Hugging Face's logo

Datasets:
enrue1893
/
SyntheticData

Modalities:
Image
Dataset card Data Studio Files
xet
Community
enrue1893 commited on
Commit
f1d737e
·
verified ·
1 Parent(s): f5072b5

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/Town06/subset_1/reference/cameras/1590.json +96 -0
  2. references/Town06/subset_1/reference/cameras/1592.json +96 -0
  3. references/Town06/subset_1/reference/cameras/1593.json +96 -0
  4. references/Town06/subset_1/reference/cameras/1597.json +96 -0
  5. references/Town06/subset_1/reference/cameras/1600.json +96 -0
  6. references/Town06/subset_1/reference/cameras/1605.json +96 -0
  7. references/Town06/subset_1/reference/cameras/1606.json +96 -0
  8. references/Town06/subset_1/reference/cameras/1713.json +96 -0
  9. references/Town06/subset_1/reference/cameras/1715.json +96 -0
  10. references/Town06/subset_1/reference/cameras/1721.json +96 -0
  11. references/Town06/subset_1/reference/cameras/1723.json +96 -0
  12. references/Town06/subset_1/reference/cameras/1724.json +96 -0
  13. references/Town06/subset_1/reference/cameras/1726.json +96 -0
  14. references/Town06/subset_1/reference/cameras/3030.json +96 -0
  15. references/Town06/subset_1/reference/cameras/3031.json +96 -0
  16. references/Town06/subset_1/reference/cameras/3037.json +96 -0
  17. references/Town06/subset_1/reference/cameras/3290.json +96 -0
  18. references/Town06/subset_1/reference/cameras/3291.json +96 -0
  19. references/Town06/subset_1/reference/cameras/3297.json +96 -0
  20. references/Town06/subset_1/reference/cameras/3307.json +96 -0
  21. references/Town06/subset_1/reference/cameras/3311.json +96 -0
  22. references/Town06/subset_1/reference/cameras/3314.json +96 -0
  23. references/Town06/subset_1/reference/cameras/3315.json +96 -0
  24. references/Town06/subset_1/reference/cameras/4092.json +96 -0
  25. references/Town06/subset_1/reference/cameras/4093.json +96 -0
  26. references/Town06/subset_1/reference/cameras/4100.json +96 -0
  27. references/Town06/subset_1/reference/cameras/4102.json +96 -0
  28. references/Town06/subset_1/reference/cameras/4103.json +96 -0
  29. references/Town06/subset_1/reference/cameras/4104.json +96 -0
  30. references/Town06/subset_1/reference/cameras/4105.json +96 -0
  31. references/Town06/subset_1/reference/cameras/4107.json +96 -0
  32. references/Town06/subset_1/reference/cameras/4110.json +96 -0
  33. references/Town06/subset_1/reference/cameras/4112.json +96 -0
  34. references/Town06/subset_1/reference/cameras/4115.json +96 -0
  35. references/Town06/subset_1/reference/cameras/4117.json +96 -0
  36. references/Town06/subset_1/reference/cameras/4122.json +96 -0
  37. references/Town06/subset_1/reference/cameras/4123.json +96 -0
  38. references/Town06/subset_1/reference/cameras/4124.json +96 -0
  39. references/Town06/subset_1/reference/cameras/4126.json +96 -0
  40. references/Town06/subset_1/reference/cameras/4490.json +96 -0
  41. references/Town06/subset_1/reference/cameras/4493.json +96 -0
  42. references/Town06/subset_1/reference/cameras/4495.json +96 -0
  43. references/Town06/subset_1/reference/cameras/4496.json +96 -0
  44. references/Town06/subset_1/reference/cameras/4503.json +96 -0
  45. references/Town06/subset_1/reference/cameras/4505.json +96 -0
  46. references/Town06/subset_1/reference/cameras/5800.json +96 -0
  47. references/Town06/subset_1/reference/cameras/5801.json +96 -0
  48. references/Town06/subset_1/reference/cameras/5802.json +96 -0
  49. references/Town06/subset_1/reference/cameras/5803.json +96 -0
  50. references/Town06/subset_1/reference/cameras/5804.json +96 -0
references/Town06/subset_1/reference/cameras/1590.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
+ 0.9996701279921982,
32
+ 0.0,
33
+ -0.025683364266815653,
34
+ 7.597421646118164
35
+ ],
36
+ [
37
+ -0.025683364266815653,
38
+ 0.0,
39
+ -0.9996701279921982,
40
+ 153.33145141601562
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
+ 0.9996701279921982,
58
+ -0.025683364266815653,
59
+ 0.0,
60
+ -3.6568479491085664
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.025683364266815653,
70
+ -0.9996701279921983,
71
+ -0.0,
72
+ 153.47599900990372
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 7.597421646118164,
85
+ "y": 153.33145141601562,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -91.47171020507812,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1590,
95
+ "timestamp": 1769307767.3643613
96
+ }
references/Town06/subset_1/reference/cameras/1592.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
+ 0.025683362186907466,
32
+ 0.0,
33
+ 0.9996701280456349,
34
+ 7.597421646118164
35
+ ],
36
+ [
37
+ 0.9996701280456349,
38
+ 0.0,
39
+ -0.025683362186907466,
40
+ 153.33145141601562
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
+ 0.025683362186907466,
58
+ 0.9996701280456349,
59
+ 0.0,
60
+ -153.47599900229528
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9996701280456349,
70
+ -0.025683362186907466,
71
+ 0.0,
72
+ -3.6568482684298886
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 7.597421646118164,
85
+ "y": 153.33145141601562,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -1.4717100858688354,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1592,
95
+ "timestamp": 1769307768.0164068
96
+ }
references/Town06/subset_1/reference/cameras/1593.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
+ -0.6887124523277909,
32
+ 0.0,
33
+ 0.7250345909049032,
34
+ 7.597421646118164
35
+ ],
36
+ [
37
+ 0.7250345909049032,
38
+ 0.0,
39
+ 0.6887124523277909,
40
+ 153.33145141601562
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
+ -0.6887124523277909,
58
