enrue1893 commited on
Commit
357cb07
·
verified ·
1 Parent(s): 40d18a7

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. references/Town02/subset_0/reference/cameras/0.json +96 -0
  2. references/Town02/subset_0/reference/cameras/1.json +96 -0
  3. references/Town02/subset_0/reference/cameras/110.json +96 -0
  4. references/Town02/subset_0/reference/cameras/112.json +96 -0
  5. references/Town02/subset_0/reference/cameras/114.json +96 -0
  6. references/Town02/subset_0/reference/cameras/115.json +96 -0
  7. references/Town02/subset_0/reference/cameras/116.json +96 -0
  8. references/Town02/subset_0/reference/cameras/117.json +96 -0
  9. references/Town02/subset_0/reference/cameras/120.json +96 -0
  10. references/Town02/subset_0/reference/cameras/121.json +96 -0
  11. references/Town02/subset_0/reference/cameras/122.json +96 -0
  12. references/Town02/subset_0/reference/cameras/123.json +96 -0
  13. references/Town02/subset_0/reference/cameras/124.json +96 -0
  14. references/Town02/subset_0/reference/cameras/125.json +96 -0
  15. references/Town02/subset_0/reference/cameras/126.json +96 -0
  16. references/Town02/subset_0/reference/cameras/127.json +96 -0
  17. references/Town02/subset_0/reference/cameras/130.json +96 -0
  18. references/Town02/subset_0/reference/cameras/131.json +96 -0
  19. references/Town02/subset_0/reference/cameras/132.json +96 -0
  20. references/Town02/subset_0/reference/cameras/133.json +96 -0
  21. references/Town02/subset_0/reference/cameras/135.json +96 -0
  22. references/Town02/subset_0/reference/cameras/136.json +96 -0
  23. references/Town02/subset_0/reference/cameras/137.json +96 -0
  24. references/Town02/subset_0/reference/cameras/140.json +96 -0
  25. references/Town02/subset_0/reference/cameras/141.json +96 -0
  26. references/Town02/subset_0/reference/cameras/142.json +96 -0
  27. references/Town02/subset_0/reference/cameras/143.json +96 -0
  28. references/Town02/subset_0/reference/cameras/144.json +96 -0
  29. references/Town02/subset_0/reference/cameras/145.json +96 -0
  30. references/Town02/subset_0/reference/cameras/146.json +96 -0
  31. references/Town02/subset_0/reference/cameras/147.json +96 -0
  32. references/Town02/subset_0/reference/cameras/1480.json +96 -0
  33. references/Town02/subset_0/reference/cameras/1481.json +96 -0
  34. references/Town02/subset_0/reference/cameras/1482.json +96 -0
  35. references/Town02/subset_0/reference/cameras/1484.json +96 -0
  36. references/Town02/subset_0/reference/cameras/1485.json +96 -0
  37. references/Town02/subset_0/reference/cameras/1486.json +96 -0
  38. references/Town02/subset_0/reference/cameras/1490.json +96 -0
  39. references/Town02/subset_0/reference/cameras/1491.json +96 -0
  40. references/Town02/subset_0/reference/cameras/1493.json +96 -0
  41. references/Town02/subset_0/reference/cameras/1494.json +96 -0
  42. references/Town02/subset_0/reference/cameras/1495.json +96 -0
  43. references/Town02/subset_0/reference/cameras/1496.json +96 -0
  44. references/Town02/subset_0/reference/cameras/150.json +96 -0
  45. references/Town02/subset_0/reference/cameras/1501.json +96 -0
  46. references/Town02/subset_0/reference/cameras/1503.json +96 -0
  47. references/Town02/subset_0/reference/cameras/1504.json +96 -0
  48. references/Town02/subset_0/reference/cameras/1505.json +96 -0
  49. references/Town02/subset_0/reference/cameras/1506.json +96 -0
  50. references/Town02/subset_0/reference/cameras/1507.json +96 -0
references/Town02/subset_0/reference/cameras/0.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
+ 0.9999999745891729,
32
+ 0.0,
33
+ -0.00022543658436570258,
34
+ -3.4555745124816895
35
+ ],
36
+ [
37
+ -0.00022543658436570258,
38
+ 0.0,
39
+ -0.9999999745891729,
40
+ 181.64016723632812
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
+ 0.9999999745891728,
58
+ -0.00022543658436570258,
59
+ 0.0,
60
+ 3.4965227635580556
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.00022543658436570258,
70
+ -0.999999974589173,
71
+ -0.0,
72
+ 181.63938360778613
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -3.4555745124816895,
85
+ "y": 181.64016723632812,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -90.0129165649414,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 0,
95
+ "timestamp": 1769179509.4457057
96
+ }
references/Town02/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
+ 0.7072660768201711,
32
+ 0.0,
33
+ 0.7069474496590279,
34
+ -3.4555745124816895
35
+ ],
36
+ [
37
+ 0.7069474496590279,
38
+ 0.0,
39
+ -0.7072660768201711,
40
+ 181.64016723632812
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
+ 0.7072660768201711,
58
+ 0.706947449659028,
59
+ 0.0,
60
+ -125.96604235475881
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.706947449659028,
70
+ -0.7072660768201712,
71
+ -0.0,
72
+ 130.91083806290325
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -3.4555745124816895,
85
+ "y": 181.64016723632812,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.012908935546875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1,
95
+ "timestamp": 1769179509.808039
96
+ }
references/Town02/subset_0/reference/cameras/110.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
+ 0.0006817691212262734,
32
+ 0.0,
33
+ 0.9999997675954057,
34
+ 9.888418197631836
35
+ ],
36
+ [
37
+ 0.9999997675954057,
38
+ 0.0,
39
+ -0.0006817691212262734,
40
+ 306.556396484375
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
+ 0.0006817691212262733,
58
+ 0.9999997675954058,
59
+ 0.0,
60
+ -306.56306685744494
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999997675954055,
