enrue1893 commited on
Commit
657164e
·
verified ·
1 Parent(s): 3fa7950

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/Town04/subset_2/reference/cameras/10440.json +96 -0
  2. references/Town04/subset_2/reference/cameras/10505.json +96 -0
  3. references/Town04/subset_2/reference/cameras/10516.json +96 -0
  4. references/Town04/subset_2/reference/cameras/10531.json +96 -0
  5. references/Town04/subset_2/reference/cameras/10565.json +96 -0
  6. references/Town04/subset_2/reference/cameras/10595.json +96 -0
  7. references/Town04/subset_2/reference/cameras/10632.json +96 -0
  8. references/Town04/subset_2/reference/cameras/10654.json +96 -0
  9. references/Town04/subset_2/reference/cameras/1113.json +96 -0
  10. references/Town04/subset_2/reference/cameras/11287.json +96 -0
  11. references/Town04/subset_2/reference/cameras/11306.json +96 -0
  12. references/Town04/subset_2/reference/cameras/1135.json +96 -0
  13. references/Town04/subset_2/reference/cameras/1150.json +96 -0
  14. references/Town04/subset_2/reference/cameras/1163.json +96 -0
  15. references/Town04/subset_2/reference/cameras/1184.json +96 -0
  16. references/Town04/subset_2/reference/cameras/1224.json +96 -0
  17. references/Town04/subset_2/reference/cameras/1264.json +96 -0
  18. references/Town04/subset_2/reference/cameras/1307.json +96 -0
  19. references/Town04/subset_2/reference/cameras/1324.json +96 -0
  20. references/Town04/subset_2/reference/cameras/1336.json +96 -0
  21. references/Town04/subset_2/reference/cameras/1345.json +96 -0
  22. references/Town04/subset_2/reference/cameras/1354.json +96 -0
  23. references/Town04/subset_2/reference/cameras/1460.json +96 -0
  24. references/Town04/subset_2/reference/cameras/1465.json +96 -0
  25. references/Town04/subset_2/reference/cameras/1556.json +96 -0
  26. references/Town04/subset_2/reference/cameras/1575.json +96 -0
  27. references/Town04/subset_2/reference/cameras/1740.json +96 -0
  28. references/Town04/subset_2/reference/cameras/1750.json +96 -0
  29. references/Town04/subset_2/reference/cameras/1801.json +96 -0
  30. references/Town04/subset_2/reference/cameras/1823.json +96 -0
  31. references/Town04/subset_2/reference/cameras/1850.json +96 -0
  32. references/Town04/subset_2/reference/cameras/1862.json +96 -0
  33. references/Town04/subset_2/reference/cameras/1867.json +96 -0
  34. references/Town04/subset_2/reference/cameras/1994.json +96 -0
  35. references/Town04/subset_2/reference/cameras/241.json +96 -0
  36. references/Town04/subset_2/reference/cameras/2846.json +96 -0
  37. references/Town04/subset_2/reference/cameras/2886.json +96 -0
  38. references/Town04/subset_2/reference/cameras/2923.json +96 -0
  39. references/Town04/subset_2/reference/cameras/2925.json +96 -0
  40. references/Town04/subset_2/reference/cameras/2927.json +96 -0
  41. references/Town04/subset_2/reference/cameras/2954.json +96 -0
  42. references/Town04/subset_2/reference/cameras/2967.json +96 -0
  43. references/Town04/subset_2/reference/cameras/2985.json +96 -0
  44. references/Town04/subset_2/reference/cameras/3032.json +96 -0
  45. references/Town04/subset_2/reference/cameras/3050.json +96 -0
  46. references/Town04/subset_2/reference/cameras/3051.json +96 -0
  47. references/Town04/subset_2/reference/cameras/3144.json +96 -0
  48. references/Town04/subset_2/reference/cameras/3202.json +96 -0
  49. references/Town04/subset_2/reference/cameras/351.json +96 -0
  50. references/Town04/subset_2/reference/cameras/3784.json +96 -0
references/Town04/subset_2/reference/cameras/10440.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
+ 0.9999093562032568,
32
+ 0.0,
33
+ 0.013464003015021186,
34
+ 351.3777160644531
35
+ ],
36
+ [
37
+ 0.013464003015021186,
38
+ 0.0,
39
+ -0.9999093562032568,
40
+ -133.73570251464844
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.004702091217041
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.9999093562032567,
58
+ 0.013464003015021183,
59
+ 0.0,
60
+ -349.54524795230486
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.004702091217041
67
+ ],
68
+ [
69
+ 0.013464003015021183,
70
+ -0.9999093562032567,
71
+ -0.0,
72
+ -138.45453083131545
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 351.3777160644531,
85
+ "y": -133.73570251464844,
86
+ "z": 2.004702091217041
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.22854614257812,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 10440,
95
+ "timestamp": 1769237522.4898667
96
+ }
references/Town04/subset_2/reference/cameras/10505.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
+ 0.9928284633702804,
32
+ 0.0,
33
+ -0.1195476571155113,
34
+ -34.74441146850586
35
+ ],
36
+ [
37
+ -0.1195476571155113,
38
+ 0.0,
39
+ -0.9928284633702804,
40
+ -88.63038635253906
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.001051187515259
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.9928284633702802,
58
+ -0.11954765711551128,
59
+ 0.0,
60
+ 23.89968561129278
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.001051187515259
67
+ ],
68
+ [
69
+ -0.11954765711551127,
70
+ -0.9928284633702803,
71
+ -0.0,
72
+ -92.1483832792228
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -34.74441146850586,
85
+ "y": -88.63038635253906,
86
+ "z": 2.001051187515259
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -96.86599731445312,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 10505,
95
+ "timestamp": 1769237545.132547
96
+ }
references/Town04/subset_2/reference/cameras/10516.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
+ 0.8892761199092185,
32
+ 0.0,
33
+ 0.4573707277025994,
34
+ -42.48260498046875
35
+ ],
36
+ [
37
+ 0.4573707277025994,
38
+ 0.0,
39
+ -0.8892761199092185,
40
+ -93.5936050415039
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.129469633102417
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.8892761199092184,
58
+ 0.4573707277025994,
59
+ 0.0,
60
+ 80.5857413668096
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.129469633102417
67
+ ],
68
+ [
69