+ 0.7250345909049033,
59
+ 0.0,
60
+ -105.93816725699965
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7250345909049032,
70
+ 0.6887124523277909,
71
+ 0.0,
72
+ -111.10967341882898
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 7.597421646118164,
85
+ "y": 153.33145141601562,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 43.52827453613281,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1593,
95
+ "timestamp": 1769307768.3544803
96
+ }
references/Town06/subset_1/reference/cameras/1597.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
+ 0.6887122592393755,
32
+ 0.0,
33
+ -0.7250347743200979,
34
+ 7.597421646118164
35
+ ],
36
+ [
37
+ -0.7250347743200979,
38
+ 0.0,
39
+ -0.6887122592393755,
40
+ 153.33145141601562
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
+ 0.6887122592393755,
58
+ -0.7250347743200977,
59
+ -0.0,
60
+ 105.93819684729174
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7250347743200979,
70
+ -0.6887122592393755,
71
+ -0.0,
72
+ 111.10964520578457
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 7.597421646118164,
85
+ "y": 153.33145141601562,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -136.47174072265625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1597,
95
+ "timestamp": 1769307769.7006543
96
+ }
references/Town06/subset_1/reference/cameras/1600.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
+ 0.49038573830944054,
32
+ 0.0,
33
+ 0.8715054949125134,
34
+ 13.039386749267578
35
+ ],
36
+ [
37
+ 0.8715054949125134,
38
+ 0.0,
39
+ -0.49038573830944054,
40
+ 137.35743713378906
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
+ 0.49038573830944054,
58
+ 0.8715054949125134,
59
+ 0.0,
60
+ -126.10209052733919
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.8715054949125134,
70
+ -0.49038573830944054,
71
+ 0.0,
72
+ 55.994231018869606
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 13.039386749267578,
85
+ "y": 137.35743713378906,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -29.365938186645508,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1600,
95
+ "timestamp": 1769307770.6069357
96
+ }
references/Town06/subset_1/reference/cameras/1605.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
+ 0.2694931657852488,
32
+ 0.0,
33
+ -0.9630023019676767,
34
+ 13.039386749267578
35
+ ],
36
+ [
37
+ -0.9630023019676767,
38
+ 0.0,
39
+ -0.2694931657852488,
40
+ 137.35743713378906
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
+ 0.2694931657852488,
58
+ -0.9630023019676768,
59
+ -0.0,
60
+ 128.76150253726095
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9630023019676768,
70
+ -0.2694931657852488,
71
+ -0.0,
72
+ 49.5738500331246
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 13.039386749267578,
85
+ "y": 137.35743713378906,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -164.3658905029297,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1605,
95
+ "timestamp": 1769307772.2387447
96
+ }
references/Town06/subset_1/reference/cameras/1606.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
+ 0.8715056418347987,
32
+ 0.0,
33
+ -0.49038547720147213,
34
+ 13.039386749267578
35
+ ],
36
+ [
37
+ -0.49038547720147213,
38
+ 0.0,
39
+ -0.8715056418347987,
40
+ 137.35743713378906
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
+ 0.8715056418347987,
58
+ -0.4903854772014721,
59
+ 0.0,
60
+ 55.99419323797174
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.4903854772014721,
70
+ -0.8715056418347987,
71
+ -0.0,
72
+ 126.10210730351999
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 13.039386749267578,
85
+ "y": 137.35743713378906,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -119.36592102050781,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1606,
95
+ "timestamp": 1769307772.5609667
96
+ }
references/Town06/subset_1/reference/cameras/1713.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
+ 0.8167945378576531,
32
+ 0.0,
33
+ 0.5769286636369377,
34
+ -133.29425048828125
35
+ ],
36
+ [
37
+ 0.5769286636369377,
38
+ 0.0,
39
+ -0.8167945378576531,
40
+ -8.190683364868164
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
+ 0.8167945378576531,
58
+ 0.5769286636369378,
59
+ 0.0,
60
+ 113.59945573462463
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.5769286636369378,
70
+ -0.8167945378576532,
71
+ -0.0,
72
+ 70.21116837094549
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -133.29425048828125,
85
+ "y": -8.190683364868164,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -54.76519012451172,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1713,
95
+ "timestamp": 1769307774.7091887
96
+ }
references/Town06/subset_1/reference/cameras/1715.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
+ -0.5769287180183222,
32
+ 0.0,
33
+ 0.8167944994463021,
34
+ -133.29425048828125
35
+ ],
36
+ [
37
+ 0.8167944994463021,
38
+ 0.0,
39
+ 0.5769287180183222,
40
+ -8.190683364868164
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
+ -0.5769287180183222,
58
+ 0.8167944994463021,
59
+ 0.0,
60
+ -70.21117593428659
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.8167944994463021,
70
+ 0.5769287180183222,
71
+ 0.0,
72
+ 113.59945106003309
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -133.29425048828125,
85
+ "y": -8.190683364868164,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 35.23481369018555,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1715,
95
+ "timestamp": 1769307775.3414278
96
+ }
references/Town06/subset_1/reference/cameras/1721.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
+ -0.18827778822539032,
32
+ 0.0,
33
+ -0.9821158151974517,
34
+ -147.4595489501953
35
+ ],
36
+ [
37