70
+ -0.0006817691212262734,
71
+ 0.0,
72
+ -9.679415214480569
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 9.888418197631836,
85
+ "y": 306.556396484375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.0390624962747097,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 110,
95
+ "timestamp": 1769179516.496943
96
+ }
references/Town02/subset_0/reference/cameras/112.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
+ -0.999999767776892,
32
+ 0.0,
33
+ 0.0006815028701977007,
34
+ 9.888418197631836
35
+ ],
36
+ [
37
+ 0.0006815028701977007,
38
+ 0.0,
39
+ 0.999999767776892,
40
+ 306.556396484375
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
+ -0.9999997677768919,
58
+ 0.0006815028701977006,
59
+ -0.0,
60
+ 9.679496837231062
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.0006815028701977006,
70
+ 0.9999997677768919,
71
+ 0.0,
72
+ -306.5630642802792
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 9.888418197631836,
85
+ "y": 306.556396484375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.96095275878906,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 112,
95
+ "timestamp": 1769179517.2297232
96
+ }
references/Town02/subset_0/reference/cameras/114.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
+ -0.0006817691862448364,
32
+ 0.0,
33
+ -0.9999997675953614,
34
+ 9.888418197631836
35
+ ],
36
+ [
37
+ -0.9999997675953614,
38
+ 0.0,
39
+ 0.0006817691862448364,
40
+ 306.556396484375
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
+ -0.0006817691862448364,
58
+ -0.9999997675953612,
59
+ -0.0,
60
+ 306.5630668580743
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999997675953614,
70
+ 0.0006817691862448364,
71
+ -0.0,
72
+ 9.679415194548277
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 9.888418197631836,
85
+ "y": 306.556396484375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 179.9609375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 114,
95
+ "timestamp": 1769179518.0707986
96
+ }
references/Town02/subset_0/reference/cameras/115.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
+ 0.7066245332368539,
32
+ 0.0,
33
+ -0.7075887004664492,
34
+ 9.888418197631836
35
+ ],
36
+ [
37
+ -0.7075887004664492,
38
+ 0.0,
39
+ -0.7066245332368539,
40
+ 306.556396484375
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
+ 0.7066245332368539,
58
+ -0.7075887004664491,
59
+ -0.0,
60
+ 209.92844331470403
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7075887004664492,
70
+ -0.7066245332368539,
71
+ -0.0,
72
+ 223.61720355867453
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 9.888418197631836,
85
+ "y": 306.556396484375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.0390625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 115,
95
+ "timestamp": 1769179518.4413161
96
+ }
references/Town02/subset_0/reference/cameras/116.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
+ 0.9999997675953614,
32
+ 0.0,
33
+ -0.0006817691862448747,
34
+ 9.888418197631836
35
+ ],
36
+ [
37
+ -0.0006817691862448747,
38
+ 0.0,
39
+ -0.9999997675953614,
40
+ 306.556396484375
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
+ 0.9999997675953612,
58
+ -0.0006817691862448747,
59
+ 0.0,
60
+ -9.679415194548264
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.0006817691862448747,
70
+ -0.9999997675953614,
71
+ -0.0,
72
+ 306.5630668580743
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 9.888418197631836,
85
+ "y": 306.556396484375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -90.0390625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 116,
95
+ "timestamp": 1769179518.7965896
96
+ }
references/Town02/subset_0/reference/cameras/117.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
+ 0.7075890768373413,
32
+ 0.0,
33
+ 0.7066241563522146,
34
+ 9.888418197631836
35
+ ],
36
+ [
37
+ 0.7066241563522146,
38
+ 0.0,
39
+ -0.7075890768373413,
40
+ 306.556396484375
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
+ 0.7075890768373413,
58
+ 0.7066241563522146,
59
+ 0.0,
60
+ -223.61709174399036
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7066241563522146,
70
+ -0.7075890768373413,
71
+ -0.0,
72
+ 209.9285624204014
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 9.888418197631836,
85
+ "y": 306.556396484375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.039093017578125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 117,
95
+ "timestamp": 1769179519.1632555
96
+ }
references/Town02/subset_0/reference/cameras/120.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
+ 0.0006817691212262734,
32
+ 0.0,
33
+ 0.9999997675954057,
34
+ 20.090242385864258
35
+ ],
36
+ [
37
+ 0.9999997675954057,
38
+ 0.0,
39
+ -0.0006817691212262734,
40
+ 306.5494384765625
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
+ 0.0006817691212262733,
58
+ 0.9999997675954058,
59
+ 0.0,
60
+ -306.5630641399612
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999997675954055,
70
+ -0.0006817691212262734,
71
+ 0.0,
72
+ -19.88124177551705
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 20.090242385864258,
85
+ "y": 306.5494384765625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.0390624962747097,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 120,
95
+ "timestamp": 1769179521.407965
96
+ }
references/Town02/subset_0/reference/cameras/121.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
+ -0.7066244390157128,
32
+ 0.0,
33
+ 0.7075887945591911,
34
+ 20.090242385864258
35
+ ],
36
+ [
37
+ 0.7075887945591911,
38
+ 0.0,
39
+ 0.7066244390157128,
40
+ 306.5494384765625
