |
+
"z": 3.650526285171509
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 163.89894104003906,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1131,
|
| 95 |
+
"timestamp": 1769263739.4545188
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1132.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 |
+
0.4832671351516615,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.8754729442320338,
|
| 34 |
+
225.35018920898438
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.8754729442320338,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.4832671351516615,
|
| 40 |
+
162.5054473876953
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.650526285171509
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.4832671351516615,
|
| 58 |
+
-0.8754729442320337,
|
| 59 |
+
-0.0,
|
| 60 |
+
33.364782133338764
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.650526285171509
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.8754729442320338,
|
| 70 |
+
-0.48326713515166153,
|
| 71 |
+
-0.0,
|
| 72 |
+
275.821535635626
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 225.35018920898438,
|
| 85 |
+
"y": 162.5054473876953,
|
| 86 |
+
"z": 3.650526285171509
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -151.1009979248047,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1132,
|
| 95 |
+
"timestamp": 1769263739.7868774
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1135.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 |
+
0.27733244268374885,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9607740193380883,
|
| 34 |
+
225.35018920898438
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9607740193380883,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.27733244268374885,
|
| 40 |
+
162.5054473876953
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.650526285171509
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.2773324426837489,
|
| 58 |
+
0.9607740193380881,
|
| 59 |
+
0.0,
|
| 60 |
+
-218.62793028358288
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.650526285171509
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9607740193380883,
|
| 70 |
+
-0.27733244268374885,
|
| 71 |
+
0.0,
|
| 72 |
+
-171.44257437146962
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 225.35018920898438,
|
| 85 |
+
"y": 162.5054473876953,
|
| 86 |
+
"z": 3.650526285171509
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -16.10106086730957,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1135,
|
| 95 |
+
"timestamp": 1769263740.8245275
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1150.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 |
+
-0.649957615922302,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7599704583104513,
|
| 34 |
+
213.74929809570312
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7599704583104513,
|
| 38 |
+
0.0,
|
| 39 |
+
0.649957615922302,
|
| 40 |
+
176.73948669433594
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.067163467407227
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.649957615922302,
|
| 58 |
+
-0.7599704583104514,
|
| 59 |
+
-0.0,
|
| 60 |
+
273.24477289999703
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.067163467407227
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7599704583104513,
|
| 70 |
+
0.649957615922302,
|
| 71 |
+
-0.0,
|
| 72 |
+
47.56997662614679
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 213.74929809570312,
|
| 85 |
+
"y": 176.73948669433594,
|
| 86 |
+
"z": 4.067163467407227
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 139.4615936279297,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1150,
|
| 95 |
+
"timestamp": 1769263745.7752583
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1163.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 |
+
0.9733878338648096,
|
| 32 |
+
0.0,
|
| 33 |
+
0.22916396942794848,
|
| 34 |
+
207.06301879882812
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.22916396942794848,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9733878338648096,
|
| 40 |
+
181.5890655517578
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.2529706954956055
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.9733878338648095,
|
| 58 |
+
0.2291639694279485,
|
| 59 |
+
0.0,
|
| 60 |
+
-243.1662944086524
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.2529706954956055
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.22916396942794848,
|
| 70 |
+
-0.9733878338648098,
|
| 71 |
+
-0.0,
|
| 72 |
+
129.3052038612871
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 207.06301879882812,
|
| 85 |
+
"y": 181.5890655517578,
|
| 86 |
+
"z": 4.2529706954956055
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -76.75214385986328,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1163,
|
| 95 |
+
"timestamp": 1769263750.0517988
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1184.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 |
+
0.3529856533239745,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9356287343532406,
|
| 34 |
+
189.63233947753906
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9356287343532406,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.3529856533239745,
|
| 40 |
+
