Hugging Face's logo

Datasets:
enrue1893
/
SyntheticData

Modalities:
Image
Dataset card Data Studio Files
xet
 Community
enrue1893 commited on
Commit
79542fb
·
verified ·
1 Parent(s): 93b5afb

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/Town01/subset_2/reference/cameras/11.json +96 -0
  2. references/Town01/subset_2/reference/cameras/14.json +96 -0
  3. references/Town01/subset_2/reference/cameras/151.json +96 -0
  4. references/Town01/subset_2/reference/cameras/152.json +96 -0
  5. references/Town01/subset_2/reference/cameras/163.json +96 -0
  6. references/Town01/subset_2/reference/cameras/167.json +96 -0
  7. references/Town01/subset_2/reference/cameras/1942.json +96 -0
  8. references/Town01/subset_2/reference/cameras/1946.json +96 -0
  9. references/Town01/subset_2/reference/cameras/20.json +96 -0
  10. references/Town01/subset_2/reference/cameras/2112.json +96 -0
  11. references/Town01/subset_2/reference/cameras/2114.json +96 -0
  12. references/Town01/subset_2/reference/cameras/2125.json +96 -0
  13. references/Town01/subset_2/reference/cameras/2136.json +96 -0
  14. references/Town01/subset_2/reference/cameras/2155.json +96 -0
  15. references/Town01/subset_2/reference/cameras/2160.json +96 -0
  16. references/Town01/subset_2/reference/cameras/2163.json +96 -0
  17. references/Town01/subset_2/reference/cameras/2192.json +96 -0
  18. references/Town01/subset_2/reference/cameras/2197.json +96 -0
  19. references/Town01/subset_2/reference/cameras/2205.json +96 -0
  20. references/Town01/subset_2/reference/cameras/2214.json +96 -0
  21. references/Town01/subset_2/reference/cameras/2231.json +96 -0
  22. references/Town01/subset_2/reference/cameras/2245.json +96 -0
  23. references/Town01/subset_2/reference/cameras/2252.json +96 -0
  24. references/Town01/subset_2/reference/cameras/2277.json +96 -0
  25. references/Town01/subset_2/reference/cameras/2282.json +96 -0
  26. references/Town01/subset_2/reference/cameras/2293.json +96 -0
  27. references/Town01/subset_2/reference/cameras/2296.json +96 -0
  28. references/Town01/subset_2/reference/cameras/2302.json +96 -0
  29. references/Town01/subset_2/reference/cameras/2303.json +96 -0
  30. references/Town01/subset_2/reference/cameras/263.json +96 -0
  31. references/Town01/subset_2/reference/cameras/265.json +96 -0
  32. references/Town01/subset_2/reference/cameras/292.json +96 -0
  33. references/Town01/subset_2/reference/cameras/294.json +96 -0
  34. references/Town01/subset_2/reference/cameras/296.json +96 -0
  35. references/Town01/subset_2/reference/cameras/314.json +96 -0
  36. references/Town01/subset_2/reference/cameras/315.json +96 -0
  37. references/Town01/subset_2/reference/cameras/335.json +96 -0
  38. references/Town01/subset_2/reference/cameras/345.json +96 -0
  39. references/Town01/subset_2/reference/cameras/353.json +96 -0
  40. references/Town01/subset_2/reference/cameras/357.json +96 -0
  41. references/Town01/subset_2/reference/cameras/362.json +96 -0
  42. references/Town01/subset_2/reference/cameras/366.json +96 -0
  43. references/Town01/subset_2/reference/cameras/383.json +96 -0
  44. references/Town01/subset_2/reference/cameras/393.json +96 -0
  45. references/Town01/subset_2/reference/cameras/405.json +96 -0
  46. references/Town01/subset_2/reference/cameras/411.json +96 -0
  47. references/Town01/subset_2/reference/cameras/416.json +96 -0
  48. references/Town01/subset_2/reference/cameras/4571.json +96 -0
  49. references/Town01/subset_2/reference/cameras/4572.json +96 -0
  50. references/Town01/subset_2/reference/cameras/4574.json +96 -0
references/Town01/subset_2/reference/cameras/11.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
+ -0.7070204810642042,
32
+ 0.0,
33
+ 0.7071930707775219,
34
+ 160.1668243408203
35
+ ],
36
+ [
37
+ 0.7071930707775219,
38
+ 0.0,
39
+ 0.7070204810642042,
40
+ 59.49149703979492
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
+ -0.7070204810642042,
58
+ 0.7071930707775221,
59
+ 0.0,
60
+ 71.16925071924827
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7071930707775219,
70
+ 0.7070204810642042,
71
+ 0.0,
72
+ -155.33057519857417
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 160.1668243408203,
85
+ "y": 59.49149703979492,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 44.99300765991211,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 11,
95
+ "timestamp": 1769160920.052443
96
+ }
references/Town01/subset_2/reference/cameras/14.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
+ -0.00012197277762304466,
32
+ 0.0,
33
+ -0.9999999925613208,
34
+ 160.1668243408203
35
+ ],
36
+ [
37
+ -0.9999999925613208,
38
+ 0.0,
39
+ 0.00012197277762304466,
40
+ 59.49149703979492
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
+ -0.00012197277762304463,
58
+ -0.9999999925613207,
59
+ -0.0,
60
+ 59.51103258970466
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999999925613205,
70
+ 0.00012197277762304461,
71
+ -0.0,
72
+ 160.15956680625177
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 160.1668243408203,
85
+ "y": 59.49149703979492,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 179.99301147460938,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 14,
95
+ "timestamp": 1769160921.1016052
96
+ }
references/Town01/subset_2/reference/cameras/151.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
+ 0.7072141119772728,
32
+ 0.0,
33
+ 0.7069994341017519,
34
+ 92.37702178955078
35
+ ],
36
+ [
37
+ 0.7069994341017519,
38
+ 0.0,
39
+ -0.7072141119772728,
40
+ 46.15003967285156
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
+ 0.7072141119772728,
58
+ 0.7069994341017519,
59