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
+ -0.7066244390157128,
58
+ 0.7075887945591911,
59
+ 0.0,
60
+ -202.71469138882676
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7075887945591911,
70
+ 0.7066244390157128,
71
+ 0.0,
72
+ -230.8309553862984
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 20.090242385864258,
85
+ "y": 306.5494384765625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 44.96092987060547,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 121,
95
+ "timestamp": 1769179521.7335315
96
+ }
references/Town02/subset_0/reference/cameras/122.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
+ -0.999999767776892,
32
+ 0.0,
33
+ 0.0006815028701977007,
34
+ 20.090242385864258
35
+ ],
36
+ [
37
+ 0.0006815028701977007,
38
+ 0.0,
39
+ 0.999999767776892,
40
+ 306.5494384765625
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
+ -0.9999997677768919,
58
+ 0.0006815028701977006,
59
+ -0.0,
60
+ 19.881323398266456
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.0006815028701977006,
70
+ 0.9999997677768919,
71
+ 0.0,
72
+ -306.5630588465481
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 20.090242385864258,
85
+ "y": 306.5494384765625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.96095275878906,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 122,
95
+ "timestamp": 1769179522.063332
96
+ }
references/Town02/subset_0/reference/cameras/123.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
+ -0.7075890768373413,
32
+ 0.0,
33
+ -0.7066241563522146,
34
+ 20.090242385864258
35
+ ],
36
+ [
37
+ -0.7066241563522146,
38
+ 0.0,
39
+ 0.7075890768373413,
40
+ 306.5494384765625
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
+ -0.7075890768373413,
58
+ -0.7066241563522146,
59
+ -0.0,
60
+ 230.8308744069982
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7066241563522146,
70
+ 0.7075890768373413,
71
+ 0.0,
72
+ -202.71478359981336
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 20.090242385864258,
85
+ "y": 306.5494384765625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.96090698242188,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 123,
95
+ "timestamp": 1769179522.4273026
96
+ }
references/Town02/subset_0/reference/cameras/124.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
+ -0.0006817691862448364,
32
+ 0.0,
33
+ -0.9999997675953614,
34
+ 20.090242385864258
35
+ ],
36
+ [
37
+ -0.9999997675953614,
38
+ 0.0,
39
+ 0.0006817691862448364,
40
+ 306.5494384765625
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
+ -0.0006817691862448364,
58
+ -0.9999997675953612,
59
+ -0.0,
60
+ 306.5630641412539
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999997675953614,
70
+ 0.0006817691862448364,
71
+ -0.0,
72
+ 19.88124175558476
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 20.090242385864258,
85
+ "y": 306.5494384765625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 179.9609375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 124,
95
+ "timestamp": 1769179522.8011699
96
+ }
references/Town02/subset_0/reference/cameras/125.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
+ 0.7066245332368539,
32
+ 0.0,
33
+ -0.7075887004664492,
34
+ 20.090242385864258
35
+ ],
36
+ [
37
+ -0.7075887004664492,
38
+ 0.0,
39
+ -0.7066245332368539,
40
+ 306.5494384765625
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
+ 0.7066245332368539,
58
+ -0.7075887004664491,
59
+ -0.0,
60
+ 202.71466065182398
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7075887004664492,
70
+ -0.7066245332368539,
71
+ -0.0,
72
+ 230.83098237939032
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 20.090242385864258,
85
+ "y": 306.5494384765625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.0390625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 125,
95
+ "timestamp": 1769179523.1575634
96
+ }
references/Town02/subset_0/reference/cameras/126.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
+ 0.9999997675953614,
32
+ 0.0,
33
+ -0.0006817691862448747,
34
+ 20.090242385864258
35
+ ],
36
+ [
37
+ -0.0006817691862448747,
38
+ 0.0,
39
+ -0.9999997675953614,
40
+ 306.5494384765625
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
+ 0.9999997675953612,
58
+ -0.0006817691862448747,
59
+ 0.0,
60
+ -19.881241755584746
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.0006817691862448747,
70
+ -0.9999997675953614,
71
+ -0.0,
72
+ 306.5630641412539
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 20.090242385864258,
85
+ "y": 306.5494384765625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -90.0390625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 126,
95
+ "timestamp": 1769179523.4726105
96
+ }
references/Town02/subset_0/reference/cameras/127.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
+ 0.7075890768373413,
32
+ 0.0,
33
+ 0.7066241563522146,
34
+ 20.090242385864258
35
+ ],
36
+ [
37
+ 0.7066241563522146,
38
+ 0.0,
39
+ -0.7075890768373413,
40
+ 306.5494384765625
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
+ 0.7075890768373413,
58
+ 0.7066241563522146,
59
+ 0.0,
60
+ -230.8308744069982
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7066241563522146,
70
+ -0.7075890768373413,
71
+ -0.0,
72
+ 202.71478359981336
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 20.090242385864258,
85
+ "y": 306.5494384765625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.039093017578125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 127,
95
+ "timestamp": 1769179523.829255
96
+ }
references/Town02/subset_0/reference/cameras/130.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