190.17022705078125
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.672237873077393
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.3529856533239745,
|
| 58 |
+
0.9356287343532407,
|
| 59 |
+
0.0,
|
| 60 |
+
-244.86622408902372
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.672237873077393
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9356287343532405,
|
| 70 |
+
-0.3529856533239745,
|
| 71 |
+
0.0,
|
| 72 |
+
-110.29810393952532
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 189.63233947753906,
|
| 85 |
+
"y": 190.17022705078125,
|
| 86 |
+
"z": 4.672237873077393
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -20.670040130615234,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1184,
|
| 95 |
+
"timestamp": 1769263757.084233
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1187.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 |
+
-0.9111881638706717,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.4119904489451107,
|
| 34 |
+
189.63233947753906
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.4119904489451107,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9111881638706717,
|
| 40 |
+
190.17022705078125
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.672237873077393
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9111881638706718,
|
| 58 |
+
-0.4119904489451108,
|
| 59 |
+
-0.0,
|
| 60 |
+
251.13906043768375
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.672237873077393
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.4119904489451108,
|
| 70 |
+
0.9111881638706718,
|
| 71 |
+
0.0,
|
| 72 |
+
-95.15414733340715
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 189.63233947753906,
|
| 85 |
+
"y": 190.17022705078125,
|
| 86 |
+
"z": 4.672237873077393
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 114.3299331665039,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1187,
|
| 95 |
+
"timestamp": 1769263758.2114928
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1190.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 |
+
-0.26479465603783614,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.9643048222081045,
|
| 34 |
+
180.7599334716797
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.9643048222081045,
|
| 38 |
+
0.0,
|
| 39 |
+
0.26479465603783614,
|
| 40 |
+
193.05517578125
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.818005561828613
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.26479465603783614,
|
| 58 |
+
-0.9643048222081045,
|
| 59 |
+
-0.0,
|
| 60 |
+
234.0283013671482
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.818005561828613
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9643048222081045,
|
| 70 |
+
0.26479465603783614,
|
| 71 |
+
-0.0,
|
| 72 |
+
123.1876966414368
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 180.7599334716797,
|
| 85 |
+
"y": 193.05517578125,
|
| 86 |
+
"z": 4.818005561828613
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 164.64524841308594,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1190,
|
| 95 |
+
"timestamp": 1769263758.9659119
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1202.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 |
+
0.985310997036193,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.1707695497433411,
|
| 34 |
+
171.3007354736328
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.1707695497433411,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.985310997036193,
|
| 40 |
+
195.1684112548828
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.824732303619385
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.985310997036193,
|
| 58 |
+
-0.1707695497433411,
|
| 59 |
+
0.0,
|
| 60 |
+
-135.45567674843872
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.824732303619385
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.1707695497433411,
|
| 70 |
+
-0.9853109970361928,
|
| 71 |
+
-0.0,
|
| 72 |
+
221.55453135105375
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 171.3007354736328,
|
| 85 |
+
"y": 195.1684112548828,
|
| 86 |
+
"z": 4.824732303619385
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -99.83256530761719,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1202,
|
| 95 |
+
"timestamp": 1769263762.919586
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1214.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 |
+
0.08157884678965124,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9966668910706679,
|
| 34 |
+
162.3278350830078
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9966668910706679,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.08157884678965124,
|
| 40 |
+
196.31085205078125
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.697296142578125
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.08157884678965126,
|
| 58 |
+
0.996666891070668,
|
| 59 |
+
0.0,
|
| 60 |
+
-208.8990441848185
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.697296142578125
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9966668910706681,
|
| 70 |
+
-0.08157884678965127,
|
| 71 |
+
0.0,
|
| 72 |
+
-145.77196580381695
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 162.3278350830078,
|
| 85 |
+
"y": 196.31085205078125,
|
| 86 |
+
