Hugging Face's logo

Datasets:
enrue1893
/
SyntheticData

Modalities:
Image
Dataset card Data Studio Files
xet
 Community
enrue1893 commited on
Commit
7259a9f
·
verified ·
1 Parent(s): d42ebba

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. references/Town05/subset_3/reference/cameras/1413.json +96 -0
  2. references/Town05/subset_3/reference/cameras/1490.json +96 -0
  3. references/Town05/subset_3/reference/cameras/1524.json +96 -0
  4. references/Town05/subset_3/reference/cameras/160.json +96 -0
  5. references/Town05/subset_3/reference/cameras/1604.json +96 -0
  6. references/Town05/subset_3/reference/cameras/1621.json +96 -0
  7. references/Town05/subset_3/reference/cameras/1672.json +96 -0
  8. references/Town05/subset_3/reference/cameras/1704.json +96 -0
  9. references/Town05/subset_3/reference/cameras/1960.json +96 -0
  10. references/Town05/subset_3/reference/cameras/1976.json +96 -0
  11. references/Town05/subset_3/reference/cameras/2451.json +96 -0
  12. references/Town05/subset_3/reference/cameras/254.json +96 -0
  13. references/Town05/subset_3/reference/cameras/2560.json +96 -0
  14. references/Town05/subset_3/reference/cameras/257.json +96 -0
  15. references/Town05/subset_3/reference/cameras/3365.json +96 -0
  16. references/Town05/subset_3/reference/cameras/3424.json +96 -0
  17. references/Town05/subset_3/reference/cameras/3536.json +96 -0
  18. references/Town05/subset_3/reference/cameras/4120.json +96 -0
  19. references/Town05/subset_3/reference/cameras/4275.json +96 -0
  20. references/Town05/subset_3/reference/cameras/4311.json +96 -0
references/Town05/subset_3/reference/cameras/1413.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
+ 0.37525072764591816,
32
+ 0.0,
33
+ -0.9269233471011554,
34
+ 147.69195556640625
35
+ ],
36
+ [
37
+ -0.9269233471011554,
38
+ 0.0,
39
+ -0.37525072764591816,
40
+ -111.03355407714844
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.038604736328125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.3752507276459181,
58
+ -0.9269233471011553,
59
+ -0.0,
60
+ -158.3411073794701
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.038604736328125
67
+ ],
68
+ [
69
+ -0.9269233471011552,
70
+ -0.37525072764591805,
71
+ -0.0,
72
+ 95.23369983296602
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 147.69195556640625,
85
+ "y": -111.03355407714844,
86
+ "z": 2.038604736328125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -157.96018981933594,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1413,
95
+ "timestamp": 1769268893.9383538
96
+ }
references/Town05/subset_3/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
+ -0.9999995787679444,
32
+ 0.0,
33
+ 0.0009178583408187524,
34
+ 151.49107360839844
35
+ ],
36
+ [
37
+ 0.0009178583408187524,
38
+ 0.0,
39
+ 0.9999995787679444,
40
+ -32.20028305053711
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.038604736328125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.9999995787679444,
58
+ 0.0009178583408187524,
59
+ -0.0,
60
+ 151.52056509387674
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.038604736328125
67
+ ],
68
+ [
69
+ 0.0009178583408187524,
70
+ 0.9999995787679443,
71
+ 0.0,
72
+ 32.061222141274634
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 151.49107360839844,
85
+ "y": -32.20028305053711,
86
+ "z": 2.038604736328125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.9474105834961,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1490,
95
+ "timestamp": 1769268918.32863
96
+ }
references/Town05/subset_3/reference/cameras/1524.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
+ 0.015090493751659542,
32
+ 0.0,
33
+ 0.9998861320162067,
34
+ 46.42424774169922
35
+ ],
36
+ [
37
+ 0.9998861320162067,
38
+ 0.0,
39
+ -0.015090493751659542,
40
+ -149.5064239501953
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.038604736328125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.01509049375165954,
58
+ 0.9998861320162067,
59
+ 0.0,
60
+ 148.78883513466434