+ 0.0,
60
+ -97.95838536448179
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7069994341017519,
70
+ -0.7072141119772728,
71
+ -0.0,
72
+ -32.67254280426597
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 92.37702178955078,
85
+ "y": 46.15003967285156,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.008697509765625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 151,
95
+ "timestamp": 1769160930.0526628
96
+ }
references/Town01/subset_2/reference/cameras/152.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
+ 0.00015180016529687537,
32
+ 0.0,
33
+ 0.9999999884783548,
34
+ 92.37702178955078
35
+ ],
36
+ [
37
+ 0.9999999884783548,
38
+ 0.0,
39
+ -0.00015180016529687537,
40
+ 46.15003967285156
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
+ 0.0001518001652968754,
58
+ 0.999999988478355,
59
+ 0.0,
60
+ -46.164061988304475
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999999884783549,
70
+ -0.0001518001652968754,
71
+ 0.0,
72
+ -92.37001514156472
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 92.37702178955078,
85
+ "y": 46.15003967285156,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.008697508834302425,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 152,
95
+ "timestamp": 1769160930.3632758
96
+ }
references/Town01/subset_2/reference/cameras/163.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
+ 0.7069992457592162,
32
+ 0.0,
33
+ -0.7072143002625861,
34
+ 88.38035583496094
35
+ ],
36
+ [
37
+ -0.7072143002625861,
38
+ 0.0,
39
+ -0.7069992457592162,
40
+ 68.14997863769531
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
+ 0.7069992457592162,
58
+ -0.7072143002625861,
59
+ -0.0,
60
+ -14.288205460080656
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7072143002625861,
70
+ -0.7069992457592162,
71
+ -0.0,
72
+ 110.68583500413756
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.38035583496094,
85
+ "y": 68.14997863769531,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.0087127685547,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 163,
95
+ "timestamp": 1769160934.011395
96
+ }
references/Town01/subset_2/reference/cameras/167.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
+ -0.7069993399304904,
32
+ 0.0,
33
+ 0.7072142061199357,
34
+ 88.38035583496094
35
+ ],
36
+ [
37
+ 0.7072142061199357,
38
+ 0.0,
39
+ 0.7069993399304904,
40
+ 68.14997863769531
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
+ -0.7069993399304904,
58
+ 0.7072142061199358,
59
+ 0.0,
60
+ 14.288220198790981
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7072142061199357,
70
+ 0.7069993399304904,
71
+ 0.0,
72
+ -110.68583310154693
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.38035583496094,
85
+ "y": 68.14997863769531,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 44.991294860839844,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 167,
95
+ "timestamp": 1769160935.2860312
96
+ }
references/Town01/subset_2/reference/cameras/1942.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
+ 0.6740378036888046,
32
+ 0.0,
33
+ 0.7386968520295538,
34
+ 89.89181518554688
35
+ ],
36
+ [
37
+ 0.7386968520295538,
38
+ 0.0,
39
+ -0.6740378036888046,
40
+ 1.0544036626815796
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
+ 0.6740378036888044,
58
+ 0.7386968520295539,
59
+ 0.0,
60
+ -61.369366343657255
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7386968520295537,
70
+ -0.6740378036888044,
71
+ 0.0,
72
+ -65.69209297179059
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 89.89181518554688,
85
+ "y": 1.0544036626815796,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -42.37947463989258,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1942,
95
+ "timestamp": 1769162366.0842423
96
+ }
references/Town01/subset_2/reference/cameras/1946.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
+ -0.6740379512339446,
32
+ 0.0,
33
+ -0.7386967173991953,
34
+ 89.89181518554688
35
+ ],
36
+ [
37
+ -0.7386967173991953,
38
+ 0.0,
39
+ 0.6740379512339446,
40
+ 1.0544036626815796
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
+ -0.6740379512339445,
58
+ -0.7386967173991954,
59
+ -0.0,
60
+ 61.36937946480296
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7386967173991952,
70
+ 0.6740379512339445,
71
+ -0.0,
72
+ 65.69208071405114
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 89.89181518554688,
85
+ "y": 1.0544036626815796,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 137.62051391601562,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1946,
95
+ "timestamp": 1769162367.2172966
96
+ }
references/Town01/subset_2/reference/cameras/20.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
+ 0.9999992611585574,
32
+ 0.0,
33
+ 0.001215599580188177,
34
+ 158.0238037109375
35
+ ],
36
+ [
37
+ 0.001215599580188177,
38
+ 0.0,
39
+ -0.9999992611585574,
40
+ 46.20273208618164
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
+ 0.9999992611585573,
58
+ 0.001215599580188177,
59
+ 0.0,
60
+ -158.07985097812988
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.001215599580188177,
70
+ -0.9999992611585574,
71
+ -0.0,
72
+ 46.01060428023766
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 158.0238037109375,
85
+ "y": 46.20273208618164,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.93035125732422,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 20,
95
+ "timestamp": 1769160923.1312916
96
+ }
references/Town01/subset_2/reference/cameras/2112.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
+ 0.9999999943118647,
32
+ 0.0,
33
+ 0.00010665960145550688,
34
+ 139.48822021484375
35
+ ],
36
+ [
37
+ 0.00010665960145550688,
38
+ 0.0,