+ -0.9821158151974517,
38
+ 0.0,
39
+ 0.18827778822539032,
40
+ 2.3490562438964844
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
+ -0.18827778822539032,
58
+ -0.9821158151974517,
59
+ -0.0,
60
+ -25.45631244113739
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9821158151974516,
70
+ 0.1882777882253903,
71
+ -0.0,
72
+ -145.26463023988745
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -147.4595489501953,
85
+ "y": 2.3490562438964844,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 169.147705078125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1721,
95
+ "timestamp": 1769307777.119685
96
+ }
references/Town06/subset_1/reference/cameras/1723.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
+ 0.9821158904094853,
32
+ 0.0,
33
+ -0.18827739589548156,
34
+ -147.4595489501953
35
+ ],
36
+ [
37
+ -0.18827739589548156,
38
+ 0.0,
39
+ -0.9821158904094853,
40
+ 2.3490562438964844
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
+ 0.9821158904094851,
58
+ -0.1882773958954815,
59
+ 0.0,
60
+ 145.264640409015
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.18827739589548154,
70
+ -0.9821158904094852,
71
+ -0.0,
72
+ -25.456254411668706
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -147.4595489501953,
85
+ "y": 2.3490562438964844,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -100.8522720336914,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1723,
95
+ "timestamp": 1769307777.8303263
96
+ }
references/Town06/subset_1/reference/cameras/1724.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
+ 0.8275924314376049,
32
+ 0.0,
33
+ 0.5613294642428752,
34
+ -147.4595489501953
35
+ ],
36
+ [
37
+ 0.5613294642428752,
38
+ 0.0,
39
+ -0.8275924314376049,
40
+ 2.3490562438964844
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
+ 0.8275924314376047,
58
+ 0.5613294642428752,
59
+ 0.0,
60
+ 120.71781217152184
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.5613294642428752,
70
+ -0.8275924314376049,
71
+ -0.0,
72
+ 84.71745077817916
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -147.4595489501953,
85
+ "y": 2.3490562438964844,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -55.852210998535156,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1724,
95
+ "timestamp": 1769307778.182119
96
+ }
references/Town06/subset_1/reference/cameras/1726.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
+ -0.5613291336410362,
32
+ 0.0,
33
+ 0.827592655674157,
34
+ -147.4595489501953
35
+ ],
36
+ [
37
+ 0.827592655674157,
38
+ 0.0,
39
+ 0.5613291336410362,
40
+ 2.3490562438964844
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
+ -0.5613291336410362,
58
+ 0.8275926556741571,
59
+ 0.0,
60
+ -84.71740255452536
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.827592655674157,
70
+ 0.5613291336410362,
71
+ 0.0,
72
+ 120.717846013945
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -147.4595489501953,
85
+ "y": 2.3490562438964844,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 34.14776611328125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 1726,
95
+ "timestamp": 1769307778.8688927
96
+ }
references/Town06/subset_1/reference/cameras/3030.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
+ -0.0036429299975545646,
32
+ 0.0,
33
+ -0.9999933645085016,
34
+ -152.93174743652344
35
+ ],
36
+ [
37
+ -0.9999933645085016,
38
+ 0.0,
39
+ 0.0036429299975545646,
40
+ -11.879843711853027
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
+ -0.0036429299975545637,
58
+ -0.9999933645085015,
59
+ -0.0,
60
+ -12.436884533566023
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9999933645085014,
70
+ 0.0036429299975545637,
71
+ -0.0,
72
+ -152.88745522018928
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -152.93174743652344,
85
+ "y": -11.879843711853027,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 179.79127502441406,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3030,
95
+ "timestamp": 1769307779.9593925
96
+ }
references/Town06/subset_1/reference/cameras/3031.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
+ 0.7045263376795206,
32
+ 0.0,
33
+ -0.7096778420634832,
34
+ -152.93174743652344
35
+ ],
36
+ [
37
+ -0.7096778420634832,
38
+ 0.0,
39
+ -0.7045263376795206,
40
+ -11.879843711853027
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
+ 0.7045263376795206,
58
+ -0.7096778420634832,
59
+ -0.0,
60
+ 99.31358208690396
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7096778420634832,
70
+ -0.7045263376795206,
71
+ -0.0,
72
+ -116.90193528626646
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -152.93174743652344,
85
+ "y": -11.879843711853027,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -135.20870971679688,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3031,
95
+ "timestamp": 1769307780.2913823
96
+ }
references/Town06/subset_1/reference/cameras/3037.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
+ -0.7096778420634833,
32
+ 0.0,
33
+ -0.7045263376795204,
34
+ -152.93174743652344
35
+ ],
36
+ [
37
+ -0.7045263376795204,
38
+ 0.0,
39
+ 0.7096778420634833,
40
+ -11.879843711853027
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
+ -0.7096778420634834,
58
+ -0.7045263376795204,
59
+ -0.0,
60
+ -116.9019352862665
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7045263376795204,
70
+ 0.7096778420634833,
71
+ 0.0,
72
+ -99.31358208690395
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -152.93174743652344,
85
+ "y": -11.879843711853027,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 134.79129028320312,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3037,
95
+ "timestamp": 1769307782.2427118
96
+ }