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.038604736328125
67
+ ],
68
+ [
69
+ 0.9998861320162067,
70
+ -0.015090493751659542,
71
+ 0.0,
72
+ -48.67508726266314
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 46.42424774169922,
85
+ "y": -149.5064239501953,
86
+ "z": 2.038604736328125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.8646544218063354,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1524,
95
+ "timestamp": 1769268929.3138902
96
+ }
references/Town05/subset_3/reference/cameras/160.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
+ 0.9999999202101975,
32
+ 0.0,
33
+ 0.00039947415288723226,
34
+ 35.051815032958984
35
+ ],
36
+ [
37
+ 0.00039947415288723226,
38
+ 0.0,
39
+ -0.9999999202101975,
40
+ 150.79591369628906
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0000152587890625
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.9999999202101973,
58
+ 0.00039947415288723226,
59
+ 0.0,
60
+ -35.11205130606426
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0000152587890625
67
+ ],
68
+ [
69
+ 0.00039947415288723226,
70
+ -0.9999999202101973,
71
+ -0.0,
72
+ 150.78189937019542
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 35.051815032958984,
85
+ "y": 150.79591369628906,
86
+ "z": 2.0000152587890625
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.97711181640625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 160,
95
+ "timestamp": 1769268796.7842467
96
+ }
references/Town05/subset_3/reference/cameras/1604.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
+ -0.41628412779426816,
32
+ 0.0,
33
+ 0.9092345819130316,
34
+ 125.30953216552734
35
+ ],
36
+ [
37
+ 0.9092345819130316,
38
+ 0.0,
39
+ 0.41628412779426816,
40
+ -138.74765014648438
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.038604736328125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.41628412779426816,
58
+ 0.9092345819130315,
59
+ 0.0,
60
+ 178.31853097418863
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.038604736328125
67
+ ],
68
+ [
69
+ 0.9092345819130317,
70
+ 0.41628412779426816,
71
+ 0.0,
72
+ -56.17731556350735
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 125.30953216552734,
85
+ "y": -138.74765014648438,
86
+ "z": 2.038604736328125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 24.600210189819336,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1604,
95
+ "timestamp": 1769268956.23991
96
+ }
references/Town05/subset_3/reference/cameras/1621.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
+ 0.9986746439429138,
32
+ 0.0,
33
+ 0.05146800506619998,
34
+ 141.86956787109375
35
+ ],
36
+ [
37
+ 0.05146800506619998,
38
+ 0.0,
39
+ -0.9986746439429138,
40
+ -126.5941162109375
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.038604736328125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.9986746439429136,
58
+ 0.05146800506619997,
59
+ 0.0,
60
+ -135.16599356550392
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.038604736328125
67
+ ],
68
+ [
69
+ 0.05146800506619997,
70
+ -0.9986746439429137,
71
+ -0.0,
72
+ -133.7280775701549
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 141.86956787109375,
85
+ "y": -126.5941162109375,
86
+ "z": 2.038604736328125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -87.04979705810547,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1621,
95
+ "timestamp": 1769268961.8332508
96
+ }
references/Town05/subset_3/reference/cameras/1672.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
+ 0.0009177251178016936,
32
+ 0.0,
33
+ 0.9999995788902154,
34
+ 154.94915771484375
35
+ ],
36
+ [
37
+ 0.9999995788902154,
38
+ 0.0,
39
+ -0.0009177251178016936,
40
+ -77.87783813476562
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.038604736328125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.0009177251178016936,
58
+ 0.9999995788902154,
59
+ 0.0,
60
+ 77.73560460562885
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.038604736328125
67
+ ],
68
+ [
69
+ 0.9999995788902153,
70
+ -0.0009177251178016935,
71
+ 0.0,
72