+ 0.0006817691212262734,
32
+ 0.0,
33
+ 0.9999997675954057,
34
+ 30.305742263793945
35
+ ],
36
+ [
37
+ 0.9999997675954057,
38
+ 0.0,
39
+ -0.0006817691212262734,
40
+ 306.54248046875
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
+ 0.0006817691212262733,
58
+ 0.9999997675954058,
59
+ 0.0,
60
+ -306.56307074614045
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999997675954055,
70
+ -0.0006817691212262734,
71
+ 0.0,
72
+ -30.096744023072503
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 30.305742263793945,
85
+ "y": 306.54248046875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.0390624962747097,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 130,
95
+ "timestamp": 1769179524.6169975
96
+ }
references/Town02/subset_0/reference/cameras/131.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
+ -0.7066244390157128,
32
+ 0.0,
33
+ 0.7075887945591911,
34
+ 30.305742263793945
35
+ ],
36
+ [
37
+ 0.7075887945591911,
38
+ 0.0,
39
+ 0.7066244390157128,
40
+ 306.54248046875
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
+ -0.7066244390157128,
58
+ 0.7075887945591911,
59
+ 0.0,
60
+ -195.491246109959
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7075887945591911,
70
+ 0.7066244390157128,
71
+ 0.0,
72
+ -238.05441193237507
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 30.305742263793945,
85
+ "y": 306.54248046875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 44.96092987060547,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 131,
95
+ "timestamp": 1769179524.949575
96
+ }
references/Town02/subset_0/reference/cameras/132.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
+ -0.999999767776892,
32
+ 0.0,
33
+ 0.0006815028701977007,
34
+ 30.305742263793945
35
+ ],
36
+ [
37
+ 0.0006815028701977007,
38
+ 0.0,
39
+ 0.999999767776892,
40
+ 306.54248046875
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
+ -0.9999997677768919,
58
+ 0.0006815028701977006,
59
+ -0.0,
60
+ 30.096825645823305
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.0006815028701977006,
70
+ 0.9999997677768919,
71
+ 0.0,
72
+ -306.56306273283866
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 30.305742263793945,
85
+ "y": 306.54248046875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.96095275878906,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 132,
95
+ "timestamp": 1769179525.304748
96
+ }
references/Town02/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
+ -0.7075890768373413,
32
+ 0.0,
33
+ -0.7066241563522146,
34
+ 30.305742263793945
35
+ ],
36
+ [
37
+ -0.7066241563522146,
38
+ 0.0,
39
+ 0.7075890768373413,
40
+ 306.54248046875
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
+ -0.7075890768373413,
58
+ -0.7066241563522146,
59
+ -0.0,
60
+ 238.05433383865406
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7066241563522146,
70
+ 0.7075890768373413,
71
+ 0.0,
72
+ -195.49134120653048
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 30.305742263793945,
85
+ "y": 306.54248046875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.96090698242188,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 133,
95
+ "timestamp": 1769179525.6827455
96
+ }
references/Town02/subset_0/reference/cameras/135.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
+ 0.7066245332368539,
32
+ 0.0,
33
+ -0.7075887004664492,
34
+ 30.305742263793945
35
+ ],
36
+ [
37
+ -0.7075887004664492,
38
+ 0.0,
39
+ -0.7066245332368539,
40
+ 306.54248046875
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
+ 0.7066245332368539,
58
+ -0.7075887004664491,
59
+ -0.0,
60
+ 195.49121441109492
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7075887004664492,
70
+ -0.7066245332368539,
71
+ -0.0,
72
+ 238.05443796360697
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 30.305742263793945,
85
+ "y": 306.54248046875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.0390625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 135,
95
+ "timestamp": 1769179526.379037
96
+ }
references/Town02/subset_0/reference/cameras/136.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
+ 0.9999997675953614,
32
+ 0.0,
33
+ -0.0006817691862448747,
34
+ 30.305742263793945
35
+ ],
36
+ [
37
+ -0.0006817691862448747,
38
+ 0.0,
39
+ -0.9999997675953614,
40
+ 306.54248046875
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
+ 0.9999997675953612,
58
+ -0.0006817691862448747,
59
+ 0.0,
60
+ -30.096744003140195
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.0006817691862448747,
70
+ -0.9999997675953614,
71
+ -0.0,
72
+ 306.56307074809735
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 30.305742263793945,
85
+ "y": 306.54248046875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -90.0390625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 136,
95
+ "timestamp": 1769179526.688237
96
+ }
references/Town02/subset_0/reference/cameras/137.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
+ 0.7075890768373413,
32
+ 0.0,
33
+ 0.7066241563522146,
34
+ 30.305742263793945
35
+ ],
36
+ [
37
+ 0.7066241563522146,
38
+ 0.0,
39
+ -0.7075890768373413,
40
+ 306.54248046875
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
+ 0.7075890768373413,
58
+ 0.7066241563522146,
59
+ 0.0,
60
+ -238.05433383865406
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7066241563522146,
70
+ -0.7075890768373413,
71
+ -0.0,
72
+ 195.49134120653048
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 30.305742263793945,
85
+ "y": 306.54248046875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.039093017578125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 137,
95