"z": 4.697296142578125
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -4.679323673248291,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1214,
|
| 95 |
+
"timestamp": 1769263766.9337056
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1224.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 |
+
0.002495911722128993,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9999968852074868,
|
| 34 |
+
152.03082275390625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9999968852074868,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.002495911722128993,
|
| 40 |
+
196.65171813964844
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.460274696350098
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.002495911722128993,
|
| 58 |
+
0.9999968852074866,
|
| 59 |
+
0.0,
|
| 60 |
+
-197.03056112298543
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.460274696350098
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9999968852074868,
|
| 70 |
+
-0.002495911722128993,
|
| 71 |
+
0.0,
|
| 72 |
+
-151.5395238809562
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 152.03082275390625,
|
| 85 |
+
"y": 196.65171813964844,
|
| 86 |
+
"z": 4.460274696350098
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -0.1430053561925888,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1224,
|
| 95 |
+
"timestamp": 1769263770.2596986
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1227.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 |
+
-0.7088690792962897,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7053400799739304,
|
| 34 |
+
152.03082275390625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7053400799739304,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7088690792962897,
|
| 40 |
+
196.65171813964844
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.460274696350098
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7088690792962896,
|
| 58 |
+
-0.7053400799739303,
|
| 59 |
+
-0.0,
|
| 60 |
+
246.47628794984936
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.460274696350098
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7053400799739303,
|
| 70 |
+
0.7088690792962896,
|
| 71 |
+
0.0,
|
| 72 |
+
-32.166889699943376
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 152.03082275390625,
|
| 85 |
+
"y": 196.65171813964844,
|
| 86 |
+
"z": 4.460274696350098
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 134.85702514648438,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1227,
|
| 95 |
+
"timestamp": 1769263771.3903506
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1236.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 |
+
-0.9999968858715037,
|
| 32 |
+
0.0,
|
| 33 |
+
0.002495645666922877,
|
| 34 |
+
142.6126708984375
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.002495645666922877,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9999968858715037,
|
| 40 |
+
196.6752166748047
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.250733375549316
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9999968858715038,
|
| 58 |
+
0.002495645666922877,
|
| 59 |
+
-0.0,
|
| 60 |
+
142.12139513196954
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.250733375549316
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.002495645666922877,
|
| 70 |
+
0.9999968858715036,
|
| 71 |
+
0.0,
|
| 72 |
+
-197.0305148970839
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 142.6126708984375,
|
| 85 |
+
"y": 196.6752166748047,
|
| 86 |
+
"z": 4.250733375549316
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 89.85700988769531,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1236,
|
| 95 |
+
"timestamp": 1769263774.3209562
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1241.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 |
+
0.7053398911906504,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7088692671396902,
|
| 34 |
+
132.55972290039062
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7088692671396902,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7053398911906504,
|
| 40 |
+
196.70028686523438
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.027069091796875
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7053398911906503,
|
| 58 |
+
-0.7088692671396902,
|
| 59 |
+
-0.0,
|
| 60 |
+
45.93512766950124
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.027069091796875
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7088692671396901,
|
| 70 |
+
-0.7053398911906503,
|
| 71 |
+
-0.0,
|
| 72 |
+
232.7080725593344
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 132.55972290039062,
|
| 85 |
+
"y": 196.70028686523438,
|
| 86 |
+
"z": 4.027069091796875
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -135.1429901123047,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1241,
|
| 95 |
+
"timestamp": 1769263775.82835
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1244.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 |
+
0.002495911722128993,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9999968852074868,
|
| 34 |
+
132.55972290039062
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9999968852074868,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.002495911722128993,