+ 0.4573707277025994,
70
+ -0.8892761199092184,
71
+ -0.0,
72
+ -63.80025798500538
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -42.48260498046875,
85
+ "y": -93.5936050415039,
86
+ "z": 2.129469633102417
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -62.78242492675781,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 10516,
95
+ "timestamp": 1769237549.428648
96
+ }
references/Town04/subset_2/reference/cameras/10531.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
+ -0.7752668797187189,
32
+ 0.0,
33
+ 0.6316338062605591,
34
+ -59.67664337158203
35
+ ],
36
+ [
37
+ 0.6316338062605591,
38
+ 0.0,
39
+ 0.7752668797187189,
40
+ -98.69435119628906
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 3.002570152282715
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.7752668797187189,
58
+ 0.631633806260559,
59
+ -0.0,
60
+ 16.073363603755237
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 3.002570152282715
67
+ ],
68
+ [
69
+ 0.631633806260559,
70
+ 0.7752668797187188,
71
+ 0.0,
72
+ 114.20824709545673
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -59.67664337158203,
85
+ "y": -98.69435119628906,
86
+ "z": 3.002570152282715
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 50.8292350769043,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 10531,
95
+ "timestamp": 1769237555.3063378
96
+ }
references/Town04/subset_2/reference/cameras/10565.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
+ 0.37280037604260974,
32
+ 0.0,
33
+ -0.9279115688590637,
34
+ -85.9684829711914
35
+ ],
36
+ [
37
+ -0.9279115688590637,
38
+ 0.0,
39
+ -0.37280037604260974,
40
+ -94.51988983154297
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 5.045319557189941
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.37280037604260974,
58
+ -0.9279115688590637,
59
+ -0.0,
60
+ -55.65701648250005
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 5.045319557189941
67
+ ],
68
+ [
69
+ -0.9279115688590636,
70
+ -0.37280037604260974,
71
+ -0.0,
72
+ -115.00820037893718
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -85.9684829711914,
85
+ "y": -94.51988983154297,
86
+ "z": 5.045319557189941
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -158.111572265625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 10565,
95
+ "timestamp": 1769237569.0489173
96
+ }
references/Town04/subset_2/reference/cameras/10595.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
+ -0.1257989799243879,
32
+ 0.0,
33
+ -0.99205575279315,
34
+ -107.93331909179688
35
+ ],
36
+ [
37
+ -0.99205575279315,
38
+ 0.0,
39
+ 0.1257989799243879,
40
+ -77.56236267089844
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 7.175313949584961
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.1257989799243879,
58
+ -0.9920557527931498,
59
+ -0.0,
60
+ -90.52408952949497
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 7.175313949584961
67
+ ],
68
+ [
69
+ -0.99205575279315,
70
+ 0.12579897992438788,
71
+ -0.0,
72
+ -97.31860401855137
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -107.93331909179688,
85
+ "y": -77.56236267089844,
86
+ "z": 7.175313949584961
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 172.77310180664062,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 10595,
95
+ "timestamp": 1769237580.8299568
96
+ }
references/Town04/subset_2/reference/cameras/10632.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
+ -0.012249167333517535,
32
+ 0.0,
33
+ 0.9999249761355277,
34
+ -119.52887725830078
35
+ ],
36
+ [
37
+ 0.9999249761355277,
38
+ 0.0,
39
+ 0.012249167333517535,
40
+ -43.72798156738281
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 9.918909072875977
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.012249167333517531,
58
+ 0.9999249761355276,
59
+ 0.0,
60
+ 42.26057170649565
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 9.918909072875977
67
+ ],
68
+ [
69
+ 0.9999249761355276,
70
+ 0.012249167333517533,
71
+ 0.0,
72
+ 120.05554110338865
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -119.52887725830078,
85
+ "y": -43.72798156738281,
86
+ "z": 9.918909072875977
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.7018431425094604,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 10632,
95
+ "timestamp": 1769237595.1729364
96
+ }
references/Town04/subset_2/reference/cameras/10654.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
+ -0.9409514110440483,
32
+ 0.0,
33
+ 0.3385416400595566,
34
+ -116.64032745361328
35
+ ],
36
+ [
37
+ 0.3385416400595566,
38
+ 0.0,
39
+ 0.9409514110440483,
40
+ -26.546098709106445
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 10.871039390563965
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.9409514110440482,
58
+ 0.3385416400595566,
59
+ -0.0,
60
+ -100.76592090795349
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 10.871039390563965
67
+ ],
68
+ [
69
+ 0.3385416400595566,
70
+ 0.9409514110440483,
71
+ 0.0,
72
+ 64.46619679127826
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -116.64032745361328,
85
+ "y": -26.546098709106445,
86
+ "z": 10.871039390563965
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 70.21195220947266,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 10654,
95
+ "timestamp": 1769237614.9058475
96
+ }
references/Town04/subset_2/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
+ -0.999994225240824,
32
+ 0.0,
33
+ 0.0033984533252851166,
34
+ 30.033203125
35
+ ],
36
+ [
37
+ 0.0033984533252851166,
38
+ 0.0,
39
+ 0.999994225240824,
40
+ 293.35992431640625
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
+ -0.9999942252408239,
58
+ 0.0033984533252851157,
59
+ -0.0,
60
+ 29.036059680186185
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.0033984533252851153,
70
+ 0.9999942252408238,
71
+ 0.0,
72
+ -293.4602966725205
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 30.033203125,
85
+ "y": 293.35992431640625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.80528259277344,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1113,
95