+ "timestamp": 1769179526.992415
96
+ }
references/Town02/subset_0/reference/cameras/140.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
+ 0.0006817691212262734,
32
+ 0.0,
33
+ 0.9999997675954057,
34
+ 34.62135314941406
35
+ ],
36
+ [
37
+ 0.9999997675954057,
38
+ 0.0,
39
+ -0.0006817691212262734,
40
+ 306.53955078125
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
+ 0.0006817691212262733,
58
+ 0.9999997675954058,
59
+ 0.0,
60
+ -306.56308330956244
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999997675954055,
70
+ -0.0006817691212262734,
71
+ 0.0,
72
+ -34.412355903095296
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.62135314941406,
85
+ "y": 306.53955078125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.0390624962747097,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 140,
95
+ "timestamp": 1769179527.7325213
96
+ }
references/Town02/subset_0/reference/cameras/141.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
+ -0.7066244390157128,
32
+ 0.0,
33
+ 0.7075887945591911,
34
+ 34.62135314941406
35
+ ],
36
+ [
37
+ 0.7075887945591911,
38
+ 0.0,
39
+ 0.7066244390157128,
40
+ 306.53955078125
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
+ -0.7066244390157128,
58
+ 0.7075887945591911,
59
+ 0.0,
60
+ -192.43965697485103
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7075887945591911,
70
+ 0.7066244390157128,
71
+ 0.0,
72
+ -241.10601964793136
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.62135314941406,
85
+ "y": 306.53955078125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 44.96092987060547,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 141,
95
+ "timestamp": 1769179528.0672228
96
+ }
references/Town02/subset_0/reference/cameras/142.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
+ -0.999999767776892,
32
+ 0.0,
33
+ 0.0006815028701977007,
34
+ 34.62135314941406
35
+ ],
36
+ [
37
+ 0.0006815028701977007,
38
+ 0.0,
39
+ 0.999999767776892,
40
+ 306.53955078125
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
+ -0.9999997677768919,
58
+ 0.0006815028701977006,
59
+ -0.0,
60
+ 34.41243752584929
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.0006815028701977006,
70
+ 0.9999997677768919,
71
+ 0.0,
72
+ -306.5630741472242
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.62135314941406,
85
+ "y": 306.53955078125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.96095275878906,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 142,
95
+ "timestamp": 1769179528.4211366
96
+ }
references/Town02/subset_0/reference/cameras/143.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
+ -0.7075890768373413,
32
+ 0.0,
33
+ -0.7066241563522146,
34
+ 34.62135314941406
35
+ ],
36
+ [
37
+ -0.7066241563522146,
38
+ 0.0,
39
+ 0.7075890768373413,
40
+ 306.53955078125
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
+ -0.7075890768373413,
58
+ -0.7066241563522146,
59
+ -0.0,
60
+ 241.10594277324114
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7066241563522146,
70
+ 0.7075890768373413,
71
+ 0.0,
72
+ -192.4397532904612
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.62135314941406,
85
+ "y": 306.53955078125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.96090698242188,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 143,
95
+ "timestamp": 1769179528.788164
96
+ }
references/Town02/subset_0/reference/cameras/144.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
+ -0.0006817691862448364,
32
+ 0.0,
33
+ -0.9999997675953614,
34
+ 34.62135314941406
35
+ ],
36
+ [
37
+ -0.9999997675953614,
38
+ 0.0,
39
+ 0.0006817691862448364,
40
+ 306.53955078125
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
+ -0.0006817691862448364,
58
+ -0.9999997675953612,
59
+ -0.0,
60
+ 306.5630833117998
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999997675953614,
70
+ 0.0006817691862448364,
71
+ -0.0,
72
+ 34.412355883163
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.62135314941406,
85
+ "y": 306.53955078125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 179.9609375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 144,
95
+ "timestamp": 1769179529.1377556
96
+ }
references/Town02/subset_0/reference/cameras/145.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
+ 0.7066245332368539,
32
+ 0.0,
33
+ -0.7075887004664492,
34
+ 34.62135314941406
35
+ ],
36
+ [
37
+ -0.7075887004664492,
38
+ 0.0,
39
+ -0.7066245332368539,
40
+ 306.53955078125
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
+ 0.7066245332368539,
58
+ -0.7075887004664491,
59
+ -0.0,
60
+ 192.4396248696408
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7075887004664492,
70
+ -0.7066245332368539,
71
+ -0.0,
72
+ 241.10604527281959
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.62135314941406,
85
+ "y": 306.53955078125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.0390625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 145,
95
+ "timestamp": 1769179529.4726124
96
+ }
references/Town02/subset_0/reference/cameras/146.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
+ 0.9999997675953614,
32
+ 0.0,
33
+ -0.0006817691862448747,
34
+ 34.62135314941406
35
+ ],
36
+ [
37
+ -0.0006817691862448747,
38
+ 0.0,
39
+ -0.9999997675953614,
40
+ 306.53955078125
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
+ 0.9999997675953612,
58
+ -0.0006817691862448747,
59
+ 0.0,
60
+ -34.41235588316299
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.0006817691862448747,
70
+ -0.9999997675953614,
71
+ -0.0,
72
+ 306.5630833117998
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.62135314941406,
85