references/Town06/subset_1/reference/cameras/3290.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
+ -0.999977737731596,
32
+ 0.0,
33
+ -0.006672633752819224,
34
+ -9.245771408081055
35
+ ],
36
+ [
37
+ -0.006672633752819224,
38
+ 0.0,
39
+ 0.999977737731596,
40
+ 31.76848030090332
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
+ -0.9999777377315962,
58
+ -0.006672633752819225,
59
+ -0.0,
60
+ -9.033586142304786
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.006672633752819224,
70
+ 0.999977737731596,
71
+ 0.0,
72
+ -31.829466708836488
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -9.245771408081055,
85
+ "y": 31.76848030090332,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 90.38231658935547,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3290,
95
+ "timestamp": 1769307783.1036396
96
+ }
references/Town06/subset_1/reference/cameras/3291.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
+ -0.702372111328302,
32
+ 0.0,
33
+ -0.7118099586464237,
34
+ -9.245771408081055
35
+ ],
36
+ [
37
+ -0.7118099586464237,
38
+ 0.0,
39
+ 0.702372111328302,
40
+ 31.76848030090332
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
+ -0.7023721113283021,
58
+ -0.7118099586464235,
59
+ -0.0,
60
+ 16.119148664492972
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7118099586464237,
70
+ 0.7023721113283021,
71
+ -0.0,
72
+ -28.894526746277503
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -9.245771408081055,
85
+ "y": 31.76848030090332,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 135.3823699951172,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3291,
95
+ "timestamp": 1769307783.4829416
96
+ }
references/Town06/subset_1/reference/cameras/3297.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
+ -0.7118098651199134,
32
+ 0.0,
33
+ 0.7023722061115251,
34
+ -9.245771408081055
35
+ ],
36
+ [
37
+ 0.7023722061115251,
38
+ 0.0,
39
+ 0.7118098651199134,
40
+ 31.76848030090332
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
+ -0.7118098651199135,
58
+ 0.702372206111525,
59
+ -0.0,
60
+ -28.894528892671715
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7023722061115251,
70
+ 0.7118098651199134,
71
+ 0.0,
72
+ -16.119144816953867
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -9.245771408081055,
85
+ "y": 31.76848030090332,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 45.382362365722656,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3297,
95
+ "timestamp": 1769307785.6394496
96
+ }
references/Town06/subset_1/reference/cameras/3307.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
+ -0.7118098651199134,
32
+ 0.0,
33
+ 0.7023722061115251,
34
+ -9.313262939453125
35
+ ],
36
+ [
37
+ 0.7023722061115251,
38
+ 0.0,
39
+ 0.7118098651199134,
40
+ 41.88313293457031
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
+ -0.7118098651199135,
58
+ 0.702372206111525,
59
+ -0.0,
60
+ -36.046820914874836
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7023722061115251,
70
+ 0.7118098651199134,
71
+ 0.0,
72
+ -23.271450168075496
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -9.313262939453125,
85
+ "y": 41.88313293457031,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 45.382362365722656,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3307,
95
+ "timestamp": 1769307789.0205135
96
+ }
references/Town06/subset_1/reference/cameras/3311.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
+ -0.702372111328302,
32
+ 0.0,
33
+ -0.7118099586464237,
34
+ -9.382308959960938
35
+ ],
36
+ [
37
+ -0.7118099586464237,
38
+ 0.0,
39
+ 0.702372111328302,
40
+ 52.23093032836914
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
+ -0.7023721113283021,
58
+ -0.7118099586464235,
59
+ -0.0,
60
+ 30.588624203758453
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7118099586464237,
70
+ 0.7023721113283021,
71
+ -0.0,
72
+ -43.36396976417585
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -9.382308959960938,
85
+ "y": 52.23093032836914,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 135.3823699951172,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3311,
95
+ "timestamp": 1769307790.2390316
96
+ }
references/Town06/subset_1/reference/cameras/3314.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
+ 0.9999777368430722,
32
+ 0.0,
33
+ 0.006672766907909248,
34
+ -9.382308959960938
35
+ ],
36
+ [
37
+ 0.006672766907909248,
38
+ 0.0,
39
+ -0.9999777368430722,
40
+ 52.23093032836914
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
+ 0.9999777368430725,
58
+ 0.00667276690790925,
59
+ 0.0,
60
+ 9.033575256679764
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.006672766907909249,
70
+ -0.9999777368430723,
71
+ -0.0,
72
+ 52.29237346371857
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -9.382308959960938,
85
+ "y": 52.23093032836914,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.61767578125,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3314,
95
+ "timestamp": 1769307791.2923522
96
+ }
references/Town06/subset_1/reference/cameras/3315.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
+ 0.7023720639366858,
32
+ 0.0,
33
+ 0.711810005409674,
34
+ -9.382308959960938
35
+ ],
36
+ [
37
+ 0.711810005409674,
38
+ 0.0,
39
+ -0.7023720639366858,
40
+ 52.23093032836914
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
+ 0.7023720639366858,
58
+ 0.7118100054096739,
59
+ 0.0,
60
+ -30.588627090889315
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.711810005409674,
70
+ -0.7023720639366858,
71
+ 0.0,
72
+ 43.363967727614906
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": -9.382308959960938,
85
+ "y": 52.23093032836914,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -44.61762619018555,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 3315,