+ "timestamp": 1769234470.0430646
96
+ }
references/Town04/subset_2/reference/cameras/11287.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
+ -0.20991369006090888,
32
+ 0.0,
33
+ -0.9777199203887649,
34
+ -97.14469146728516
35
+ ],
36
+ [
37
+ -0.9777199203887649,
38
+ 0.0,
39
+ 0.20991369006090888,
40
+ -1.9951207637786865
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 11.354262351989746
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.20991369006090888,
58
+ -0.9777199203887648,
59
+ -0.0,
60
+ -22.342669970053983
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 11.354262351989746
67
+ ],
68
+ [
69
+ -0.9777199203887649,
70
+ 0.20991369006090888,
71
+ -0.0,
72
+ -94.56149684594324
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -97.14469146728516,
85
+ "y": -1.9951207637786865,
86
+ "z": 11.354262351989746
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 167.88270568847656,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 11287,
95
+ "timestamp": 1769237627.306599
96
+ }
references/Town04/subset_2/reference/cameras/11306.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
+ -0.9999793271756655,
32
+ 0.0,
33
+ 0.006430024984649858,
34
+ -393.0846252441406
35
+ ],
36
+ [
37
+ 0.006430024984649858,
38
+ 0.0,
39
+ 0.9999793271756655,
40
+ 9.248274803161621
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
+ -0.9999793271756656,
58
+ 0.006430024984649858,
59
+ -0.0,
60
+ -393.1359657127837
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.006430024984649858,
70
+ 0.9999793271756655,
71
+ 0.0,
72
+ -6.720539653799668
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -393.0846252441406,
85
+ "y": 9.248274803161621,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.63158416748047,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 11306,
95
+ "timestamp": 1769237630.6440804
96
+ }
references/Town04/subset_2/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
+ 0.022632273542637308,
32
+ 0.0,
33
+ -0.9997438572926023,
34
+ 44.443885803222656
35
+ ],
36
+ [
37
+ -0.9997438572926023,
38
+ 0.0,
39
+ -0.022632273542637308,
40
+ 278.9864196777344
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
+ 0.022632273542637308,
58
+ -0.9997438572926023,
59
+ -0.0,
60
+ 277.90909316007463
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9997438572926024,
70
+ -0.022632273542637308,
71
+ -0.0,
72
+ 50.746598790813245
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 44.443885803222656,
85
+ "y": 278.9864196777344,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -178.70315551757812,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1135,
95
+ "timestamp": 1769234478.0057216
96
+ }
references/Town04/subset_2/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
+ 0.6400733709246162,
32
+ 0.0,
33
+ 0.7683137899538174,
34
+ 58.76901626586914
35
+ ],
36
+ [
37
+ 0.7683137899538174,
38
+ 0.0,
39
+ -0.6400733709246162,
40
+ 266.2006530761719
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
+ 0.6400733709246162,
58
+ 0.7683137899538174,
59
+ 0.0,
60
+ -242.14211500035339
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7683137899538174,
70
+ -0.6400733709246162,
71
+ 0.0,
72
+ 125.23490373771219
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 58.76901626586914,
85
+ "y": 266.2006530761719,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -39.79729080200195,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1150,
95
+ "timestamp": 1769234483.92432
96
+ }
references/Town04/subset_2/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
+ -0.9921345889266873,
32
+ 0.0,
33
+ -0.12517570633023514,
34
+ 66.38701629638672
35
+ ],
36
+ [
37
+ -0.12517570633023514,
38
+ 0.0,
39
+ 0.9921345889266873,
40
+ 260.0749206542969
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
+ -0.9921345889266873,
58
+ -0.12517570633023514,
59
+ -0.0,
60
+ 98.4199170149664
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.12517570633023514,
70
+ 0.9921345889266872,
71
+ 0.0,
72
+ -249.71928283743458
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 66.38701629638672,
85
+ "y": 260.0749206542969,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 97.19090270996094,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1163,
95
+ "timestamp": 1769234488.92902
96
+ }
references/Town04/subset_2/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
+ -0.5553328333998968,
32
+ 0.0,
33
+ -0.8316281886444461,
34
+ 82.6425552368164
35
+ ],
36
+ [
37
+ -0.8316281886444461,
38
+ 0.0,
39
+ 0.5553328333998968,
40
+ 248.36337280273438
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
+ -0.5553328333998968,
58
+ -0.8316281886444461,
59
+ -0.0,
60
+ 252.44010620863205
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.8316281886444461,
70
+ 0.5553328333998968,
71
+ -0.0,
72
+ -69.19645701475513
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 82.6425552368164,
85
+ "y": 248.36337280273438,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 146.266357421875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1184,
95
+ "timestamp": 1769234497.0289714
96
+ }
references/Town04/subset_2/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
+ -0.43706232281428464,
32
+ 0.0,
33
+ -0.8994312235942123,
34
+ 115.96142578125
35
+ ],
36
+ [
37
+ -0.8994312235942123,
38
+ 0.0,
39
+ 0.43706232281428464,
40
+ 229.26210021972656
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
+ -0.43706232281428464,
58
+ -0.8994312235942125,
59
+ -0.0,
60
+ 256.887861433217
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.8994312235942123,
70
+ 0.43706232281428464,
71
+ -0.0,
72
+ 4.097501024844126
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 115.96142578125,
85
+ "y": 229.26210021972656,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 154.08340454101562,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1224,
95
+ "timestamp": 1769234512.1601386
96
+ }
references/Town04/subset_2/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
+ -0.3076053691953498,
32
+ 0.0,
33
+ -0.951514023460607,