+ "y": 306.53955078125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -90.0390625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 146,
95
+ "timestamp": 1769179529.7967546
96
+ }
references/Town02/subset_0/reference/cameras/147.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
+ 0.7075890768373413,
32
+ 0.0,
33
+ 0.7066241563522146,
34
+ 34.62135314941406
35
+ ],
36
+ [
37
+ 0.7066241563522146,
38
+ 0.0,
39
+ -0.7075890768373413,
40
+ 306.53955078125
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
+ 0.7075890768373413,
58
+ 0.7066241563522146,
59
+ 0.0,
60
+ -241.10594277324114
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7066241563522146,
70
+ -0.7075890768373413,
71
+ -0.0,
72
+ 192.4397532904612
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.62135314941406,
85
+ "y": 306.53955078125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.039093017578125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 147,
95
+ "timestamp": 1769179530.0940783
96
+ }
references/Town02/subset_0/reference/cameras/1480.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
+ 0.0006074670072862396,
32
+ 0.0,
33
+ -0.9999998154919005,
34
+ 177.82696533203125
35
+ ],
36
+ [
37
+ -0.9999998154919005,
38
+ 0.0,
39
+ -0.0006074670072862396,
40
+ 236.9515380859375
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
+ 0.0006074670072862394,
58
+ -0.9999998154919004,
59
+ -0.0,
60
+ 236.84347035201446
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999998154919004,
70
+ -0.0006074670072862395,
71
+ -0.0,
72
+ 177.97087276322875
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 177.82696533203125,
85
+ "y": 236.9515380859375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -179.96519470214844,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1480,
95
+ "timestamp": 1769178456.191049
96
+ }
references/Town02/subset_0/reference/cameras/1481.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
+ 0.7075365711587127,
32
+ 0.0,
33
+ -0.7066767298227471,
34
+ 177.82696533203125
35
+ ],
36
+ [
37
+ -0.7066767298227471,
38
+ 0.0,
39
+ -0.7075365711587127,
40
+ 236.9515380859375
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
+ 0.7075365711587126,
58
+ -0.7066767298227471,
59
+ 0.0,
60
+ 41.629056750455796
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7066767298227471,
70
+ -0.7075365711587127,
71
+ -0.0,
72
+ 293.31805712325024
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 177.82696533203125,
85
+ "y": 236.9515380859375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -134.9651641845703,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1481,
95
+ "timestamp": 1769178456.5311422
96
+ }
references/Town02/subset_0/reference/cameras/1482.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
+ 0.9999998152491534,
32
+ 0.0,
33
+ 0.0006078664813759498,
34
+ 177.82696533203125
35
+ ],
36
+ [
37
+ 0.0006078664813759498,
38
+ 0.0,
39
+ -0.9999998152491534,
40
+ 236.9515380859375
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
+ 0.9999998152491534,
58
+ 0.0006078664813759498,
59
+ 0.0,
60
+ -177.97096737606176
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.0006078664813759497,
70
+ -0.9999998152491533,
71
+ -0.0,
72
+ 236.84339925723006
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 177.82696533203125,
85
+ "y": 236.9515380859375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.96517181396484,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1482,
95
+ "timestamp": 1769178456.886989
96
+ }
references/Town02/subset_0/reference/cameras/1484.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
+ -0.0006074668772490719,
32
+ 0.0,
33
+ 0.9999998154919795,
34
+ 177.82696533203125
35
+ ],
36
+ [
37
+ 0.9999998154919795,
38
+ 0.0,
39
+ 0.0006074668772490719,
40
+ 236.9515380859375
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
+ -0.000607466877249072,
58
+ 0.9999998154919796,
59
+ 0.0,
60
+ -236.84347037515732
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999998154919795,
70
+ 0.0006074668772490719,
71
+ 0.0,
72
+ -177.9708727324303
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 177.82696533203125,
85
+ "y": 236.9515380859375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.0348052904009819,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1484,
95
+ "timestamp": 1769178457.6105468
96
+ }
references/Town02/subset_0/reference/cameras/1485.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
+ -0.7075361947598183,
32
+ 0.0,
33
+ 0.7066771066794201,
34
+ 177.82696533203125
35
+ ],
36
+ [
37
+ 0.7066771066794201,
38
+ 0.0,
39
+ 0.7075361947598183,
40
+ 236.9515380859375
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
+ -0.7075361947598183,
58
+ 0.70667710667942,
59
+ -0.0,
60
+ -41.62921298109717
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7066771066794201,
70
+ 0.7075361947598182,
71
+ 0.0,
72
+ -293.3180349502317
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 177.82696533203125,
85
+ "y": 236.9515380859375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 45.03480529785156,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1485,
95
+ "timestamp": 1769178457.9803514
96
+ }
references/Town02/subset_0/reference/cameras/1486.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
+ -0.9999998154919005,
32
+ 0.0,
33
+ -0.000607467007286278,
34
+ 177.82696533203125
35
+ ],
36
+ [
37
+ -0.000607467007286278,
38
+ 0.0,
39
+ 0.9999998154919005,
40
+ 236.9515380859375
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
+ -0.9999998154919004,
58
+ -0.0006074670072862778,
59
+ -0.0,
60
+ 177.97087276322878