39
+ -0.9999999943118647,
40
+ -2.046114206314087
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
+ 0.9999999943118646,
58
+ 0.00010665960145550688,
59
+ 0.0,
60
+ -139.48800118369007
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.00010665960145550688,
70
+ -0.9999999943118647,
71
+ -0.0,
72
+ -2.060991952651366
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 139.48822021484375,
85
+ "y": -2.046114206314087,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.99388885498047,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2112,
95
+ "timestamp": 1769162369.0887754
96
+ }
references/Town01/subset_2/reference/cameras/2114.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
+ -0.00010679274325454244,
32
+ 0.0,
33
+ 0.999999994297655,
34
+ 139.48822021484375
35
+ ],
36
+ [
37
+ 0.999999994297655,
38
+ 0.0,
39
+ 0.00010679274325454244,
40
+ -2.046114206314087
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
+ -0.00010679274325454244,
58
+ 0.999999994297655,
59
+ 0.0,
60
+ 2.0610105243348746
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.999999994297655,
70
+ 0.00010679274325454243,
71
+ 0.0,
72
+ -139.4880009092847
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 139.48822021484375,
85
+ "y": -2.046114206314087,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.006118773482739925,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2114,
95
+ "timestamp": 1769162369.6807778
96
+ }
references/Town01/subset_2/reference/cameras/2125.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
+ -0.70718229103881,
32
+ 0.0,
33
+ 0.7070312632699489,
34
+ 129.81585693359375
35
+ ],
36
+ [
37
+ 0.7070312632699489,
38
+ 0.0,
39
+ 0.70718229103881,
40
+ -2.0471465587615967
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
+ -0.70718229103881,
58
+ 0.7070312632699489,
59
+ -0.0,
60
+ 93.25087173700514
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7070312632699489,
70
+ 0.70718229103881,
71
+ 0.0,
72
+ -90.3361635267125
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 129.81585693359375,
85
+ "y": -2.0471465587615967,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 45.00611877441406,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2125,
95
+ "timestamp": 1769162373.0655403
96
+ }
references/Town01/subset_2/reference/cameras/2136.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
+ -0.9999999943260585,
32
+ 0.0,
33
+ -0.0001065264434015582,
34
+ 120.01957702636719
35
+ ],
36
+ [
37
+ -0.0001065264434015582,
38
+ 0.0,
39
+ 0.9999999943260585,
40
+ -2.048192024230957
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
+ -0.9999999943260582,
58
+ -0.00010652644340155818,
59
+ -0.0,
60
+ 120.01935815877137
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.00010652644340155818,
70
+ 0.9999999943260582,
71
+ 0.0,
72
+ 2.060977271288813
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 120.01957702636719,
85
+ "y": -2.048192024230957,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 90.006103515625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2136,
95
+ "timestamp": 1769162376.4389586
96
+ }
references/Town01/subset_2/reference/cameras/2155.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
+ -0.70718229103881,
32
+ 0.0,
33
+ 0.7070312632699489,
34
+ 104.96022033691406
35
+ ],
36
+ [
37
+ 0.7070312632699489,
38
+ 0.0,
39
+ 0.70718229103881,
40
+ -2.0497994422912598
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
+ -0.70718229103881,
58
+ 0.7070312632699489,
59
+ -0.0,
60
+ 75.6752813749304
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7070312632699489,
70
+ 0.70718229103881,
71
+ 0.0,
72
+ -72.76057531213092
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 104.96022033691406,
85
+ "y": -2.0497994422912598,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 45.00611877441406,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2155,
95
+ "timestamp": 1769162398.5752926
96
+ }
references/Town01/subset_2/reference/cameras/2160.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
+ -0.00010679274325454244,
32
+ 0.0,
33
+ 0.999999994297655,
34
+ 144.91806030273438
35
+ ],
36
+ [
37
+ 0.999999994297655,
38
+ 0.0,
39
+ 0.00010679274325454244,
40
+ 1.9544652700424194
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
+ -0.00010679274325454244,
58
+ 0.999999994297655,
59
+ 0.0,
60
+ -1.9389890616905279
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.999999994297655,
70
+ 0.00010679274325454243,
71
+ 0.0,
72
+ -144.9182681990694
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 144.91806030273438,
85
+ "y": 1.9544652700424194,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.006118773482739925,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2160,
95
+ "timestamp": 1769162400.0118785
96
+ }
references/Town01/subset_2/reference/cameras/2163.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
+ -0.7070310749358876,
32
+ 0.0,
33
+ -0.7071824793326,
34
+ 144.91806030273438
35
+ ],
36
+ [
37
+ -0.7071824793326,
38
+ 0.0,
39
+ 0.7070310749358876,
40
+ 1.9544652700424194
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
+ -0.7070310749358876,
58
+ -0.7071824793326001,
59
+ -0.0,
60
+ 103.8437355489041
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7071824793326,
70
+ 0.7070310749358876,
71
+ -0.0,
72
+ 101.10164550415598
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 144.91806030273438,
85
+ "y": 1.9544652700424194,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 135.00613403320312,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2163,
95
+ "timestamp": 1769162400.8801417
96
+ }