34
+ 152.43251037597656
35
+ ],
36
+ [
37
+ -0.951514023460607,
38
+ 0.0,
39
+ 0.3076053691953498,
40
+ 214.58914184570312
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
+ -0.30760536919534975,
58
+ -0.951514023460607,
59
+ -0.0,
60
+ 251.07363638014016
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9515140234606069,
70
+ 0.3076053691953498,
71
+ -0.0,
72
+ 79.03289905128537
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 152.43251037597656,
85
+ "y": 214.58914184570312,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 162.08502197265625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1264,
95
+ "timestamp": 1769234527.5441618
96
+ }
references/Town04/subset_2/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
+ 0.8895095958264908,
32
+ 0.0,
33
+ 0.456916490107977,
34
+ 190.4065704345703
35
+ ],
36
+ [
37
+ 0.456916490107977,
38
+ 0.0,
39
+ -0.8895095958264908,
40
+ 202.38800048828125
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
+ 0.8895095958264907,
58
+ 0.456916490107977,
59
+ 0.0,
60
+ -261.8428863330399
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.456916490107977,
70
+ -0.8895095958264907,
71
+ -0.0,
72
+ 93.02616665800149
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 190.4065704345703,
85
+ "y": 202.38800048828125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -62.81168746948242,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1307,
95
+ "timestamp": 1769234544.1419554
96
+ }
references/Town04/subset_2/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
+ -0.3334882696378913,
32
+ 0.0,
33
+ -0.942754249003379,
34
+ 210.42630004882812
35
+ ],
36
+ [
37
+ -0.942754249003379,
38
+ 0.0,
39
+ 0.3334882696378913,
40
+ 195.73077392578125
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
+ -0.33348826963789135,
58
+ -0.942754249003379,
59
+ -0.0,
60
+ 254.7007214688375
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.942754249003379,
70
+ 0.3334882696378913,
71
+ -0.0,
72
+ 133.10637136169856
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 210.42630004882812,
85
+ "y": 195.73077392578125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 160.5193634033203,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1324,
95
+ "timestamp": 1769234550.4844692
96
+ }
references/Town04/subset_2/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
+ 0.9360755670251898,
32
+ 0.0,
33
+ -0.35179899490827055,
34
+ 219.67811584472656
35
+ ],
36
+ [
37
+ -0.35179899490827055,
38
+ 0.0,
39
+ -0.9360755670251898,
40
+ 192.35626220703125
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
+ 0.9360755670251898,
58
+ -0.35179899490827055,
59
+ 0.0,
60
+ -137.96457714363243
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.35179899490827055,
70
+ -0.9360755670251898,
71
+ -0.0,
72
+ 257.34253757381026
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 219.67811584472656,
85
+ "y": 192.35626220703125,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -110.5973892211914,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1336,
95
+ "timestamp": 1769234554.98576
96
+ }
references/Town04/subset_2/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
+ 0.3948789203912369,
32
+ 0.0,
33
+ -0.9187331703115171,
34
+ 229.08644104003906
35
+ ],
36
+ [
37
+ -0.9187331703115171,
38
+ 0.0,
39
+ -0.3948789203912369,
40
+ 188.71278381347656
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
+ 0.3948789203912369,
58
+ -0.9187331703115172,
59
+ -0.0,
60
+ 82.9152876371059
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9187331703115171,
70
+ -0.39487892039123695,
71
+ -0.0,
72
+ 284.9880125883881
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 229.08644104003906,
85
+ "y": 188.71278381347656,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -156.7415771484375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1345,
95
+ "timestamp": 1769234558.4079235
96
+ }
references/Town04/subset_2/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
+ -0.38886698001561215,
32
+ 0.0,
33
+ -0.9212939117640675,
34
+ 238.40689086914062
35
+ ],
36
+ [
37
+ -0.9212939117640675,
38
+ 0.0,
39
+ 0.38886698001561215,
40
+ 184.88775634765625
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
+ -0.38886698001561226,
58
+ -0.9212939117640676,
59
+ -0.0,
60
+ 263.04453195000843
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9212939117640677,
70
+ 0.38886698001561226,
71
+ -0.0,
72
+ 147.74607362756436
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 238.40689086914062,
85
+ "y": 184.88775634765625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 157.11598205566406,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1354,
95
+ "timestamp": 1769234561.6835787
96
+ }
references/Town04/subset_2/reference/cameras/1460.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ 0.5756658377774735,
32
+ 0.0,
33
+ 0.8176850513589934,
34
+ 337.6761169433594
35
+ ],
36
+ [
37
+ 0.8176850513589934,
38
+ 0.0,
39
+ -0.5756658377774735,
40
+ 136.22743225097656
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
+ 0.5756658377774735,
58
+ 0.8176850513589933,
59
+ 0.0,
60
+ -305.77973969428666
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.8176850513589934,
70
+ -0.5756658377774735,
71
+ 0.0,
72
+ -197.69123411050384
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 337.6761169433594,
85
+ "y": 136.22743225097656,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -35.14627456665039,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1460,
95
+ "timestamp": 1769234603.122423
96
+ }
references/Town04/subset_2/reference/cameras/1465.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ 0.17113427985983948,
32
+ 0.0,
33
+ -0.9852477141596697,
34
+ 337.6761169433594
35
+ ],
36
+ [
37
+ -0.9852477141596697,
38
+ 0.0,
39
+ -0.17113427985983948,
40
+ 136.22743225097656
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
+ 0.17113427985983945,
58
+ -0.9852477141596696,
59
+ -0.0,
60
+ 76.42980713214719
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9852477141596695,