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.0006074670072862779,
70
+ 0.9999998154919004,
71
+ 0.0,
72
+ -236.84347035201446
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 177.82696533203125,
85
+ "y": 236.9515380859375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 90.03480529785156,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1486,
95
+ "timestamp": 1769178458.3292751
96
+ }
references/Town02/subset_0/reference/cameras/1490.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
+ 0.0006074670072862396,
32
+ 0.0,
33
+ -0.9999998154919005,
34
+ 168.03677368164062
35
+ ],
36
+ [
37
+ -0.9999998154919005,
38
+ 0.0,
39
+ -0.0006074670072862396,
40
+ 236.9456024169922
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
+ 0.0006074670072862394,
58
+ -0.9999998154919004,
59
+ -0.0,
60
+ 236.84348190258694
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999998154919004,
70
+ -0.0006074670072862395,
71
+ -0.0,
72
+ 168.18067931348475
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 168.03677368164062,
85
+ "y": 236.9456024169922,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -179.96519470214844,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1490,
95
+ "timestamp": 1769178459.5246475
96
+ }
references/Town02/subset_0/reference/cameras/1491.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
+ 0.7075365711587127,
32
+ 0.0,
33
+ -0.7066767298227471,
34
+ 168.03677368164062
35
+ ],
36
+ [
37
+ -0.7066767298227471,
38
+ 0.0,
39
+ -0.7075365711587127,
40
+ 236.9456024169922
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
+ 0.7075365711587126,
58
+ -0.7066767298227471,
59
+ 0.0,
60
+ 48.55178078264023
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7066767298227471,
70
+ -0.7075365711587127,
71
+ -0.0,
72
+ 286.3953568005611
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 168.03677368164062,
85
+ "y": 236.9456024169922,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -134.9651641845703,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1491,
95
+ "timestamp": 1769178459.867769
96
+ }
references/Town02/subset_0/reference/cameras/1493.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
+ 0.706676824036934,
32
+ 0.0,
33
+ 0.707536477059008,
34
+ 168.03677368164062
35
+ ],
36
+ [
37
+ 0.707536477059008,
38
+ 0.0,
39
+ -0.706676824036934,
40
+ 236.9456024169922
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
+ 0.7066768240369341,
58
+ 0.707536477059008,
59
+ 0.0,
60
+ -286.39535033549794
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7075364770590081,
70
+ -0.7066768240369341,
71
+ 0.0,
72
+ 48.55181891848826
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 168.03677368164062,
85
+ "y": 236.9456024169922,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -44.965171813964844,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1493,
95
+ "timestamp": 1769178460.5945554
96
+ }
references/Town02/subset_0/reference/cameras/1494.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
+ -0.0006074668772490719,
32
+ 0.0,
33
+ 0.9999998154919795,
34
+ 168.03677368164062
35
+ ],
36
+ [
37
+ 0.9999998154919795,
38
+ 0.0,
39
+ 0.0006074668772490719,
40
+ 236.9456024169922
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
+ -0.000607466877249072,
58
+ 0.9999998154919796,
59
+ 0.0,
60
+ -236.84348192445674
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999998154919795,
70
+ 0.0006074668772490719,
71
+ 0.0,
72
+ -168.1806792826863
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 168.03677368164062,
85
+ "y": 236.9456024169922,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.0348052904009819,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1494,
95
+ "timestamp": 1769178460.962492
96
+ }
references/Town02/subset_0/reference/cameras/1495.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
+ -0.7075361947598183,
32
+ 0.0,
33
+ 0.7066771066794201,
34
+ 168.03677368164062
35
+ ],
36
+ [
37
+ 0.7066771066794201,
38
+ 0.0,
39
+ 0.7075361947598183,
40
+ 236.9456024169922
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
+ -0.7075361947598183,
58
+ 0.70667710667942,
59
+ -0.0,
60
+ -48.55193332602741
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7066771066794201,
70
+ 0.7075361947598182,
71
+ 0.0,
72
+ -286.39533094027774
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 168.03677368164062,
85
+ "y": 236.9456024169922,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 45.03480529785156,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1495,
95
+ "timestamp": 1769178461.3355958
96
+ }
references/Town02/subset_0/reference/cameras/1496.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
+ -0.9999998154919005,
32
+ 0.0,
33
+ -0.000607467007286278,
34
+ 168.03677368164062
35
+ ],
36
+ [
37
+ -0.000607467007286278,
38
+ 0.0,
39
+ 0.9999998154919005,
40
+ 236.9456024169922
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
+ -0.9999998154919004,
58
+ -0.0006074670072862778,
59
+ -0.0,
60
+ 168.18067931348475
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.0006074670072862779,
70
+ 0.9999998154919004,
71
+ 0.0,
72
+ -236.84348190258697
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 168.03677368164062,
85
+ "y": 236.9456024169922,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 90.03480529785156,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1496,
95
+ "timestamp": 1769178461.6880128
96
+ }
references/Town02/subset_0/reference/cameras/150.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
+ -0.0006817691862448364,
32
+ 0.0,
33
+ -0.9999997675953614,
34
+ 5.050275802612305
35
+ ],
36
+ [
37