references/Town01/subset_2/reference/cameras/2192.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
+ -0.9999999943260585,
32
+ 0.0,
33
+ -0.0001065264434015582,
34
+ 114.72416687011719
35
+ ],
36
+ [
37
+ -0.0001065264434015582,
38
+ 0.0,
39
+ 0.9999999943260585,
40
+ 1.9512428045272827
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
+ -0.9999999943260582,
58
+ -0.00010652644340155818,
59
+ -0.0,
60
+ 114.72437407813513
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.00010652644340155818,
70
+ 0.9999999943260582,
71
+ 0.0,
72
+ -1.9390216359871644
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 114.72416687011719,
85
+ "y": 1.9512428045272827,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 90.006103515625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2192,
95
+ "timestamp": 1769162454.75713
96
+ }
references/Town01/subset_2/reference/cameras/2197.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
+ 0.7070313574369607,
32
+ 0.0,
33
+ 0.7071821968918963,
34
+ 114.72416687011719
35
+ ],
36
+ [
37
+ 0.7071821968918963,
38
+ 0.0,
39
+ -0.7070313574369607,
40
+ 1.9512428045272827
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
+ 0.7070313574369607,
58
+ 0.7071821968918962,
59
+ 0.0,
60
+ -82.49346760617846
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7071821968918963,
70
+ -0.7070313574369607,
71
+ 0.0,
72
+ -79.75129851502795
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 114.72416687011719,
85
+ "y": 1.9512428045272827,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -44.99388885498047,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2197,
95
+ "timestamp": 1769162456.2500203
96
+ }
references/Town01/subset_2/reference/cameras/2205.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
+ 0.70718210274497,
32
+ 0.0,
33
+ -0.70703145160396,
34
+ 104.97245788574219
35
+ ],
36
+ [
37
+ -0.70703145160396,
38
+ 0.0,
39
+ -0.70718210274497,
40
+ 1.9502019882202148
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
+ 0.7071821027449698,
58
+ -0.70703145160396,
59
+ 0.0,
60
+ -72.8557893552947
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.70703145160396,
70
+ -0.70718210274497,
71
+ -0.0,
72
+ 75.59797722019884
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 104.97245788574219,
85
+ "y": 1.9502019882202148,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -134.993896484375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2205,
95
+ "timestamp": 1769162458.7603886
96
+ }
references/Town01/subset_2/reference/cameras/2214.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
+ 0.00032597087914362576,
32
+ 0.0,
33
+ 0.9999999468714915,
34
+ 74.8511962890625
35
+ ],
36
+ [
37
+ 0.9999999468714915,
38
+ 0.0,
39
+ -0.00032597087914362576,
40
+ -2.040800094604492
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
+ 0.0003259708791436258,
58
+ 0.9999999468714916,
59
+ 0.0,
60
+ 2.0164006759205293
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999999468714916,
70
+ -0.0003259708791436258,
71
+ 0.0,
72
+ -74.85185755373108
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 74.8511962890625,
85
+ "y": -2.040800094604492,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.01867675594985485,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2214,
95
+ "timestamp": 1769162463.107743
96
+ }
references/Town01/subset_2/reference/cameras/2231.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
+ 0.7068764357521887,
32
+ 0.0,
33
+ -0.7073370516085538,
34
+ 54.743656158447266
35
+ ],
36
+ [
37
+ -0.7073370516085538,
38
+ 0.0,
39
+ -0.7068764357521887,
40
+ -2.0342469215393066
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
+ 0.7068764357521886,
58
+ -0.7073370516085538,
59
+ -0.0,
60
+ -40.13589876505194
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7073370516085536,
70
+ -0.7068764357521886,
71
+ -0.0,
72
+ 37.28425512805096
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 54.743656158447266,
85
+ "y": -2.0342469215393066,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.01866149902344,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2231,
95
+ "timestamp": 1769162468.4803774
96
+ }
references/Town01/subset_2/reference/cameras/2245.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
+ -0.7068762002830852,
32
+ 0.0,
33
+ 0.7073372869242421,
34
+ 44.76312255859375
35
+ ],
36
+ [
37
+ 0.7073372869242421,
38
+ 0.0,
39
+ 0.7068762002830852,
40
+ -2.030993938446045
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
+ -0.7068762002830854,
58
+ 0.707337286924242,
59
+ 0.0,
60
+ 33.07858372920482
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7073372869242422,
70
+ 0.7068762002830853,
71
+ 0.0,
72
+ -30.226964386846333
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 44.76312255859375,
85
+ "y": -2.030993938446045,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 44.981319427490234,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2245,
95
+ "timestamp": 1769162472.8999987
96
+ }
references/Town01/subset_2/reference/cameras/2252.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
+ 0.9999999466977165,
32
+ 0.0,
33
+ -0.00032650354384261896,
34
+ 35.339054107666016
35
+ ],
36
+ [
37
+ -0.00032650354384261896,
38
+ 0.0,
39
+ -0.9999999466977165,
40
+ -2.0279226303100586
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
+ 0.9999999466977165,
58
+ -0.00032650354384261896,
59
+ 0.0,
60
+ -35.33971434793917
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.00032650354384261896,
70
+ -0.9999999466977165,
71
+ -0.0,
72
+ -2.0163841958149527
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 35.339054107666016,
85