70
+ -0.17113427985983942,
71
+ -0.0,
72
+ 356.007805860184
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 337.6761169433594,
85
+ "y": 136.22743225097656,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -170.14622497558594,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1465,
95
+ "timestamp": 1769234604.799759
96
+ }
references/Town04/subset_2/reference/cameras/1556.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ 0.319054565709465,
32
+ 0.0,
33
+ -0.947736347356133,
34
+ 395.9735107421875
35
+ ],
36
+ [
37
+ -0.947736347356133,
38
+ 0.0,
39
+ -0.319054565709465,
40
+ 64.78567504882812
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
+ 0.31905456570946494,
58
+ -0.9477363473561329,
59
+ -0.0,
60
+ -64.93741747052304
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9477363473561328,
70
+ -0.3190545657094649,
71
+ -0.0,
72
+ 395.9486541374835
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 395.9735107421875,
85
+ "y": 64.78567504882812,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -161.3942413330078,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1556,
95
+ "timestamp": 1769234639.7272556
96
+ }
references/Town04/subset_2/reference/cameras/1575.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ -0.5796296656923275,
32
+ 0.0,
33
+ -0.8148800222421707,
34
+ 400.794921875
35
+ ],
36
+ [
37
+ -0.8148800222421707,
38
+ 0.0,
39
+ 0.5796296656923275,
40
+ 45.404441833496094
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
+ -0.5796296656923274,
58
+ -0.8148800222421707,
59
+ -0.0,
60
+ 269.31179914876134
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.8148800222421706,
70
+ 0.5796296656923274,
71
+ -0.0,
72
+ 300.28201341115295
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 400.794921875,
85
+ "y": 45.404441833496094,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 144.57550048828125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1575,
95
+ "timestamp": 1769234646.6447089
96
+ }
references/Town04/subset_2/reference/cameras/1740.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
+ -0.027849516337852338,
32
+ 0.0,
33
+ 0.9996121269971406,
34
+ 198.84901428222656
35
+ ],
36
+ [
37
+ 0.9996121269971406,
38
+ 0.0,
39
+ 0.027849516337852338,
40
+ -364.3231506347656
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
+ -0.02784951633785234,
58
+ 0.9996121269971409,
59
+ 0.0,
60
+ 369.7196883923365
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9996121269971407,
70
+ 0.027849516337852345,
71
+ 0.0,
72
+ -188.62566258208057
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 198.84901428222656,
85
+ "y": -364.3231506347656,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 1.595866084098816,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1740,
95
+ "timestamp": 1769183686.8732047
96
+ }
references/Town04/subset_2/reference/cameras/1750.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
+ -0.9997368667482649,
32
+ 0.0,
33
+ -0.022938990046685752,
34
+ 202.82968139648438
35
+ ],
36
+ [
37
+ -0.022938990046685752,
38
+ 0.0,
39
+ 0.9997368667482649,
40
+ -354.4337463378906
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.01959228515625
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.999736866748265,
58
+ -0.022938990046685752,
59
+ -0.0,
60
+ 194.6459579834157
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.01959228515625
67
+ ],
68
+ [
69
+ -0.022938990046685752,
70
+ 0.9997368667482649,
71
+ 0.0,
72
+ 358.9931910764185
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 202.82968139648438,
85
+ "y": -354.4337463378906,
86
+ "z": 2.01959228515625
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 91.31442260742188,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1750,
95
+ "timestamp": 1769183690.6901019
96
+ }
references/Town04/subset_2/reference/cameras/1801.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
+ 0.7111205128915267,
32
+ 0.0,
33
+ -0.7030701360069933,
34
+ 359.24359130859375
35
+ ],
36
+ [
37
+ -0.7030701360069933,
38
+ 0.0,
39
+ -0.7111205128915267,
40
+ -172.11178588867188
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.195892333984375
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.7111205128915267,
58
+ -0.7030701360069934,
59
+ 0.0,
60
+ -376.47214361751617
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.195892333984375
67
+ ],
68
+ [
69
+ -0.7030701360069933,
70
+ -0.7111205128915267,
71
+ -0.0,
72
+ 130.18121914514478
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 359.24359130859375,
85
+ "y": -172.11178588867188,
86
+ "z": 2.195892333984375
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -134.67384338378906,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1801,
95
+ "timestamp": 1769234724.2541072
96
+ }
references/Town04/subset_2/reference/cameras/1823.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
+ -0.7030703253898167,
32
+ 0.0,
33
+ -0.7111203256525982,
34
+ 337.4346923828125
35
+ ],
36
+ [
37
+ -0.7111203256525982,
38
+ 0.0,
39
+ 0.7030703253898167,
40
+ -168.73587036132812
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.195892333984375
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.7030703253898165,
58
+ -0.7111203256525982,
59
+ -0.0,
60
+ 117.24881189077442
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.195892333984375
67
+ ],
68
+ [
69
+ -0.7111203256525981,
70
+ 0.7030703253898166,
71
+ -0.0,
72
+ 358.5898516136228
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 337.4346923828125,
85
+ "y": -168.73587036132812,
86
+ "z": 2.195892333984375
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 135.32614135742188,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1823,
95
+ "timestamp": 1769234732.4049485
96
+ }
references/Town04/subset_2/reference/cameras/1850.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
+ -0.5537332501660089,
32
+ 0.0,
33
+ 0.8326941141022843,
34
+ 106.16095733642578
35
+ ],
36
+ [
37
+ 0.8326941141022843,
38
+ 0.0,
39
+ 0.5537332501660089,
40
+ 46.575164794921875