95
+ "timestamp": 1769307791.6763985
96
+ }
references/Town06/subset_1/reference/cameras/4092.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
+ -0.903421679873397,
32
+ 0.0,
33
+ 0.428753155480784,
34
+ 656.4957885742188
35
+ ],
36
+ [
37
+ 0.428753155480784,
38
+ 0.0,
39
+ 0.903421679873397,
40
+ 150.38949584960938
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
+ -0.903421679873397,
58
+ 0.428753155480784,
59
+ -0.0,
60
+ 528.6125572468469
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.4287531554807841,
70
+ 0.903421679873397,
71
+ 0.0,
72
+ -417.33977188680933
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 656.4957885742188,
85
+ "y": 150.38949584960938,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 64.61154174804688,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4092,
95
+ "timestamp": 1769307793.993565
96
+ }
references/Town06/subset_1/reference/cameras/4093.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
+ -0.9419899044983524,
32
+ 0.0,
33
+ -0.3356412069802886,
34
+ 656.4957885742188
35
+ ],
36
+ [
37
+ -0.3356412069802886,
38
+ 0.0,
39
+ 0.9419899044983524,
40
+ 150.38949584960938
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
+ -0.9419899044983525,
58
+ -0.3356412069802886,
59
+ -0.0,
60
+ 668.8893170867188
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.3356412069802886,
70
+ 0.9419899044983523,
71
+ 0.0,
72
+ 78.68165202159825
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 656.4957885742188,
85
+ "y": 150.38949584960938,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 109.61153411865234,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4093,
95
+ "timestamp": 1769307794.3443758
96
+ }
references/Town06/subset_1/reference/cameras/4100.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
+ 0.796588515503936,
32
+ 0.0,
33
+ 0.6045219077645041,
34
+ 664.8362426757812
35
+ ],
36
+ [
37
+ 0.6045219077645041,
38
+ 0.0,
39
+ -0.796588515503936,
40
+ 143.6121063232422
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
+ 0.796588515503936,
58
+ 0.6045219077645041,
59
+ 0.0,
60
+ -616.4175800989202
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.6045219077645041,
70
+ -0.796588515503936,
71
+ -0.0,
72
+ -287.5083191889232
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 664.8362426757812,
85
+ "y": 143.6121063232422,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -52.8055534362793,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4100,
95
+ "timestamp": 1769307796.6401086
96
+ }
references/Town06/subset_1/reference/cameras/4102.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
+ -0.6045219608005913,
32
+ 0.0,
33
+ 0.7965884752554536,
34
+ 664.8362426757812
35
+ ],
36
+ [
37
+ 0.7965884752554536,
38
+ 0.0,
39
+ 0.6045219608005913,
40
+ 143.6121063232422
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
+ -0.6045219608005912,
58
+ 0.7965884752554536,
59
+ 0.0,
60
+ 287.50836022940535
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7965884752554535,
70
+ 0.6045219608005912,
71
+ 0.0,
72
+ -616.4175609568946
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 664.8362426757812,
85
+ "y": 143.6121063232422,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 37.19445037841797,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4102,
95
+ "timestamp": 1769307797.352078
96
+ }
references/Town06/subset_1/reference/cameras/4103.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
+ -0.9907346905264699,
32
+ 0.0,
33
+ 0.13581153480989727,
34
+ 664.8362426757812
35
+ ],
36
+ [
37
+ 0.13581153480989727,
38
+ 0.0,
39
+ 0.9907346905264699,
40
+ 143.6121063232422
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
+ -0.9907346905264698,
58
+ 0.13581153480989727,
59
+ -0.0,
60
+ 639.1721485611295
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.13581153480989727,
70
+ 0.9907346905264699,
71
+ 0.0,
72
+ -232.57392622905502
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 664.8362426757812,
85
+ "y": 143.6121063232422,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 82.19445037841797,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4103,
95
+ "timestamp": 1769307797.7049055
96
+ }
references/Town06/subset_1/reference/cameras/4104.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
+ -0.7965887167462946,
32
+ 0.0,
33
+ -0.6045216425840283,
34
+ 664.8362426757812
35
+ ],
36
+ [
37
+ -0.6045216425840283,
38
+ 0.0,
39
+ 0.7965887167462946,
40
+ 143.6121063232422
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
+ -0.7965887167462945,
58
+ -0.6045216425840283,
59
+ -0.0,
60
+ 616.4176758090072
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.6045216425840283,
70
+ 0.7965887167462946,
71
+ 0.0,
72
+ 287.508113986493
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 664.8362426757812,
85
+ "y": 143.6121063232422,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 127.19442749023438,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4104,
95
+ "timestamp": 1769307798.0676281
96
+ }
references/Town06/subset_1/reference/cameras/4105.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
+ -0.13581166673420011,
32
+ 0.0,
33
+ -0.9907346724420614,
34
+ 664.8362426757812
35
+ ],
36
+ [
37
+ -0.9907346724420614,
38
+ 0.0,
39
+ 0.13581166673420011,
40
+ 143.6121063232422
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
+ -0.13581166673420011,
58
+ -0.9907346724420614,
59
+ -0.0,
60
+ 232.57401133997286
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9907346724420613,
70
+ 0.13581166673420011,
71
+ -0.0,
72
+ 639.1721175920322