|
| 40 |
+
196.70028686523438
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
4.027069091796875
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.002495911722128993,
|
| 58 |
+
0.9999968852074866,
|
| 59 |
+
0.0,
|
| 60 |
+
-197.03053155092275
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
4.027069091796875
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9999968852074868,
|
| 70 |
+
-0.002495911722128993,
|
| 71 |
+
0.0,
|
| 72 |
+
-132.0683634526251
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 132.55972290039062,
|
| 85 |
+
"y": 196.70028686523438,
|
| 86 |
+
"z": 4.027069091796875
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -0.1430053561925888,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1244,
|
| 95 |
+
"timestamp": 1769263776.8801494
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1251.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 |
+
0.7053398911906504,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7088692671396902,
|
| 34 |
+
122.61223602294922
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7088692671396902,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7053398911906504,
|
| 40 |
+
196.72511291503906
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.805750608444214
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7053398911906503,
|
| 58 |
+
-0.7088692671396902,
|
| 59 |
+
-0.0,
|
| 60 |
+
52.96908540498722
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.805750608444214
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7088692671396901,
|
| 70 |
+
-0.7053398911906503,
|
| 71 |
+
-0.0,
|
| 72 |
+
225.67411562990878
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 122.61223602294922,
|
| 85 |
+
"y": 196.72511291503906,
|
| 86 |
+
"z": 3.805750608444214
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -135.1429901123047,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1251,
|
| 95 |
+
"timestamp": 1769263779.1140318
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1260.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 |
+
-0.0024959119822026725,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.9999968852068376,
|
| 34 |
+
112.71908569335938
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.9999968852068376,
|
| 38 |
+
0.0,
|
| 39 |
+
0.0024959119822026725,
|
| 40 |
+
196.7498016357422
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.585641622543335
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.002495911982202673,
|
| 58 |
+
-0.9999968852068375,
|
| 59 |
+
-0.0,
|
| 60 |
+
197.0305257174103
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.585641622543335
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9999968852068377,
|
| 70 |
+
0.0024959119822026725,
|
| 71 |
+
-0.0,
|
| 72 |
+
112.22766440932335
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 112.71908569335938,
|
| 85 |
+
"y": 196.7498016357422,
|
| 86 |
+
"z": 3.585641622543335
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 179.85699462890625,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1260,
|
| 95 |
+
"timestamp": 1769263782.133023
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1264.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 |
+
0.002495911722128993,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9999968852074868,
|
| 34 |
+
112.71908569335938
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9999968852074868,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.002495911722128993,
|
| 40 |
+
196.7498016357422
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.585641622543335
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.002495911722128993,
|
| 58 |
+
0.9999968852074866,
|
| 59 |
+
0.0,
|
| 60 |
+
-197.03052568822278
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.585641622543335
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9999968852074868,
|
| 70 |
+
-0.002495911722128993,
|
| 71 |
+
0.0,
|
| 72 |
+
-112.22766446056595
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 112.71908569335938,
|
| 85 |
+
"y": 196.7498016357422,
|
| 86 |
+
"z": 3.585641622543335
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -0.1430053561925888,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1264,
|
| 95 |
+
"timestamp": 1769263783.5653763
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1272.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 |
+
0.9999968868683698,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.0024952461940032653,
|
| 34 |
+
102.1929931640625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.0024952461940032653,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9999968868683698,
|
| 40 |
+
196.7760772705078
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.3514504432678223
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.99999688686837,
|
| 58 |
+
-0.0024952461940032653,
|
| 59 |
+
0.0,
|
| 60 |
+
-101.70167026594298
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.3514504432678223
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.0024952461940032653,
|
| 70 |
+
-0.9999968868683697,
|
| 71 |
+
-0.0,
|
| 72 |
+
197.030461357924
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 102.1929931640625,