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 12.573124885559082
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.5537332501660089,
58
+ 0.8326941141022842,
59
+ 0.0,
60
+ 20.001986358558682
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 12.573124885559082
67
+ ],
68
+ [
69
+ 0.8326941141022843,
70
+ 0.5537332501660089,
71
+ 0.0,
72
+ -114.18982170041504
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 106.16095733642578,
85
+ "y": 46.575164794921875,
86
+ "z": 12.573124885559082
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 33.62350845336914,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1850,
95
+ "timestamp": 1769234739.0307212
96
+ }
references/Town04/subset_2/reference/cameras/1862.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
+ -0.9692456249792695,
32
+ 0.0,
33
+ -0.2460953442439442,
34
+ 90.20539855957031
35
+ ],
36
+ [
37
+ -0.2460953442439442,
38
+ 0.0,
39
+ 0.9692456249792695,
40
+ 39.49296951293945
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 12.881977081298828
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.9692456249792695,
58
+ -0.24609534424394416,
59
+ -0.0,
60
+ 97.15022383087725
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 12.881977081298828
67
+ ],
68
+ [
69
+ -0.24609534424394416,
70
+ 0.9692456249792694,
71
+ 0.0,
72
+ -16.07925930667659
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 90.20539855957031,
85
+ "y": 39.49296951293945,
86
+ "z": 12.881977081298828
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 104.24657440185547,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1862,
95
+ "timestamp": 1769234743.5697083
96
+ }
references/Town04/subset_2/reference/cameras/1867.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
+ 0.5113454686116886,
32
+ 0.0,
33
+ 0.8593752450066807,
34
+ 90.20539855957031
35
+ ],
36
+ [
37
+ 0.8593752450066807,
38
+ 0.0,
39
+ -0.5113454686116886,
40
+ 39.49296951293945
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 12.881977081298828
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.5113454686116886,
58
+ 0.8593752450066808,
59
+ 0.0,
60
+ -80.06540214897134
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 12.881977081298828
67
+ ],
68
+ [
69
+ 0.8593752450066807,
70
+ -0.5113454686116886,
71
+ 0.0,
72
+ -57.32573548559487
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 90.20539855957031,
85
+ "y": 39.49296951293945,
86
+ "z": 12.881977081298828
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -30.75349235534668,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1867,
95
+ "timestamp": 1769234745.3229184
96
+ }
references/Town04/subset_2/reference/cameras/1994.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ -0.9293096312235848,
32
+ 0.0,
33
+ -0.3693015154519201,
34
+ -8.402284622192383
35
+ ],
36
+ [
37
+ -0.3693015154519201,
38
+ 0.0,
39
+ 0.9293096312235848,
40
+ 296.3229064941406
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
+ -0.9293096312235849,
58
+ -0.36930151545192014,
59
+ -0.0,
60
+ 101.62417440771857
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.36930151545192014,
70
+ 0.9293096312235849,
71
+ 0.0,
72
+ -278.4787074014047
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -8.402284622192383,
85
+ "y": 296.3229064941406,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 111.67254638671875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1994,
95
+ "timestamp": 1769234763.1766398
96
+ }
references/Town04/subset_2/reference/cameras/241.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
+ -0.6907004024643079,
32
+ 0.0,
33
+ -0.7231410332954722,
34
+ 201.6930694580078
35
+ ],
36
+ [
37
+ -0.7231410332954722,
38
+ 0.0,
39
+ 0.6907004024643079,
40
+ -304.8970947265625
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.01959228515625
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.6907004024643077,
58
+ -0.7231410332954721,
59
+ -0.0,
60
+ -81.17411588044627
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.01959228515625
67
+ ],
68
+ [
69
+ -0.7231410332954721,
70
+ 0.6907004024643079,
71
+ -0.0,
72
+ 356.4450806942341
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 201.6930694580078,
85
+ "y": -304.8970947265625,
86
+ "z": 2.01959228515625
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 136.31442260742188,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 241,
95
+ "timestamp": 1769234436.1845813
96
+ }
references/Town04/subset_2/reference/cameras/2846.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ 0.9995886811549929,
32
+ 0.0,
33
+ -0.028678711735746158,
34
+ 349.6495666503906
35
+ ],
36
+ [
37
+ -0.028678711735746158,
38
+ 0.0,
39
+ -0.9995886811549929,
40
+ -64.79200744628906
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0043487548828125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.999588681154993,
58
+ -0.028678711735746154,
59
+ 0.0,
60
+ -351.36390049881123
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0043487548828125
67
+ ],
68
+ [
69
+ -0.028678711735746158,
70
+ -0.9995886811549928,
71
+ -0.0,
72
+ -54.73785814212544
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 349.6495666503906,
85
+ "y": -64.79200744628906,
86
+ "z": 2.0043487548828125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -91.64339447021484,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2846,
95
+ "timestamp": 1769234820.7362869
96
+ }
references/Town04/subset_2/reference/cameras/2886.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ 0.008916944106501215,
32
+ 0.0,
33
+ -0.9999602432636017,
34
+ 313.8761901855469
35
+ ],
36
+ [
37
+ -0.9999602432636017,
38
+ 0.0,
39
+ -0.008916944106501215,
40
+ -100.50988006591797
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0043487548828125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.008916944106501217,
58
+ -0.9999602432636018,
59
+ -0.0,
60
+ -103.30470056535684
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0043487548828125
67
+ ],
68
+ [
69
+ -0.9999602432636019,
70
+ -0.008916944106501217,
71
+ -0.0,