+ -155.02056291241368
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 154.94915771484375,
85
+ "y": -77.87783813476562,
86
+ "z": 2.038604736328125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.0525817833840847,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1672,
95
+ "timestamp": 1769268978.5092337
96
+ }
references/Town05/subset_3/reference/cameras/1704.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ -0.9999995787679444,
32
+ 0.0,
33
+ 0.0009178583408187524,
34
+ 154.9767608642578
35
+ ],
36
+ [
37
+ 0.0009178583408187524,
38
+ 0.0,
39
+ 0.9999995787679444,
40
+ -47.79276657104492
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.038604736328125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.9999995787679444,
58
+ 0.0009178583408187524,
59
+ -0.0,
60
+ 155.02056257250632
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.038604736328125
67
+ ],
68
+ [
69
+ 0.0009178583408187524,
70
+ 0.9999995787679443,
71
+ 0.0,
72
+ 47.65049972660728
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 154.9767608642578,
85
+ "y": -47.79276657104492,
86
+ "z": 2.038604736328125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.9474105834961,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1704,
95
+ "timestamp": 1769268988.8599136
96
+ }
references/Town05/subset_3/reference/cameras/1960.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ -0.0011443596805276455,
32
+ 0.0,
33
+ 0.9999993452202465,
34
+ -2.5759289264678955
35
+ ],
36
+ [
37
+ 0.9999993452202465,
38
+ 0.0,
39
+ 0.0011443596805276455,
40
+ 91.56373596191406
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.0011443596805276455,
58
+ 0.9999993452202465,
59
+ 0.0,
60
+ -91.56662379703695
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999993452202465,
70
+ 0.0011443596805276455,
71
+ 0.0,
72
+ 2.4711453921684945
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -2.5759289264678955,
85
+ "y": 91.56373596191406,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.06556699424982071,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1960,
95
+ "timestamp": 1769269028.1413245
96
+ }
references/Town05/subset_3/reference/cameras/1976.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
+ 0.9999993455245261,
32
+ 0.0,
33
+ 0.0011440937547041636,
34
+ -12.613065719604492
35
+ ],
36
+ [
37
+ 0.0011440937547041636,
38
+ 0.0,
39
+ -0.9999993455245261,
40
+ 91.55226135253906
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
+ 0.9999993455245262,
58
+ 0.0011440937547041636,
59
+ 0.0,
60
+ 12.508313094219845
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.0011440937547041636,
70
+ -0.999999345524526,
71
+ -0.0,
72
+ 91.56663196354688
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -12.613065719604492,
85
+ "y": 91.55226135253906,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.9344482421875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1976,
95
+ "timestamp": 1769269034.170514
96
+ }
references/Town05/subset_3/reference/cameras/2451.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
+ -0.7112599918767943,
32
+ 0.0,
33
+ -0.7029290319480498,
34
+ -51.068904876708984
35
+ ],
36
+ [
37
+ -0.7029290319480498,
38
+ 0.0,
39
+ 0.7112599918767943,
40
+ -17.556434631347656
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.055450439453125
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.7112599918767943,
58
+ -0.7029290319480499,
59
+ -0.0,
60
+ -48.66419646763724
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.055450439453125
67
+ ],
68
+ [
69
+ -0.7029290319480499,
70
+ 0.7112599918767945,
71
+ 0.0,
72
+ -23.410626314354285
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -51.068904876708984,
85
+ "y": -17.556434631347656,
86
+ "z": 2.055450439453125
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.6624755859375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2451,
95
+ "timestamp": 1769269042.9461694
96
+ }
references/Town05/subset_3/reference/cameras/254.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