|
| 85 |
+
"y": 196.7760772705078,
|
| 86 |
+
"z": 3.3514504432678223
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -90.1429672241211,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1272,
|
| 95 |
+
"timestamp": 1769263786.1622474
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1273.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 |
+
0.7088696428263405,
|
| 32 |
+
0.0,
|
| 33 |
+
0.7053395136239402,
|
| 34 |
+
102.1929931640625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.7053395136239402,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7088696428263405,
|
| 40 |
+
196.7760772705078
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.3514504432678223
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7088696428263405,
|
| 58 |
+
0.7053395136239402,
|
| 59 |
+
0.0,
|
| 60 |
+
-211.23545319837052
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.3514504432678223
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.7053395136239402,
|
| 70 |
+
-0.7088696428263405,
|
| 71 |
+
-0.0,
|
| 72 |
+
67.40783151739876
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 102.1929931640625,
|
| 85 |
+
"y": 196.7760772705078,
|
| 86 |
+
"z": 3.3514504432678223
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -45.14302062988281,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1273,
|
| 95 |
+
"timestamp": 1769263786.5119421
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1274.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 |
+
0.002495911722128993,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9999968852074868,
|
| 34 |
+
102.1929931640625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9999968852074868,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.002495911722128993,
|
| 40 |
+
196.7760772705078
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.3514504432678223
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.002495911722128993,
|
| 58 |
+
0.9999968852074866,
|
| 59 |
+
0.0,
|
| 60 |
+
-197.03052904341317
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.3514504432678223
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9999968852074868,
|
| 70 |
+
-0.002495911722128993,
|
| 71 |
+
0.0,
|
| 72 |
+
-101.70153913619846
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 102.1929931640625,
|
| 85 |
+
"y": 196.7760772705078,
|
| 86 |
+
"z": 3.3514504432678223
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -0.1430053561925888,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1274,
|
| 95 |
+
"timestamp": 1769263786.8734384
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1282.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 |
+
0.9999968868683698,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.0024952461940032653,
|
| 34 |
+
92.73226165771484
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.0024952461940032653,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9999968868683698,
|
| 40 |
+
196.7996826171875
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
3.1409616470336914
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.99999688686837,
|
| 58 |
+
-0.0024952461940032653,
|
| 59 |
+
0.0,
|
| 60 |
+
-92.24090931094636
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
3.1409616470336914
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.0024952461940032653,
|
| 70 |
+
-0.9999968868683697,
|
| 71 |
+
-0.0,
|
| 72 |
+
197.03045977683345
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 92.73226165771484,
|
| 85 |
+
"y": 196.7996826171875,
|
| 86 |
+
"z": 3.1409616470336914
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -90.1429672241211,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1282,
|
| 95 |
+
"timestamp": 1769263789.4277365
|
| 96 |
+
}
|
references/Town03/subset_0/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 |
+
-0.7088690792962897,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7053400799739304,
|
| 34 |
+
72.71099090576172
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7053400799739304,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7088690792962897,
|
| 40 |
+
196.84963989257812
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.6955151557922363
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7088690792962896,
|
| 58 |
+
-0.7053400799739303,
|
| 59 |
+
-0.0,
|
| 60 |
+
190.38851392275862
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.6955151557922363
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7053400799739303,
|
| 70 |
+
0.7088690792962896,
|
| 71 |
+
0.0,
|
| 72 |
+
-88.25464685000433
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 72.71099090576172,
|
| 85 |
+
"y": 196.84963989257812,
|
| 86 |
+
"z": 2.6955151557922363
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 134.85702514648438,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1307,
|
| 95 |
+
"timestamp": 1769263797.9283965
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1310.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 |
+
-0.0024959119822026725,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.9999968852068376,
|
| 34 |
+
62.168025970458984
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.9999968852068376,
|
| 38 |
+
0.0,