72
+ 312.96747050989313
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 313.8761901855469,
85
+ "y": -100.50988006591797,
86
+ "z": 2.0043487548828125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -179.4890899658203,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2886,
95
+ "timestamp": 1769234844.6942964
96
+ }
references/Town04/subset_2/reference/cameras/2923.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ 0.4740813386133096,
32
+ 0.0,
33
+ 0.8804810528220426,
34
+ 325.71185302734375
35
+ ],
36
+ [
37
+ 0.8804810528220426,
38
+ 0.0,
39
+ -0.4740813386133096,
40
+ -68.28413391113281
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0043487548828125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.4740813386133096,
58
+ 0.8804810528220425,
59
+ 0.0,
60
+ -94.29102516830912
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0043487548828125
67
+ ],
68
+ [
69
+ 0.8804810528220426,
70
+ -0.4740813386133096,
71
+ 0.0,
72
+ -319.15534888077434
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 325.71185302734375,
85
+ "y": -68.28413391113281,
86
+ "z": 2.0043487548828125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -28.29955291748047,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2923,
95
+ "timestamp": 1769234858.7863731
96
+ }
references/Town04/subset_2/reference/cameras/2925.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ -0.880481084385915,
32
+ 0.0,
33
+ 0.4740812799917366,
34
+ 325.71185302734375
35
+ ],
36
+ [
37
+ 0.4740812799917366,
38
+ 0.0,
39
+ 0.880481084385915,
40
+ -68.28413391113281
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0043487548828125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.8804810843859149,
58
+ 0.4740812799917365,
59
+ -0.0,
60
+ 319.15535515857835
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0043487548828125
67
+ ],
68
+ [
69
+ 0.4740812799917365,
70
+ 0.8804810843859149,
71
+ 0.0,
72
+ -94.29100391925623
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 325.71185302734375,
85
+ "y": -68.28413391113281,
86
+ "z": 2.0043487548828125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 61.7004508972168,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2925,
95
+ "timestamp": 1769234859.5009222
96
+ }
references/Town04/subset_2/reference/cameras/2927.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ -0.47408145585644934,
32
+ 0.0,
33
+ -0.8804809896942861,
34
+ 325.71185302734375
35
+ ],
36
+ [
37
+ -0.8804809896942861,
38
+ 0.0,
39
+ 0.47408145585644934,
40
+ -68.28413391113281
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0043487548828125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.4740814558564493,
58
+ -0.880480989694286,
59
+ -0.0,
60
+ 94.2910676664136
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0043487548828125
67
+ ],
68
+ [
69
+ -0.8804809896942859,
70
+ 0.4740814558564493,
71
+ -0.0,
72
+ 319.155336325162
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 325.71185302734375,
85
+ "y": -68.28413391113281,
86
+ "z": 2.0043487548828125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 151.700439453125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2927,
95
+ "timestamp": 1769234860.3389122
96
+ }
references/Town04/subset_2/reference/cameras/2954.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
+ 0.018212349656079537,
32
+ 0.0,
33
+ 0.9998341414054657,
34
+ 354.8009338378906
35
+ ],
36
+ [
37
+ 0.9998341414054657,
38
+ 0.0,
39
+ -0.018212349656079537,
40
+ -68.41374206542969
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0043487548828125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.018212349656079537,
58
+ 0.9998341414054656,
59
+ 0.0,
60
+ 61.94063639296468
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0043487548828125
67
+ ],
68
+ [
69
+ 0.9998341414054657,
70
+ -0.018212349656079537,
71
+ 0.0,
72
+ -355.98806204544127
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 354.8009338378906,
85
+ "y": -68.41374206542969,
86
+ "z": 2.0043487548828125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -1.0435484647750854,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2954,
95
+ "timestamp": 1769234871.7982755
96
+ }
references/Town04/subset_2/reference/cameras/2967.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
+ -0.7160207201965426,
32
+ 0.0,
33
+ -0.6980790272234401,
34
+ 364.9753723144531
35
+ ],
36
+ [
37
+ -0.6980790272234401,
38
+ 0.0,
39
+ 0.7160207201965426,
40
+ -68.55048370361328
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0043487548828125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.7160207201965426,
58
+ -0.6980790272234401,
59
+ -0.0,
60
+ 213.4762739590814
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0043487548828125
67
+ ],
68
+ [
69
+ -0.6980790272234401,
70
+ 0.7160207201965426,
71
+ 0.0,
72
+ 303.86521957706884
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 364.9753723144531,
85
+ "y": -68.55048370361328,
86
+ "z": 2.0043487548828125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.27308654785156,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2967,
95
+ "timestamp": 1769234876.5298872
96
+ }
references/Town04/subset_2/reference/cameras/2985.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
+ 0.6947282908755018,
32
+ 0.0,
33
+ 0.7192722724095544,
34
+ -510.85498046875
35
+ ],
36
+ [
37
+ 0.7192722724095544,
38
+ 0.0,
39
+ -0.6947282908755018,
40
+ 192.7833709716797
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
+ 0.6947282908755017,
58
+ 0.7192722724095544,
59
+ 0.0,
60
+ 216.24167414471827
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7192722724095543,
70
+ -0.6947282908755017,
71
+ 0.0,
72
+ 501.3758844978691
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -510.85498046875,
85
+ "y": 192.7833709716797,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -44.00556945800781,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2985,
95
+ "timestamp": 1769234883.385634
96
+ }
references/Town04/subset_2/reference/cameras/3032.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