+ -0.9999997675953614,
38
+ 0.0,
39
+ 0.0006817691862448364,
40
+ 302.5596923828125
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
+ -0.0006817691862448364,
58
+ -0.9999997675953612,
59
+ -0.0,
60
+ 302.5630651889607
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999997675953614,
70
+ 0.0006817691862448364,
71
+ -0.0,
72
+ 4.843998753638464
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 5.050275802612305,
85
+ "y": 302.5596923828125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 179.9609375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 150,
95
+ "timestamp": 1769179531.8720653
96
+ }
references/Town02/subset_0/reference/cameras/1501.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
+ 0.7075365711587127,
32
+ 0.0,
33
+ -0.7066767298227471,
34
+ 157.6488800048828
35
+ ],
36
+ [
37
+ -0.7066767298227471,
38
+ 0.0,
39
+ -0.7075365711587127,
40
+ 236.93927001953125
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
+ 0.7075365711587126,
58
+ -0.7066767298227471,
59
+ 0.0,
60
+ 55.89712049832507
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7066767298227471,
70
+ -0.7075365711587127,
71
+ -0.0,
72
+ 279.04999366453677
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 157.6488800048828,
85
+ "y": 236.93927001953125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -134.9651641845703,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1501,
95
+ "timestamp": 1769178489.0157416
96
+ }
references/Town02/subset_0/reference/cameras/1503.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
+ 0.706676824036934,
32
+ 0.0,
33
+ 0.707536477059008,
34
+ 157.6488800048828
35
+ ],
36
+ [
37
+ 0.707536477059008,
38
+ 0.0,
39
+ -0.706676824036934,
40
+ 236.93927001953125
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
+ 0.7066768240369341,
58
+ 0.707536477059008,
59
+ 0.0,
60
+ -279.0499862213825
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7075364770590081,
70
+ -0.7066768240369341,
71
+ 0.0,
72
+ 55.897157656078804
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 157.6488800048828,
85
+ "y": 236.93927001953125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -44.965171813964844,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1503,
95
+ "timestamp": 1769178489.7194653
96
+ }
references/Town02/subset_0/reference/cameras/1504.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
+ -0.0006074668772490719,
32
+ 0.0,
33
+ 0.9999998154919795,
34
+ 157.6488800048828
35
+ ],
36
+ [
37
+ 0.9999998154919795,
38
+ 0.0,
39
+ 0.0006074668772490719,
40
+ 236.93927001953125
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
+ -0.000607466877249072,
58
+ 0.9999998154919796,
59
+ 0.0,
60
+ -236.8434598294972
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999998154919795,
70
+ 0.0006074668772490719,
71
+ 0.0,
72
+ -157.79278367585647
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 157.6488800048828,
85
+ "y": 236.93927001953125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.0348052904009819,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1504,
95
+ "timestamp": 1769178490.0577908
96
+ }
references/Town02/subset_0/reference/cameras/1505.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
+ -0.7075361947598183,
32
+ 0.0,
33
+ 0.7066771066794201,
34
+ 157.6488800048828
35
+ ],
36
+ [
37
+ 0.7066771066794201,
38
+ 0.0,
39
+ 0.7075361947598183,
40
+ 236.93927001953125
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
+ -0.7075361947598183,
58
+ 0.70667710667942,
59
+ -0.0,
60
+ -55.89726912933421
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7066771066794201,
70
+ 0.7075361947598182,
71
+ 0.0,
72
+ -279.0499638918899
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 157.6488800048828,
85
+ "y": 236.93927001953125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 45.03480529785156,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1505,
95
+ "timestamp": 1769178490.3896134
96
+ }
references/Town02/subset_0/reference/cameras/1506.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
+ -0.9999998154919005,
32
+ 0.0,
33
+ -0.000607467007286278,
34
+ 157.6488800048828
35
+ ],
36
+ [
37
+ -0.000607467007286278,
38
+ 0.0,
39
+ 0.9999998154919005,
40
+ 236.93927001953125
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
+ -0.9999998154919004,
58
+ -0.0006074670072862778,
59
+ -0.0,
60
+ 157.79278370665492
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.0006074670072862779,
70
+ 0.9999998154919004,
71
+ 0.0,
72
+ -236.84345980897822
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 157.6488800048828,
85
+ "y": 236.93927001953125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 90.03480529785156,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1506,
95
+ "timestamp": 1769178490.7261028
96
+ }
references/Town02/subset_0/reference/cameras/1507.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
+ -0.7066769182511086,
32
+ 0.0,
33
+ -0.7075363829592907,
34
+ 157.6488800048828
35
+ ],
36
+ [
37
+ -0.7075363829592907,
38
+ 0.0,
39
+ 0.7066769182511086,
40
+ 236.93927001953125
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
+ -0.7066769182511086,
58
+ -0.7075363829592907,
59
+ -0.0,
60
+ 279.04997877822325
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7075363829592907,
70
+ 0.7066769182511085,
71
+ -0.0,
72
+ -55.89719481383158
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 157.6488800048828,
85
+ "y": 236.93927001953125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 135.03482055664062,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1507,
95
+ "timestamp": 1769178491.07561
96
+ }