+ 0.004240271860758177,
32
+ 0.0,
33
+ 0.9999910100068634,
34
+ 44.18195724487305
35
+ ],
36
+ [
37
+ 0.9999910100068634,
38
+ 0.0,
39
+ -0.004240271860758177,
40
+ -204.1403045654297
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
+ 0.004240271860758176,
58
+ 0.9999910100068634,
59
+ 0.0,
60
+ 203.9511258354341
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999910100068634,
70
+ -0.004240271860758177,
71
+ 0.0,
72
+ -45.04717043847605
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 44.18195724487305,
85
+ "y": -204.1403045654297,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.2429504096508026,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 254,
95
+ "timestamp": 1769268804.9078925
96
+ }
references/Town05/subset_3/reference/cameras/2560.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ 0.9996425252614348,
32
+ 0.0,
33
+ 0.02673614947859282,
34
+ 34.302040100097656
35
+ ],
36
+ [
37
+ 0.02673614947859282,
38
+ 0.0,
39
+ -0.9996425252614348,
40
+ -125.9073715209961
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0000152587890625
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.9996425252614347,
58
+ 0.026736149478592822,
59
+ 0.0,
60
+ -30.923499681838546
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0000152587890625
67
+ ],
68
+ [
69
+ 0.026736149478592822,
70
+ -0.9996425252614349,
71
+ -0.0,
72
+ -126.77946728781511
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 34.302040100097656,
85
+ "y": -125.9073715209961,
86
+ "z": 2.0000152587890625
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -88.46794891357422,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2560,
95
+ "timestamp": 1769269101.133149
96
+ }
references/Town05/subset_3/reference/cameras/257.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
+ -0.7100989371681984,
32
+ 0.0,
33
+ -0.7041019098345033,
34
+ 44.18195724487305
35
+ ],
36
+ [
37
+ -0.7041019098345033,
38
+ 0.0,
39
+ 0.7100989371681984,
40
+ -204.1403045654297
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
+ -0.7100989371681986,
58
+ -0.7041019098345033,
59
+ -0.0,
60
+ -112.36201743712108
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7041019098345033,
70
+ 0.7100989371681984,
71
+ 0.0,
72
+ 176.06841378144543
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 44.18195724487305,
85
+ "y": -204.1403045654297,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.7570343017578,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 257,
95
+ "timestamp": 1769268805.9904945
96
+ }
references/Town05/subset_3/reference/cameras/3365.json ADDED
@@ -0,0 +1,96 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "intrinsic": {
3
+ "K": [
4
+ [
5
+ 640.0000000000001,
6
+ 0.0,
7
+ 640.0
8
+ ],
9
+ [
10
+ 0.0,
11
+ 640.0000000000001,
12
+ 352.0
13
+ ],
14
+ [
15
+ 0.0,
16
+ 0.0,
17
+ 1.0
18
+ ]
19
+ ],
20
+ "width": 1280,
21
+ "height": 704,
22
+ "fov": 90.0,
23
+ "fx": 640.0000000000001,
24
+ "fy": 640.0000000000001,
25
+ "cx": 640.0,
26
+ "cy": 352.0
27
+ },
28
+ "extrinsic": {
29
+ "c2w": [
30
+ [
31
+ -0.7081712232012318,
32
+ 0.0,
33
+ 0.7060407343982861,
34
+ -218.39552307128906
35
+ ],
36
+ [
37
+ 0.7060407343982861,
38
+ 0.0,
39
+ 0.7081712232012318,
40
+ -91.72277069091797
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ -0.7081712232012318,
58
+ 0.7060407343982861,
59
+ -0.0,
60
+ -89.90141233540628
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7060407343982861,
70
+ 0.7081712232012318,
71
+ 0.0,
72
+ 219.15156221414423
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -218.39552307128906,
85
+ "y": -91.72277069091797,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 45.0863151550293,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3365,
95
+ "timestamp": 1769269153.2804327
96
+ }
references/Town05/subset_3/reference/cameras/3424.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
+ 0.9434684414150127,
32
+ 0.0,
33
+ 0.3314623659692403,
34
+ -269.90277099609375
35
+ ],
36
+ [
37
+ 0.3314623659692403,
38
+ 0.0,
39