+ -0.0023334596294944995,
32
+ 0.0,
33
+ -0.9999972774793727,
34
+ -511.7576904296875
35
+ ],
36
+ [
37
+ -0.9999972774793727,
38
+ 0.0,
39
+ 0.0023334596294944995,
40
+ 237.63575744628906
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
+ -0.0023334596294944995,
58
+ -0.9999972774793727,
59
+ -0.0,
60
+ 236.44094456733663
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999972774793727,
70
+ 0.0023334596294944995,
71
+ -0.0,
72
+ -512.3108106053444
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -511.7576904296875,
85
+ "y": 237.63575744628906,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 179.86630249023438,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3032,
95
+ "timestamp": 1769234901.603155
96
+ }
references/Town04/subset_2/reference/cameras/3050.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
+ 0.9999771933380202,
32
+ 0.0,
33
+ 0.006753725180663549,
34
+ -489.7930603027344
35
+ ],
36
+ [
37
+ 0.006753725180663549,
38
+ 0.0,
39
+ -0.9999771933380202,
40
+ 187.75445556640625
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
+ 0.9999771933380202,
58
+ 0.006753725180663549,
59
+ 0.0,
60
+ 488.5138477636273
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.006753725180663549,
70
+ -0.9999771933380202,
71
+ -0.0,
72
+ 191.05810123868378
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -489.7930603027344,
85
+ "y": 187.75445556640625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.613037109375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3050,
95
+ "timestamp": 1769234908.5167131
96
+ }
references/Town04/subset_2/reference/cameras/3051.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
+ 0.7023148125908335,
32
+ 0.0,
33
+ 0.7118664931119475,
34
+ -489.7930603027344
35
+ ],
36
+ [
37
+ 0.7118664931119475,
38
+ 0.0,
39
+ -0.7023148125908335,
40
+ 187.75445556640625
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
+ 0.7023148125908336,
58
+ 0.7118664931119474,
59
+ 0.0,
60
+ 210.33281550460526
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7118664931119476,
70
+ -0.7023148125908337,
71
+ 0.0,
72
+ 480.53000346249087
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -489.7930603027344,
85
+ "y": 187.75445556640625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -44.61301803588867,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3051,
95
+ "timestamp": 1769234908.8826394
96
+ }
references/Town04/subset_2/reference/cameras/3144.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
+ -0.7303365042948683,
32
+ 0.0,
33
+ -0.6830875423357916,
34
+ -5.112627029418945
35
+ ],
36
+ [
37
+ -0.6830875423357916,
38
+ 0.0,
39
+ 0.7303365042948683,
40
+ 324.32513427734375
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
+ -0.7303365042948681,
58
+ -0.6830875423357917,
59
+ -0.0,
60
+ 217.8085207388071
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.6830875423357917,
70
+ 0.7303365042948683,
71
+ 0.0,
72
+ -240.35885665548432
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -5.112627029418945,
85
+ "y": 324.32513427734375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 133.08538818359375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3144,
95
+ "timestamp": 1769234940.7113297
96
+ }
references/Town04/subset_2/reference/cameras/3202.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
+ -0.9999838007586017,
32
+ 0.0,
33
+ -0.0056919434625716915,
34
+ 110.09484100341797
35
+ ],
36
+ [
37
+ -0.0056919434625716915,
38
+ 0.0,
39
+ 0.9999838007586017,
40
+ -170.02989196777344
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.195892333984375
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.9999838007586017,
58
+ -0.005691943462571691,
59
+ -0.0,
60
+ 109.1252570184841
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.195892333984375
67
+ ],
68
+ [
69
+ -0.0056919434625716915,
70
+ 0.9999838007586017,
71
+ 0.0,
72
+ 170.6537912230208
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 110.09484100341797,
85
+ "y": -170.02989196777344,
86
+ "z": 2.195892333984375
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 90.32612609863281,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3202,
95
+ "timestamp": 1769234961.8513021
96
+ }
references/Town04/subset_2/reference/cameras/351.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
+ -0.9194435752398774,
32
+ 0.0,
33
+ 0.3932219627005999,
34
+ 252.46258544921875
35
+ ],
36
+ [
37
+ 0.3932219627005999,
38
+ 0.0,
39
+ 0.9194435752398774,
40
+ -307.18878173828125
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0043487548828125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.9194435752398773,
58
+ 0.39322196270059984,
59
+ -0.0,
60
+ 352.9184778544659
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0043487548828125
67
+ ],
68
+ [
69
+ 0.3932219627005999,
70
+ 0.9194435752398773,
71
+ 0.0,
72
+ 183.16891839621795
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 252.46258544921875,
85
+ "y": -307.18878173828125,
86
+ "z": 2.0043487548828125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 66.8448715209961,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 351,
95
+ "timestamp": 1769183465.101062
96
+ }
references/Town04/subset_2/reference/cameras/3784.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
+ -0.6490242494224113,
32
+ 0.0,
33
+ 0.7607677199130334,
34
+ 34.722694396972656
35
+ ],
36
+ [
37
+ 0.7607677199130334,
38
+ 0.0,
39
+ 0.6490242494224113,
40
+ 132.8837127685547
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
+ -0.6490242494224115,
58
+ 0.7607677199130335,
59
+ 0.0,
60
+ -78.55776850759281
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7607677199130335,
70
+ 0.6490242494224114,
71
+ 0.0,
72
+ -112.66065698569649
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.722694396972656,
85
+ "y": 132.8837127685547,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 40.468074798583984,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3784,
95
+ "timestamp": 1769235050.2133584
96
+ }