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 664.8362426757812,
85
+ "y": 143.6121063232422,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 172.19444274902344,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4105,
95
+ "timestamp": 1769307798.435113
96
+ }
references/Town06/subset_1/reference/cameras/4107.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
+ 0.9907346724420614,
32
+ 0.0,
33
+ -0.13581166673419995,
34
+ 664.8362426757812
35
+ ],
36
+ [
37
+ -0.13581166673419995,
38
+ 0.0,
39
+ -0.9907346724420614,
40
+ 143.6121063232422
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
+ 0.9907346724420614,
58
+ -0.13581166673419995,
59
+ 0.0,
60
+ -639.1721175920324
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.13581166673419995,
70
+ -0.9907346724420613,
71
+ -0.0,
72
+ 232.5740113399727
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 664.8362426757812,
85
+ "y": 143.6121063232422,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -97.80555725097656,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4107,
95
+ "timestamp": 1769307799.1301155
96
+ }
references/Town06/subset_1/reference/cameras/4110.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
+ 0.9330251909507018,
32
+ 0.0,
33
+ 0.35981105187501744,
34
+ 669.648681640625
35
+ ],
36
+ [
37
+ 0.35981105187501744,
38
+ 0.0,
39
+ -0.9330251909507018,
40
+ 134.73837280273438
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
+ 0.9330251909507017,
58
+ 0.35981105187501733,
59
+ 0.0,
60
+ -673.2794447037099
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.35981105187501733,
70
+ -0.9330251909507017,
71
+ -0.0,
72
+ -115.2327005151738
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 669.648681640625,
85
+ "y": 134.73837280273438,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -68.91140747070312,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4110,
95
+ "timestamp": 1769307799.9256232
96
+ }
references/Town06/subset_1/reference/cameras/4112.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
+ -0.35981089657523846,
32
+ 0.0,
33
+ 0.9330252508403634,
34
+ 669.648681640625
35
+ ],
36
+ [
37
+ 0.9330252508403634,
38
+ 0.0,
39
+ 0.35981089657523846,
40
+ 134.73837280273438
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
+ -0.35981089657523846,
58
+ 0.9330252508403634,
59
+ 0.0,
60
+ 115.23258844944607
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9330252508403634,
70
+ 0.35981089657523846,
71
+ 0.0,
72
+ -673.2794638839034
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 669.648681640625,
85
+ "y": 134.73837280273438,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 21.08858299255371,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4112,
95
+ "timestamp": 1769307800.6433623
96
+ }
references/Town06/subset_1/reference/cameras/4115.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
+ -0.405323117894229,
32
+ 0.0,
33
+ -0.914173490154085,
34
+ 669.648681640625
35
+ ],
36
+ [
37
+ -0.914173490154085,
38
+ 0.0,
39
+ 0.405323117894229,
40
+ 134.73837280273438
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
+ -0.405323117894229,
58
+ -0.914173490154085,
59
+ -0.0,
60
+ 394.59834005909596
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.914173490154085,
70
+ 0.405323117894229,
71
+ -0.0,
72
+ 557.5624951080925
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 669.648681640625,
85
+ "y": 134.73837280273438,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 156.088623046875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4115,
95
+ "timestamp": 1769307801.739249
96
+ }
references/Town06/subset_1/reference/cameras/4117.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
+ 0.9141735980981283,
32
+ 0.0,
33
+ -0.40532287443508763,
34
+ 669.648681640625
35
+ ],
36
+ [
37
+ -0.40532287443508763,
38
+ 0.0,
39
+ -0.9141735980981283,
40
+ 134.73837280273438
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
+ 0.9141735980981283,
58
+ -0.40532287443508763,
59
+ 0.0,
60
+ -557.5626001959674
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.40532287443508763,
70
+ -0.9141735980981284,
71
+ -0.0,
72
+ 394.5981915712077
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 669.648681640625,
85
+ "y": 134.73837280273438,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -113.91136169433594,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4117,
95
+ "timestamp": 1769307802.4448807
96
+ }
references/Town06/subset_1/reference/cameras/4122.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
+ -0.10340488911112641,
32
+ 0.0,
33
+ 0.9946393461491032,
34
+ 672.1053466796875
35
+ ],
36
+ [
37
+ 0.9946393461491032,
38
+ 0.0,
39
+ 0.10340488911112641,
40
+ 124.51483917236328
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
+ -0.10340488911112641,
58
+ 0.9946393461491032,
59
+ 0.0,
60
+ -54.348379375851906
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9946393461491033,
70
+ 0.10340488911112641,
71
+ 0.0,
72
+ -681.3778657021087
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 672.1053466796875,
85
+ "y": 124.51483917236328,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 5.935273170471191,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4122,
95
+ "timestamp": 1769307803.9782696
96
+ }
references/Town06/subset_1/reference/cameras/4123.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
+ -0.7764348499694308,
32
+ 0.0,
33
+ 0.6301975275681011,
34
+ 672.1053466796875
35
+ ],
36
+ [
37
+ 0.6301975275681011,
38
+ 0.0,
39
+ 0.7764348499694308,
40
+ 124.51483917236328
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
+ -0.7764348499694307,
58
+ 0.630197527568101,
59
+ -0.0,
60
+ 443.37707022093235