+ "y": -2.0279226303100586,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -90.01870727539062,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2252,
95
+ "timestamp": 1769162474.9829316
96
+ }
references/Town01/subset_2/reference/cameras/2277.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
+ -0.7073372398611109,
32
+ 0.0,
33
+ -0.706876247376912,
34
+ 15.631402015686035
35
+ ],
36
+ [
37
+ -0.706876247376912,
38
+ 0.0,
39
+ 0.7073372398611109,
40
+ -2.0214996337890625
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
+ -0.7073372398611107,
58
+ -0.706876247376912,
59
+ -0.0,
60
+ 9.62772268172815
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.706876247376912,
70
+ 0.7073372398611109,
71
+ 0.0,
72
+ 12.479348769432645
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 15.631402015686035,
85
+ "y": -2.0214996337890625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.9813232421875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2277,
95
+ "timestamp": 1769162482.640108
96
+ }
references/Town01/subset_2/reference/cameras/2282.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
+ -0.9999999467411842,
32
+ 0.0,
33
+ 0.00032637038579525347,
34
+ 79.38066101074219
35
+ ],
36
+ [
37
+ 0.00032637038579525347,
38
+ 0.0,
39
+ 0.9999999467411842,
40
+ 1.9577239751815796
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
+ -0.9999999467411843,
58
+ 0.00032637038579525347,
59
+ -0.0,
60
+ 79.38001783989313
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.00032637038579525347,
70
+ 0.9999999467411842,
71
+ 0.0,
72
+ -1.9836313678742772
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 79.38066101074219,
85
+ "y": 1.9577239751815796,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.9813003540039,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2282,
95
+ "timestamp": 1769162484.155443
96
+ }
references/Town01/subset_2/reference/cameras/2293.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
+ -0.7073372398611109,
32
+ 0.0,
33
+ -0.706876247376912,
34
+ 69.29122161865234
35
+ ],
36
+ [
37
+ -0.706876247376912,
38
+ 0.0,
39
+ 0.7073372398611109,
40
+ 1.9610122442245483
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
+ -0.7073372398611107,
58
+ -0.706876247376912,
59
+ -0.0,
60
+ 50.39845442259971
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.706876247376912,
70
+ 0.7073372398611109,
71
+ 0.0,
72
+ 47.593221725791295
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 69.29122161865234,
85
+ "y": 1.9610122442245483,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.9813232421875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2293,
95
+ "timestamp": 1769162487.5481937
96
+ }
references/Town01/subset_2/reference/cameras/2296.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
+ 0.9999999466977165,
32
+ 0.0,
33
+ -0.00032650354384261896,
34
+ 69.29122161865234
35
+ ],
36
+ [
37
+ -0.00032650354384261896,
38
+ 0.0,
39
+ -0.9999999466977165,
40
+ 1.9610122442245483
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
+ 0.9999999466977165,
58
+ -0.00032650354384261896,
59
+ 0.0,
60
+ -69.29057764782475
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.00032650354384261896,
70
+ -0.9999999466977165,
71
+ -0.0,
72
+ 1.983635969113792
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 69.29122161865234,
85
+ "y": 1.9610122442245483,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -90.01870727539062,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2296,
95
+ "timestamp": 1769162488.4324992
96
+ }
references/Town01/subset_2/reference/cameras/2302.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
+ -0.9999999467411842,
32
+ 0.0,
33
+ 0.00032637038579525347,
34
+ 59.00874328613281
35
+ ],
36
+ [
37
+ 0.00032637038579525347,
38
+ 0.0,
39
+ 0.9999999467411842,
40
+ 1.9643633365631104
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
+ -0.9999999467411843,
58
+ 0.00032637038579525347,
59
+ -0.0,
60
+ 59.008099033377036
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.00032637038579525347,
70
+ 0.9999999467411842,
71
+ 0.0,
72
+ -1.9836219382550333
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 59.00874328613281,
85
+ "y": 1.9643633365631104,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 89.9813003540039,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2302,
95
+ "timestamp": 1769162490.3700037
96
+ }
references/Town01/subset_2/reference/cameras/2303.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
+ -0.7073372398611109,
32
+ 0.0,
33
+ -0.706876247376912,
34
+ 59.00874328613281
35
+ ],
36
+ [
37
+ -0.706876247376912,
38
+ 0.0,
39
+ 0.7073372398611109,
40
+ 1.9643633365631104
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
+ -0.7073372398611107,
58
+ -0.706876247376912,
59
+ -0.0,
60
+ 43.12764338752056
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.706876247376912,
70
+ 0.7073372398611109,
71
+ 0.0,
72
+ 40.322411675960204
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 59.00874328613281,
85
+ "y": 1.9643633365631104,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.9813232421875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 2303,
95
+ "timestamp": 1769162490.683401
96
+ }
references/Town01/subset_2/reference/cameras/263.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
+ 0.7079655353257456,
32
+ 0.0,
33
+ -0.706246982854391,
34
+ 154.0301055908203
35
+ ],
36
+ [
37
+ -0.706246982854391,
38
+ 0.0,
39
+ -0.7079655353257456,
40
+ 41.017539978027344
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
+ 0.7079655353257455,
58
+ -0.706246982854391,
59
+ 0.0,
60
+ -80.07949230729503
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.706246982854391,
70