+ -0.9434684414150127,
40
+ -67.9555892944336
41
+ ],
42
+ [
43
+ 0.0,
44
+ -1.0,
45
+ 0.0,
46
+ 2.0
47
+ ],
48
+ [
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 1.0
53
+ ]
54
+ ],
55
+ "w2c": [
56
+ [
57
+ 0.9434684414150128,
58
+ 0.33146236596924034,
59
+ 0.0,
60
+ 277.16946709364464
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.33146236596924034,
70
+ -0.9434684414150128,
71
+ -0.0,
72
+ 25.348657138961293
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -269.90277099609375,
85
+ "y": -67.9555892944336,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -70.64244079589844,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3424,
95
+ "timestamp": 1769269171.9870055
96
+ }
references/Town05/subset_3/reference/cameras/3536.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
+ 0.883459867715738,
32
+ 0.0,
33
+ -0.4685068432111645,
34
+ -251.3134307861328
35
+ ],
36
+ [
37
+ -0.4685068432111645,
38
+ 0.0,
39
+ -0.883459867715738,
40
+ -84.38689422607422
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
+ 0.883459867715738,
58
+ -0.4685068432111645,
59
+ 0.0,
60
+ 182.48949289525268
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.46850684321116454,
70
+ -0.883459867715738,
71
+ -0.0,
72
+ -192.29449652408806
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -251.3134307861328,
85
+ "y": -84.38689422607422,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -117.93741607666016,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3536,
95
+ "timestamp": 1769269208.876375
96
+ }
references/Town05/subset_3/reference/cameras/4120.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
+ 0.999995633468503,
32
+ 0.0,
33
+ 0.0029551724023145452,
34
+ 103.5025863647461
35
+ ],
36
+ [
37
+ 0.0029551724023145452,
38
+ 0.0,
39
+ -0.999995633468503,
40
+ -37.542823791503906
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
+ 0.9999956334685031,
58
+ 0.002955172402314546,
59
+ 0.0,
60
+ -103.3911889006691
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.0029551724023145457,
70
+ -0.9999956334685031,
71
+ -0.0,
72
+ -37.84852784637461
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 103.5025863647461,
85
+ "y": -37.542823791503906,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.83068084716797,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4120,
95
+ "timestamp": 1769269250.3324032
96
+ }
references/Town05/subset_3/reference/cameras/4275.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
+ 0.9318343105715333,
32
+ 0.0,
33
+ 0.36288402781284723,
34
+ 96.4196548461914
35
+ ],
36
+ [
37
+ 0.36288402781284723,
38
+ 0.0,
39
+ -0.9318343105715333,
40
+ -62.42823028564453
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
+ 0.9318343105715333,
58
+ 0.36288402781284723,
59
+ 0.0,
60
+ -67.1929349438633
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.36288402781284723,
70
+ -0.9318343105715332,
71
+ -0.0,
72
+ -93.16191963933494
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 96.4196548461914,
85
+ "y": -62.42823028564453,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -68.72257995605469,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4275,
95
+ "timestamp": 1769269307.5022779
96
+ }
references/Town05/subset_3/reference/cameras/4311.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
+ -0.8695234535182479,
32
+ 0.0,
33
+ 0.49389165186475803,
34
+ 68.68791961669922
35
+ ],
36
+ [
37
+ 0.49389165186475803,
38
+ 0.0,
39
+ 0.8695234535182479,
40
+ -86.3997573852539
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
+ -0.869523453518248,
58
+ 0.4938916518647581,
59
+ -0.0,
60
+ 102.3978759758135
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.4938916518647581,
70
+ 0.869523453518248,
71
+ 0.0,
72
+ 41.202225342119426
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 68.68791961669922,
85
+ "y": -86.3997573852539,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 60.4033088684082,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4311,
95
+ "timestamp": 1769269319.883625
96
+ }