|
| 39 |
+
0.0024959119822026725,
|
| 40 |
+
196.8759307861328
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.4609482288360596
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.002495911982202673,
|
| 58 |
+
-0.9999968852068375,
|
| 59 |
+
-0.0,
|
| 60 |
+
197.03048347925932
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.4609482288360596
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.9999968852068377,
|
| 70 |
+
0.0024959119822026725,
|
| 71 |
+
-0.0,
|
| 72 |
+
61.67644733526036
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 62.168025970458984,
|
| 85 |
+
"y": 196.8759307861328,
|
| 86 |
+
"z": 2.4609482288360596
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 179.85699462890625,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1310,
|
| 95 |
+
"timestamp": 1769263798.674813
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1312.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 |
+
0.9999968868683698,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.0024952461940032653,
|
| 34 |
+
62.168025970458984
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.0024952461940032653,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9999968868683698,
|
| 40 |
+
196.8759307861328
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.4609482288360596
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.99999688686837,
|
| 58 |
+
-0.0024952461940032653,
|
| 59 |
+
0.0,
|
| 60 |
+
-61.676578516226016
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.4609482288360596
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.0024952461940032653,
|
| 70 |
+
-0.9999968868683697,
|
| 71 |
+
-0.0,
|
| 72 |
+
197.03044241563694
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 62.168025970458984,
|
| 85 |
+
"y": 196.8759307861328,
|
| 86 |
+
"z": 2.4609482288360596
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -90.1429672241211,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1312,
|
| 95 |
+
"timestamp": 1769263799.3637567
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1323.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 |
+
0.7088696428263405,
|
| 32 |
+
0.0,
|
| 33 |
+
0.7053395136239402,
|
| 34 |
+
52.47869873046875
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.7053395136239402,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7088696428263405,
|
| 40 |
+
196.90011596679688
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.2512216567993164
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7088696428263405,
|
| 58 |
+
0.7053395136239402,
|
| 59 |
+
0.0,
|
| 60 |
+
-176.08198845357646
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.2512216567993164
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.7053395136239402,
|
| 70 |
+
-0.7088696428263405,
|
| 71 |
+
-0.0,
|
| 72 |
+
102.56121503968221
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 52.47869873046875,
|
| 85 |
+
"y": 196.90011596679688,
|
| 86 |
+
"z": 2.2512216567993164
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -45.14302062988281,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1323,
|
| 95 |
+
"timestamp": 1769263803.0702057
|
| 96 |
+
}
|
references/Town03/subset_0/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 |
+
0.002495911722128993,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9999968852074868,
|
| 34 |
+
52.47869873046875
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9999968852074868,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.002495911722128993,
|
| 40 |
+
196.90011596679688
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.2512216567993164
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.002495911722128993,
|
| 58 |
+
0.9999968852074866,
|
| 59 |
+
0.0,
|
| 60 |
+
-197.03048486311326
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.2512216567993164
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9999968852074868,
|
| 70 |
+
-0.002495911722128993,
|
| 71 |
+
0.0,
|
| 72 |
+
-51.98708996268075
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 52.47869873046875,
|
| 85 |
+
"y": 196.90011596679688,
|
| 86 |
+
"z": 2.2512216567993164
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -0.1430053561925888,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1324,
|
| 95 |
+
"timestamp": 1769263803.434953
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/133.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 |
+
-0.7316402446715725,
|
| 32 |
+
0.0,
|
| 33 |
+
0.6816909507811597,
|
| 34 |
+
83.4542236328125
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.6816909507811597,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7316402446715725,
|
| 40 |
+
-84.54890441894531
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
10.0
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7316402446715725,
|
| 58 |
+
0.6816909507811596,
|
| 59 |
+
-0.0,
|
| 60 |
+
118.69469163844329
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
10.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.6816909507811596,
|
| 70 |
+
0.7316402446715724,
|
| 71 |
+
0.0,
|
| 72 |
+
4.96939206083507
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 83.4542236328125,
|
| 85 |
+
"y": -84.54890441894531,
|