+ -0.7079655353257456,
71
+ -0.0,
72
+ 137.82230199054942
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 154.0301055908203,
85
+ "y": 41.017539978027344,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -134.9303741455078,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 263,
95
+ "timestamp": 1769161064.1019502
96
+ }
references/Town01/subset_2/reference/cameras/265.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
+ 0.7062473599395442,
32
+ 0.0,
33
+ 0.7079651591557482,
34
+ 154.0301055908203
35
+ ],
36
+ [
37
+ 0.7079651591557482,
38
+ 0.0,
39
+ -0.7062473599395442,
40
+ 41.017539978027344
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
+ 0.7062473599395442,
58
+ 0.7079651591557482,
59
+ 0.0,
60
+ -137.82234464344748
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7079651591557482,
70
+ -0.7062473599395442,
71
+ 0.0,
72
+ -80.07941889868528
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 154.0301055908203,
85
+ "y": 41.017539978027344,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -44.93040466308594,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 265,
95
+ "timestamp": 1769161064.7336228
96
+ }
references/Town01/subset_2/reference/cameras/292.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
+ -0.001214400898508033,
32
+ 0.0,
33
+ 0.999999262614957,
34
+ 158.04214477539062
35
+ ],
36
+ [
37
+ 0.999999262614957,
38
+ 0.0,
39
+ 0.001214400898508033,
40
+ 31.111793518066406
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
+ -0.001214400898508033,
58
+ 0.9999992626149571,
59
+ 0.0,
60
+ -30.919844054077835
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.999999262614957,
70
+ 0.001214400898508033,
71
+ 0.0,
72
+ -158.07981042747943
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 158.04214477539062,
85
+ "y": 31.111793518066406,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.0695800632238388,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 292,
95
+ "timestamp": 1769161100.9133277
96
+ }
references/Town01/subset_2/reference/cameras/294.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
+ -0.9999992626146411,
32
+ 0.0,
33
+ -0.001214401158582048,
34
+ 158.04214477539062
35
+ ],
36
+ [
37
+ -0.001214401158582048,
38
+ 0.0,
39
+ 0.9999992626146411,
40
+ 31.111793518066406
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
+ -0.9999992626146411,
58
+ -0.0012144011585820483,
59
+ -0.0,
60
+ 158.07981043552087
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.001214401158582048,
70
+ 0.9999992626146412,
71
+ 0.0,
72
+ -30.919844012965356
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 158.04214477539062,
85
+ "y": 31.111793518066406,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 90.069580078125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 294,
95
+ "timestamp": 1769161101.6170142
96
+ }
references/Town01/subset_2/reference/cameras/296.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
+ 0.0012144011585822317,
32
+ 0.0,
33
+ -0.9999992626146411,
34
+ 158.04214477539062
35
+ ],
36
+ [
37
+ -0.9999992626146411,
38
+ 0.0,
39
+ -0.0012144011585822317,
40
+ 31.111793518066406
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
+ 0.001214401158582232,
58
+ -0.9999992626146411,
59
+ -0.0,
60
+ 30.919844012965324
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999992626146412,
70
+ -0.0012144011585822317,
71
+ -0.0,
72
+ 158.07981043552093
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 158.04214477539062,
85
+ "y": 31.111793518066406,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -179.930419921875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 296,
95
+ "timestamp": 1769161102.2506223
96
+ }
references/Town01/subset_2/reference/cameras/314.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
+ 0.9999999884176324,
32
+ 0.0,
33
+ -0.00015219965571041893,
34
+ 88.40242004394531
35
+ ],
36
+ [
37
+ -0.00015219965571041893,
38
+ 0.0,
39
+ -0.9999999884176324,
40
+ 213.25628662109375
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
+ 0.9999999884176323,
58
+ -0.0001521996557104189,
59
+ 0.0,
60
+ -88.36996148663415
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.0001521996557104189,
70
+ -0.9999999884176322,
71
+ -0.0,
72
+ 213.26973896897564
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.40242004394531,
85
+ "y": 213.25628662109375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -90.00872039794922,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 314,
95
+ "timestamp": 1769161113.3338535
96
+ }
references/Town01/subset_2/reference/cameras/315.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
+ 0.7072144885478492,
32
+ 0.0,
33
+ 0.7069990574166306,
34
+ 88.40242004394531
35
+ ],
36
+ [
37
+ 0.7069990574166306,
38
+ 0.0,
39
+ -0.7072144885478492,
40
+ 213.25628662109375
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
+ 0.7072144885478492,
58
+ 0.7069990574166306,
59
+ 0.0,
60
+ -213.291465907055
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7069990574166306,
70
+ -0.7072144885478492,
71
+ -0.0,
72
+ 88.31750802793195
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.40242004394531,
85
+ "y": 213.25628662109375,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.00872802734375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 315,
95
+ "timestamp": 1769161113.6629102
96
+ }
references/Town01/subset_2/reference/cameras/335.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
+ 0.7072144885478492,
32
+ 0.0,
33
+ 0.7069990574166306,
34
+ 88.40544891357422
35
+ ],
36
+ [
37
+ 0.7069990574166306,
38
+ 0.0,
39
+ -0.7072144885478492,
40
+ 233.1572265625
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