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.630197527568101,
70
+ 0.7764348499694307,
71
+ 0.0,
72
+ -520.2367882146021
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 672.1053466796875,
85
+ "y": 124.51483917236328,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 50.935302734375,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4123,
95
+ "timestamp": 1769307804.364636
96
+ }
references/Town06/subset_1/reference/cameras/4124.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
+ -0.9946393478702523,
32
+ 0.0,
33
+ -0.1034048725555964,
34
+ 672.1053466796875
35
+ ],
36
+ [
37
+ -0.1034048725555964,
38
+ 0.0,
39
+ 0.9946393478702523,
40
+ 124.51483917236328
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
+ -0.9946393478702524,
58
+ -0.1034048725555964,
59
+ -0.0,
60
+ 681.3778647974931
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.1034048725555964,
70
+ 0.9946393478702523,
71
+ 0.0,
72
+ -54.348390717220745
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 672.1053466796875,
85
+ "y": 124.51483917236328,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 95.93527221679688,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4124,
95
+ "timestamp": 1769307804.7224007
96
+ }
references/Town06/subset_1/reference/cameras/4126.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
+ 0.10340513744407362,
32
+ 0.0,
33
+ -0.9946393203318338,
34
+ 672.1053466796875
35
+ ],
36
+ [
37
+ -0.9946393203318338,
38
+ 0.0,
39
+ -0.10340513744407362,
40
+ 124.51483917236328
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
+ 0.10340513744407362,
58
+ -0.9946393203318339,
59
+ -0.0,
60
+ 54.34820925531718
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9946393203318337,
70
+ -0.10340513744407362,
71
+ -0.0,
72
+ 681.3778792713208
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 672.1053466796875,
85
+ "y": 124.51483917236328,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -174.06471252441406,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4126,
95
+ "timestamp": 1769307805.4495795
96
+ }
references/Town06/subset_1/reference/cameras/4490.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
+ -0.004097927657848654,
32
+ 0.0,
33
+ 0.9999916034592046,
34
+ 645.7993774414062
35
+ ],
36
+ [
37
+ 0.9999916034592046,
38
+ 0.0,
39
+ 0.004097927657848654,
40
+ 138.57545471191406
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
+ -0.004097927657848654,
58
+ 0.9999916034592045,
59
+ 0.0,
60
+ -135.92785202721674
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9999916034592047,
70
+ 0.004097927657848654,
71
+ 0.0,
72
+ -646.3618271491509
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 645.7993774414062,
85
+ "y": 138.57545471191406,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 0.23479461669921875,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4490,
95
+ "timestamp": 1769307806.6642573
96
+ }
references/Town06/subset_1/reference/cameras/4493.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
+ -0.7042032660419508,
32
+ 0.0,
33
+ -0.7099984226009586,
34
+ 645.7993774414062
35
+ ],
36
+ [
37
+ -0.7099984226009586,
38
+ 0.0,
39
+ 0.7042032660419508,
40
+ 138.57545471191406
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
+ -0.7042032660419509,
58
+ -0.7099984226009586,
59
+ -0.0,
60
+ 553.1623850587664
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7099984226009587,
70
+ 0.7042032660419509,
71
+ -0.0,
72
+ 360.9312514987012
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 645.7993774414062,
85
+ "y": 138.57545471191406,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 135.2347869873047,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4493,
95
+ "timestamp": 1769307807.7614021
96
+ }
references/Town06/subset_1/reference/cameras/4495.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
+ 0.7099982350602596,
32
+ 0.0,
33
+ -0.7042034551259432,
34
+ 645.7993774414062
35
+ ],
36
+ [
37
+ -0.7042034551259432,
38
+ 0.0,
39
+ -0.7099982350602596,
40
+ 138.57545471191406
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
+ 0.7099982350602597,
58
+ -0.7042034551259432,
59
+ 0.0,
60
+ -360.93110418263433
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.7042034551259432,
70
+ -0.7099982350602596,
71
+ -0.0,
72
+ 553.1624811805533
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 645.7993774414062,
85
+ "y": 138.57545471191406,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -134.76522827148438,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4495,
95
+ "timestamp": 1769307808.5011206
96
+ }
references/Town06/subset_1/reference/cameras/4496.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
+ 0.9999916045505133,
32
+ 0.0,
33
+ 0.004097661343975562,
34
+ 645.7993774414062
35
+ ],
36
+ [
37
+ 0.004097661343975562,
38
+ 0.0,
39
+ -0.9999916045505133,
40
+ 138.57545471191406
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
+ 0.9999916045505132,
58
+ 0.004097661343975561,
59
+ 0.0,
60
+ -646.3617909493512
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.004097661343975561,
70
+ -0.9999916045505132,
71
+ -0.0,
72
+ 135.9280241637788
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 645.7993774414062,
85
+ "y": 138.57545471191406,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -89.76522064208984,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4496,
95
+ "timestamp": 1769307808.8505635
96
+ }
references/Town06/subset_1/reference/cameras/4503.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
+ -0.8430456337141723,
32
+ 0.0,
33
+ 0.5378420395204057,
34
+ 657.573486328125
35
+ ],
36
+ [
37
+ 0.5378420395204057,
38
+ 0.0,
39
+ 0.8430456337141723,
40
+ 126.90079498291016