| 86 |
+
"z": 10.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 47.024078369140625,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 133,
|
| 95 |
+
"timestamp": 1769263666.9370797
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1331.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 |
+
0.7053398911906504,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7088692671396902,
|
| 34 |
+
42.04519271850586
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7088692671396902,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7053398911906504,
|
| 40 |
+
196.9261474609375
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0901846885681152
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.7053398911906503,
|
| 58 |
+
-0.7088692671396902,
|
| 59 |
+
-0.0,
|
| 60 |
+
109.93874217411648
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0901846885681152
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7088692671396901,
|
| 70 |
+
-0.7053398911906503,
|
| 71 |
+
-0.0,
|
| 72 |
+
168.7044123718059
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 42.04519271850586,
|
| 85 |
+
"y": 196.9261474609375,
|
| 86 |
+
"z": 2.0901846885681152
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -135.1429901123047,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1331,
|
| 95 |
+
"timestamp": 1769263805.7015774
|
| 96 |
+
}
|
references/Town03/subset_0/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 |
+
-0.9999968858715037,
|
| 32 |
+
0.0,
|
| 33 |
+
0.002495645666922877,
|
| 34 |
+
42.04519271850586
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.002495645666922877,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9999968858715037,
|
| 40 |
+
196.9261474609375
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.0901846885681152
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9999968858715038,
|
| 58 |
+
0.002495645666922877,
|
| 59 |
+
-0.0,
|
| 60 |
+
41.55360389775838
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0901846885681152
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.002495645666922877,
|
| 70 |
+
0.9999968858715036,
|
| 71 |
+
0.0,
|
| 72 |
+
-197.03046411063286
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 42.04519271850586,
|
| 85 |
+
"y": 196.9261474609375,
|
| 86 |
+
"z": 2.0901846885681152
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 89.85700988769531,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1336,
|
| 95 |
+
"timestamp": 1769263807.492569
|
| 96 |
+
}
|
references/Town03/subset_0/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 |
+
-0.7053397024073202,
|
| 32 |
+
0.0,
|
| 33 |
+
0.7088694549830405,
|
| 34 |
+
32.76080322265625
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.7088694549830405,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7053397024073202,
|
| 40 |
+
196.94931030273438
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.01476788520813
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7053397024073202,
|
| 58 |
+
0.7088694549830404,
|
| 59 |
+
0.0,
|
| 60 |
+
-116.50385505789193
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.01476788520813
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.7088694549830405,
|
| 70 |
+
0.7053397024073202,
|
| 71 |
+
0.0,
|
| 72 |
+
-162.1393006435086
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 32.76080322265625,
|
| 85 |
+
"y": 196.94931030273438,
|
| 86 |
+
"z": 2.01476788520813
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 44.85699462890625,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1345,
|
| 95 |
+
"timestamp": 1769263810.3882556
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1351.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 |
+
0.7053398911906504,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.7088692671396902,
|
| 34 |
+
22.43872833251953
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.7088692671396902,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.7053398911906504,
|
| 40 |
+
196.9750518798828
|
| 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 |
+
0.7053398911906503,
|
| 58 |
+
-0.7088692671396902,
|
| 59 |
+
-0.0,
|
| 60 |
+
123.80263047037913
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.7088692671396901,
|
| 70 |
+
-0.7053398911906503,
|
| 71 |
+
-0.0,
|
| 72 |
+
154.84048656884895
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 22.43872833251953,
|
| 85 |
+
"y": 196.9750518798828,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -135.1429901123047,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1351,
|
| 95 |
+
"timestamp": 1769263812.3495662
|
| 96 |
+
}
|
references/Town03/subset_0/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 |
+
0.002495911722128993,
|
| 32 |
+
0.0,
|
| 33 |
+
0.9999968852074868,
|
| 34 |
+
22.43872833251953
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.9999968852074868,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.002495911722128993,
|
| 40 |
+
196.9750518798828
|
| 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 |
+
0.002495911722128993,
|
| 58 |
+
0.9999968852074866,
|
| 59 |
+
0.0,
|
| 60 |
+
-197.0304434285407
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.9999968852074868,
|