+ 0.7072144885478492,
58
+ 0.7069990574166306,
59
+ 0.0,
60
+ -227.36355374781968
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7069990574166306,
70
+ -0.7072144885478492,
71
+ -0.0,
72
+ 102.38959968224238
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.40544891357422,
85
+ "y": 233.1572265625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.00872802734375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 335,
95
+ "timestamp": 1769161120.6150584
96
+ }
references/Town01/subset_2/reference/cameras/345.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
+ 0.7072144885478492,
32
+ 0.0,
33
+ 0.7069990574166306,
34
+ 88.406982421875
35
+ ],
36
+ [
37
+ 0.7069990574166306,
38
+ 0.0,
39
+ -0.7072144885478492,
40
+ 243.27597045898438
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
+ 0.7072144885478492,
58
+ 0.7069990574166306,
59
+ 0.0,
60
+ -234.51858066416307
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7069990574166306,
70
+ -0.7072144885478492,
71
+ -0.0,
72
+ 109.54463778281804
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.406982421875,
85
+ "y": 243.27597045898438,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.00872802734375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 345,
95
+ "timestamp": 1769161124.247347
96
+ }
references/Town01/subset_2/reference/cameras/353.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
+ 0.7069990574166307,
32
+ 0.0,
33
+ -0.7072144885478491,
34
+ 88.40852355957031
35
+ ],
36
+ [
37
+ -0.7072144885478491,
38
+ 0.0,
39
+ -0.7069990574166307,
40
+ 253.38661193847656
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
+ 0.7069990574166306,
58
+ -0.7072144885478492,
59
+ -0.0,
60
+ 116.69394034272982
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.707214488547849,
70
+ -0.7069990574166306,
71
+ -0.0,
72
+ 241.6678845749485
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.40852355957031,
85
+ "y": 253.38661193847656,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.00872802734375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 353,
95
+ "timestamp": 1769161127.2717896
96
+ }
references/Town01/subset_2/reference/cameras/357.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
+ -0.7069990103309763,
32
+ 0.0,
33
+ 0.7072145356191571,
34
+ 88.40852355957031
35
+ ],
36
+ [
37
+ 0.7072145356191571,
38
+ 0.0,
39
+ 0.7069990103309763,
40
+ 253.38661193847656
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
+ -0.7069990103309762,
58
+ 0.7072145356191571,
59
+ 0.0,
60
+ -116.69395643274225
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.707214535619157,
70
+ 0.7069990103309762,
71
+ 0.0,
72
+ -241.66787680557889
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.40852355957031,
85
+ "y": 253.38661193847656,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 44.991268157958984,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 357,
95
+ "timestamp": 1769161128.6820638
96
+ }
references/Town01/subset_2/reference/cameras/362.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
+ -0.00015233281376341964,
32
+ 0.0,
33
+ -0.9999999883973568,
34
+ 88.41001892089844
35
+ ],
36
+ [
37
+ -0.9999999883973568,
38
+ 0.0,
39
+ 0.00015233281376341964,
40
+ 263.23114013671875
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
+ -0.00015233281376341964,
58
+ -0.9999999883973569,
59
+ -0.0,
60
+ 263.2446048294889
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999999883973568,
70
+ 0.00015233281376341964,
71
+ -0.0,
72
+ 88.36991915486135
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.41001892089844,
85
+ "y": 263.23114013671875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 179.99127197265625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 362,
95
+ "timestamp": 1769161130.5442824
96
+ }
references/Town01/subset_2/reference/cameras/366.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
+ 0.00015233279750873286,
32
+ 0.0,
33
+ 0.9999999883973594,
34
+ 88.41001892089844
35
+ ],
36
+ [
37
+ 0.9999999883973594,
38
+ 0.0,
39
+ -0.00015233279750873286,
40
+ 263.23114013671875
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
+ 0.00015233279750873286,
58
+ 0.9999999883973594,
59
+ 0.0,
60
+ -263.24460482805245
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999999883973593,
70
+ -0.00015233279750873286,
71
+ 0.0,
72
+ -88.36991915914031
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.41001892089844,
85
+ "y": 263.23114013671875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.008728026412427425,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 366,
95
+ "timestamp": 1769161131.8880496
96
+ }
references/Town01/subset_2/reference/cameras/383.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
+ 0.7069990574166307,
32
+ 0.0,
33
+ -0.7072144885478491,
34
+ 88.41303253173828
35
+ ],
36
+ [
37
+ -0.7072144885478491,
38
+ 0.0,
39
+ -0.7069990574166307,
40
+ 283.13232421875
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
+ 0.7069990574166306,
58
+ -0.7072144885478492,
59
+ -0.0,
60
+ 137.7273512004422
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.707214488547849,
70
+ -0.7069990574166306,
71
+ -0.0,
72
+ 262.7012639297337
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.41303253173828,
85
+ "y": 283.13232421875,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.00872802734375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 383,
95
+ "timestamp": 1769161143.6906114
96
+ }
references/Town01/subset_2/reference/cameras/393.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
+ 0.7069990574166307,
32
+ 0.0,
33
+ -0.7072144885478491,
34
+ 88.41451263427734