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
+ -0.8430456337141723,
58
+ 0.5378420395204057,
59
+ -0.0,
60
+ 486.1118741047625
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.5378420395204057,
70
+ 0.8430456337141723,
71
+ 0.0,
72
+ -460.6538261464621
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 657.573486328125,
85
+ "y": 126.90079498291016,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 57.46314239501953,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4503,
95
+ "timestamp": 1769307811.0839543
96
+ }
references/Town06/subset_1/reference/cameras/4505.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
+ -0.537842376295312,
32
+ 0.0,
33
+ -0.8430454188601063,
34
+ 657.573486328125
35
+ ],
36
+ [
37
+ -0.8430454188601063,
38
+ 0.0,
39
+ 0.537842376295312,
40
+ 126.90079498291016
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
+ -0.537842376295312,
58
+ -0.8430454188601062,
59
+ -0.0,
60
+ 460.65402033555955
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.8430454188601063,
70
+ 0.537842376295312,
71
+ -0.0,
72
+ 486.1116900854219
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 657.573486328125,
85
+ "y": 126.90079498291016,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 147.46311950683594,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 4505,
95
+ "timestamp": 1769307811.824437
96
+ }
references/Town06/subset_1/reference/cameras/5800.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
+ 0.10028880999666769,
32
+ 0.0,
33
+ 0.994958368269473,
34
+ 78.09992218017578
35
+ ],
36
+ [
37
+ 0.994958368269473,
38
+ 0.0,
39
+ -0.10028880999666769,
40
+ 135.74368286132812
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
+ 0.10028880999666769,
58
+ 0.9949583682694731,
59
+ 0.0,
60
+ -142.89186145887803
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.9949583682694729,
70
+ -0.10028880999666769,
71
+ 0.0,
72
+ -64.09259871563286
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 78.09992218017578,
85
+ "y": 135.74368286132812,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": -5.755801677703857,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 5800,
95
+ "timestamp": 1769307813.3623831
96
+ }
references/Town06/subset_1/reference/cameras/5801.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
+ -0.6326266473176442,
32
+ 0.0,
33
+ 0.7744569226907569,
34
+ 78.09992218017578
35
+ ],
36
+ [
37
+ 0.7744569226907569,
38
+ 0.0,
39
+ 0.6326266473176442,
40
+ 135.74368286132812
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
+ -0.6326266473176442,
58
+ 0.7744569226907567,
59
+ 0.0,
60
+ -55.71954297888069
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.7744569226907569,
70
+ 0.6326266473176442,
71
+ 0.0,
72
+ -146.3600963771581
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 78.09992218017578,
85
+ "y": 135.74368286132812,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 39.244178771972656,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 5801,
95
+ "timestamp": 1769307813.696396
96
+ }
references/Town06/subset_1/reference/cameras/5802.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
+ -0.9949583607576974,
32
+ 0.0,
33
+ 0.10028888452044775,
34
+ 78.09992218017578
35
+ ],
36
+ [
37
+ 0.10028888452044775,
38
+ 0.0,
39
+ 0.9949583607576974,
40
+ 135.74368286132812
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
+ -0.9949583607576974,
58
+ 0.10028888452044775,
59
+ -0.0,
60
+ 64.0925880128314
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ 0.10028888452044775,
70
+ 0.9949583607576974,
71
+ 0.0,
72
+ -142.8918662595034
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 78.09992218017578,
85
+ "y": 135.74368286132812,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 84.24419403076172,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 5802,
95
+ "timestamp": 1769307814.046984
96
+ }
references/Town06/subset_1/reference/cameras/5803.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
+ -0.7744570069300836,
32
+ 0.0,
33
+ -0.6326265441924616,
34
+ 78.09992218017578
35
+ ],
36
+ [
37
+ -0.6326265441924616,
38
+ 0.0,
39
+ 0.7744570069300836,
40
+ 135.74368286132812
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
+ -0.7744570069300836,
58
+ -0.6326265441924616,
59
+ -0.0,
60
+ 146.36008895765087
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.6326265441924616,
70
+ 0.7744570069300836,
71
+ 0.0,
72
+ -55.71956246790589
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 78.09992218017578,
85
+ "y": 135.74368286132812,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 129.24417114257812,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 5803,
95
+ "timestamp": 1769307814.4038284
96
+ }
references/Town06/subset_1/reference/cameras/5804.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
+ -0.10028875203372722,
32
+ 0.0,
33
+ -0.9949583741119613,
34
+ 78.09992218017578
35
+ ],
36
+ [
37
+ -0.9949583741119613,
38
+ 0.0,
39
+ 0.10028875203372722,
40
+ 135.74368286132812
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
+ -0.10028875203372724,
58
+ -0.9949583741119613,
59
+ -0.0,
60
+ 142.8918577250578
61
+ ],
62
+ [
63
+ -0.0,
64
+ -0.0,
65
+ -1.0,
66
+ 2.0
67
+ ],
68
+ [
69
+ -0.9949583741119613,
70
+ 0.10028875203372724,
71
+ -0.0,
72
+ 64.09260704003376
73
+ ],
74
+ [
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 1.0
79
+ ]
80
+ ]
81
+ },
82
+ "carla_transform": {
83
+ "location": {
84
+ "x": 78.09992218017578,
85
+ "y": 135.74368286132812,
86
+ "z": 2.0
87
+ },
88
+ "rotation": {
89
+ "pitch": 0.0,
90
+ "yaw": 174.24420166015625,
91
+ "roll": 0.0
92
+ }
93
+ },
94
+ "ref_id": 5804,
95
+ "timestamp": 1769307814.771212
96
+ }