| 70 |
+
-0.002495911722128993,
|
| 71 |
+
0.0,
|
| 72 |
+
-21.94702609958255
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 22.43872833251953,
|
| 85 |
+
"y": 196.9750518798828,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -0.1430053561925888,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1354,
|
| 95 |
+
"timestamp": 1769263813.4217896
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1362.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 |
+
0.9999968868683698,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.0024952461940032653,
|
| 34 |
+
17.660072326660156
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.0024952461940032653,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9999968868683698,
|
| 40 |
+
196.9869842529297
|
| 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 |
+
0.99999688686837,
|
| 58 |
+
-0.0024952461940032653,
|
| 59 |
+
0.0,
|
| 60 |
+
-17.168486325805105
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.0
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.0024952461940032653,
|
| 70 |
+
-0.9999968868683697,
|
| 71 |
+
-0.0,
|
| 72 |
+
197.03043723477717
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 17.660072326660156,
|
| 85 |
+
"y": 196.9869842529297,
|
| 86 |
+
"z": 2.0
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -90.1429672241211,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1362,
|
| 95 |
+
"timestamp": 1769263816.0157762
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1373.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 |
+
-0.7240898719275398,
|
| 32 |
+
0.0,
|
| 33 |
+
0.6897056309556702,
|
| 34 |
+
243.65411376953125
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.6897056309556702,
|
| 38 |
+
0.0,
|
| 39 |
+
0.7240898719275398,
|
| 40 |
+
80.91368865966797
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.082979679107666
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.7240898719275398,
|
| 58 |
+
0.6897056309556701,
|
| 59 |
+
-0.0,
|
| 60 |
+
120.62084934403116
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.082979679107666
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.6897056309556701,
|
| 70 |
+
0.7240898719275397,
|
| 71 |
+
0.0,
|
| 72 |
+
-226.63839673112298
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 243.65411376953125,
|
| 85 |
+
"y": 80.91368865966797,
|
| 86 |
+
"z": 2.082979679107666
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 46.3931884765625,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1373,
|
| 95 |
+
"timestamp": 1769263819.6625447
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1374.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 |
+
-0.9997043872997629,
|
| 32 |
+
0.0,
|
| 33 |
+
-0.024313329957161418,
|
| 34 |
+
243.65411376953125
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.024313329957161418,
|
| 38 |
+
0.0,
|
| 39 |
+
0.9997043872997629,
|
| 40 |
+
80.91368865966797
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.082979679107666
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
-0.9997043872997629,
|
| 58 |
+
-0.024313329957161418,
|
| 59 |
+
-0.0,
|
| 60 |
+
245.54936772946948
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.082979679107666
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.024313329957161418,
|
| 70 |
+
0.9997043872997629,
|
| 71 |
+
0.0,
|
| 72 |
+
-74.96572668217878
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 243.65411376953125,
|
| 85 |
+
"y": 80.91368865966797,
|
| 86 |
+
"z": 2.082979679107666
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": 91.3931884765625,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1374,
|
| 95 |
+
"timestamp": 1769263820.0114903
|
| 96 |
+
}
|
references/Town03/subset_0/reference/cameras/1390.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 |
+
0.9997043840622383,
|
| 32 |
+
0.0,
|
| 33 |
+
0.024313463075852474,
|
| 34 |
+
243.17013549804688
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.024313463075852474,
|
| 38 |
+
0.0,
|
| 39 |
+
-0.9997043840622383,
|
| 40 |
+
100.81300354003906
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
0.0,
|
| 44 |
+
-1.0,
|
| 45 |
+
0.0,
|
| 46 |
+
2.3282217979431152
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
1.0
|
| 53 |
+
]
|
| 54 |
+
],
|
| 55 |
+
"w2c": [
|
| 56 |
+
[
|
| 57 |
+
0.9997043840622383,
|
| 58 |
+
0.02431346307585247,
|
| 59 |
+
0.0,
|
| 60 |
+
-245.54936376954248
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.0,
|
| 64 |
+
-0.0,
|
| 65 |
+
-1.0,
|
| 66 |
+
2.3282217979431152
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.02431346307585247,
|
| 70 |
+
-0.9997043840622382,
|
| 71 |
+
-0.0,
|
| 72 |
+
94.87089349887718
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
1.0
|
| 79 |
+
]
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"carla_transform": {
|
| 83 |
+
"location": {
|
| 84 |
+
"x": 243.17013549804688,
|
| 85 |
+
"y": 100.81300354003906,
|
| 86 |
+
"z": 2.3282217979431152
|
| 87 |
+
},
|
| 88 |
+
"rotation": {
|
| 89 |
+
"pitch": 0.0,
|
| 90 |
+
"yaw": -88.60680389404297,
|
| 91 |
+
"roll": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"ref_id": 1390,
|
| 95 |
+
"timestamp": 1769263825.0189557
|
| 96 |
+
}
|