35
+ ],
36
+ [
37
+ -0.7072144885478491,
38
+ 0.0,
39
+ -0.7069990574166307,
40
+ 292.8078918457031
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
+ 0.7069990574166306,
58
+ -0.7072144885478492,
59
+ -0.0,
60
+ 144.56900638004802
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.707214488547849,
70
+ -0.7069990574166306,
71
+ -0.0,
72
+ 269.5429278719206
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.41451263427734,
85
+ "y": 292.8078918457031,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.00872802734375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 393,
95
+ "timestamp": 1769161147.5654225
96
+ }
references/Town01/subset_2/reference/cameras/405.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
+ 0.7072144885478492,
32
+ 0.0,
33
+ 0.7069990574166306,
34
+ 88.41606903076172
35
+ ],
36
+ [
37
+ 0.7069990574166306,
38
+ 0.0,
39
+ -0.7072144885478492,
40
+ 303.10552978515625
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
+ 0.7072144885478492,
58
+ 0.7069990574166306,
59
+ 0.0,
60
+ -276.8244488948754
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7069990574166306,
70
+ -0.7072144885478492,
71
+ -0.0,
72
+ 151.85054475780186
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.41606903076172,
85
+ "y": 303.10552978515625,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -45.00872802734375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 405,
95
+ "timestamp": 1769161162.6565032
96
+ }
references/Town01/subset_2/reference/cameras/411.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
+ -0.7072146768330623,
32
+ 0.0,
33
+ -0.7069988690739946,
34
+ 88.41769409179688
35
+ ],
36
+ [
37
+ -0.7069988690739946,
38
+ 0.0,
39
+ 0.7072146768330623,
40
+ 313.7453308105469
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
+ -0.7072146768330622,
58
+ -0.7069988690739946,
59
+ -0.0,
60
+ 284.34788501375766
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7069988690739946,
70
+ 0.7072146768330623,
71
+ 0.0,
72
+ -159.37409300803233
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.41769409179688,
85
+ "y": 313.7453308105469,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.9912567138672,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 411,
95
+ "timestamp": 1769161164.9868104
96
+ }
references/Town01/subset_2/reference/cameras/416.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
+ 0.00015233279750873286,
32
+ 0.0,
33
+ 0.9999999883973594,
34
+ 88.41769409179688
35
+ ],
36
+ [
37
+ 0.9999999883973594,
38
+ 0.0,
39
+ -0.00015233279750873286,
40
+ 313.7453308105469
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
+ 0.00015233279750873286,
58
+ 0.9999999883973594,
59
+ 0.0,
60
+ -313.75879608496285
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999999883973593,
70
+ -0.00015233279750873286,
71
+ 0.0,
72
+ -88.36989936197045
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 88.41769409179688,
85
+ "y": 313.7453308105469,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -0.008728026412427425,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 416,
95
+ "timestamp": 1769161166.7849846
96
+ }
references/Town01/subset_2/reference/cameras/4571.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
+ 0.7071824793325998,
32
+ 0.0,
33
+ -0.7070310749358878,
34
+ 290.0977783203125
35
+ ],
36
+ [
37
+ -0.7070310749358878,
38
+ 0.0,
39
+ -0.7071824793325998,
40
+ -2.0300397872924805
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
+ 0.7071824793325998,
58
+ -0.7070310749358878,
59
+ 0.0,
60
+ -206.58736733440955
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7070310749358878,
70
+ -0.7071824793325998,
71
+ -0.0,
72
+ 203.6725354724021
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 290.0977783203125,
85
+ "y": -2.0300397872924805,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -134.99386596679688,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4571,
95
+ "timestamp": 1769162735.3704484
96
+ }
references/Town01/subset_2/reference/cameras/4572.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
+ 0.9999999943118647,
32
+ 0.0,
33
+ 0.00010665960145550688,
34
+ 290.0977783203125
35
+ ],
36
+ [
37
+ 0.00010665960145550688,
38
+ 0.0,
39
+ -0.9999999943118647,
40
+ -2.0300397872924805
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
+ 0.9999999943118646,
58
+ 0.00010665960145550688,
59
+ 0.0,
60
+ -290.0975601469624
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.00010665960145550688,
70
+ -0.9999999943118647,
71
+ -0.0,
72
+ -2.0609814891641123
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 290.0977783203125,
85
+ "y": -2.0300397872924805,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.99388885498047,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4572,
95
+ "timestamp": 1769162735.689272
96
+ }
references/Town01/subset_2/reference/cameras/4574.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
+ -0.00010679274325454244,
32
+ 0.0,
33
+ 0.999999994297655,
34
+ 290.0977783203125
35
+ ],
36
+ [
37
+ 0.999999994297655,
38
+ 0.0,
39
+ 0.00010679274325454244,
40
+ -2.0300397872924805
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
+ -0.00010679274325454244,
58
+ 0.999999994297655,
59
+ 0.0,
60
+ 2.0610201132753674
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.999999994297655,
70
+ 0.00010679274325454243,
71
+ 0.0,
72
+ -290.0975598725571
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 290.0977783203125,
85
+ "y": -2.0300397872924805,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.006118773482739925,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4574,
95
+ "timestamp": 1769162736.3751428
96
+ }